MANUAL

PLC1.01 BOARD

PROGRAMMABLE IN LADDER LANGUAGE

BY WLP SOFTWARE

12/2006

PLC1 Software: V2.0X

0899.5532 E/4
Summary of Revisions

The table below describes all revisions made to this manual.

Revision Description Section

1 First Edition -
2 Functions related to the Online Monitoring -
3 General Review and Inclusion of CANopen and -
DeviceNet protocols
4 General Revision -
 Summary

Quick Parameter Reference and

Fault Messages

I Quick Parameter Reference ........................................... 06

II Error Messages .............................................................. 09

CHAPTER 1
Safety Notices

1.1 Safety Notices in the Manual......................................... 10

1.2 Safety Notices on the Product ....................................... 10
1.3 Preliminary Recommendations ...................................... 11

CHAPTER 2
General Information

2.1 About this Manual ......................................................... 12

2.2 About the PLC1 Board ................................................. 12
2.3 General Characteristics of the PLC1 .......................... 13
2.3.1 Hardware ............................................................... 13
2.3.2 Software................................................................. 14

CHAPTER 3
Installation and Configuration

3.1 Installing the PLC1 Board on the Drive ......................... 15

3.2 Configuring the Jumpers ............................................... 17
3.3 DIP-Switch Configuration ............................................. 17
3.4 Connectors Description ................................................ 17
3.5 Configuring the CFW-09 to Operate with PLC1 Board .. 20

CHAPTER 4
Detailed Parameter Description

Detailed Parameter Description .......................................... 22

PLC - QUCIK PARAMETER REFERENCE

QUICK PARAMETER REFERENCE, FAULT MESSAGES

Software: V2.0X
Application:
Model:
Serial Number:
Responsible:
Date: / / .

I. Parameters

The parameter range starts from 750 up to 899, totalizing 150 parameters. The first 50 parameters
are predefined by the system or are reserved parameters. The 100 remaining parameters are for
general use and may be set by the user.

Please find below a description of the parameters defined by the system.

Description Factory
Parameter Adjustable Range Unit Page
[Type] Setting
P750 PLC1 firmware version Related to the - - 22
[Read] purchased board
P751 Scan cycle in 100µs units 0 to 65535 - x100µs 22
[Read]
(*)
P752 Resets the retentive markers 0 = No action 0 = No action - 22
[Configuration] 1 = Reset register
(*)
P753 Loads factory settings, 0 to 65535 0 - 22
if =1234
[Configuration]
P754 Position reference (rotations) 0 to 65535 - rotations 22
[Read]
P755 Position reference 0 to 3599 - degrees / 10 22
(fraction of rotation)
[Read]
P756 Real position signal 0 = Negative - - 23
[Read] 1 = Positive
P757 Real position 0 to 65535 - rotations 23
(rotations)
[Read]
P758 Real position 0 to 3599 - degrees / 10 23
(fraction of rot.)
[Read]
P759 Lag error 0 to 3599 - degrees / 10 23
[Read]
P760 Kp: proportional position gain 0 to 200 50 - 23
[Configuration]
P761 Ki: integral position gain 0 to 200 0 - 23
[Configuration]
P762 Max. lag error 0 to 65535 1800 degrees / 10 23
[Configuration]
P763 Disables user program if = 1 0=Program enable 0 = Program - 24
[Configuration] 1=Program disable enable
(*)
P764 PLC address at network 1 to 247 1 - 24
[Configuration]
(*) IMPORTANT: to enable the system to operate according the parameter seeting, the system must be reset after one or more parameters
have been changed.

6
 PLC - QUCIK PARAMETER REFERENCE

Description Factory
Parameter Adjustable Range Unit Page
[Type] Setting
P765 (*) Baud rate of RS-232 1 = 1200bps 4 = 9600bps bits/second 24
[Configuration] 2 = 2400bps
3 = 4800bps
4 = 9600bps
5 = 19200bps
6 = 38400bps
P766 PID sample time 0 to 10000 1 x 1.2ms 24
[Configuration]
(*)
P767 Synchronous speed of the 0 to 10000 1800 rpm 24
motor in rpm
[Configuration]
(*)
P768 Encoder pulse number 0 to 65535 1024 ppr 25
[Configuration] pulses per
revoluções
(*)
P769 Encoder zero pulse position 0 to 3599 0 degrees / 10 25
[Configuration]
(*)
P770 CAN protocol 0=Disabled 0=Disabled - 25
[Configuration] 1=CANopen
2=DeviceNet
(*)
P771 CAN address 0 to 127 63 - 25
[Configuration]
(*)
P772 CAN baud rate 0=1Mbit/s 0=1Mbit/s Mbits/s or Kbit/s 26
[Configuration] 1=Reserved
2=500Kbit/s
3=250Kbit/s
4=125Kbit/s
5=100Kbit/s
6=50Kbit/s
7=20Kbit/s
8=10Kbit/s
P773 Bus off recovery 0=Manual 0=Manual - 26
[Configuration] 1=Automatic
P774 Action to be taken upon 0=Indicate the error 1=Cause a fatal - 26
detection of a communication 1=Cause a fatal error on the
failure error on the device device
[Configuration]
P775 CAN status 0=Disable - - 27
[Read] 1=Reserved
2=CAN enable
3=Warning
4=Error passive
5=Not Powered
P776 Counter of received 0 to 65535 - - 27
telegrams
[Read]
P777 Counter of trasmitted 0 to 65535 - - 27
telegrams
[Read]
P778 Counter of detected errors 0 to 65535 - - 27
[Read]
(*) IMPORTANT: to enable the system to operate according the parameter seeting, the system must be reset after one or more parameters
have been changed.

7
PLC - QUCIK PARAMETER REFERENCE

Description Factory
Parameter Adjustable Range Unit Page
[Type] Setting
P780 Status of the CANopen 0=Disabled - - 28
network 1=Reserved
[Read] 2=CANopen
enabled
3=Node guarding
enabled
4=Node guarding
error
P781 Status of the CANopen node 0=Not initialized - - 28
[Read] 4=Stopped
5=Operational
127=Pre-operational
P782 Status of the DeviceNet 0=Not powered / - - 28
network not on-line
[Read] 1=on-line /
not connected
2=Link ok / online
and connected
3=Connection
timeout
4=Critical link
failure
5=Running auto-baud
P783 Status of the DeviceNet 0=Run - - 29
master 1=Idle
[Read]
P784 Number of input words 1 to 10 1 - 29
[Configuration]
P785 Number of output words 1 to 10 1 - 29
[Configuration]
(*)
P793 Select serial protocol 0=Modbus no parity 0 - 29
[Configuration] 1=WegTP no parity
2=Modbus even parity
3=WegTP even parity
4=Modbus odd parity
5=WegTP odd parity

(*) IMPORTANT: to enable the system to operate according the parameter seeting, the system must be reset after one or more parameters
have been changed.

8
 PLC - QUCIK PARAMETER REFERENCE

II. Error Messages Display Description Note

E50 Lag error Fatal Error, it disables the converter.
Refer to Parameter P762.
E51 Error during Reset the system and
program saving try again.
E52 Two or more Check the user program logic
movements
enabled
simultaneously
E53 Movement data are Perhaps some speed, acceleration
not valid value, etc. was reset to zero.
E54 Inverter disabled Attempt to execute some movement
with disabled inverter
E55 Incompatible program Check program and resend it. This
or out of memory error may occur when there is no
limits program on the PLC board (at the first
power-up).
E56 Wrong CRC Transmit it again.
E57 Shaft has not been Before an absolut movement,
referenced to absolute you must set the machine
movement movement to zero position.
E58 Master reference Fatal Error: after enabled initial
fault communication, between master and
slave, by any cause has been
disabled.
E61 Bus off Bus off has been detected on the CAN
bus due to a high number of transfer
errors. These errors may be caused
due to bus problems or due to
improper installation.
E65 Node guarding error Specific error for the CANopen
communication. For further
information, please, refer to the
CANopen communication user’s
guide provided with the product CD.
E66 Master in IDLE mode Specific error for the DeviceNet
communication. For further
information, please, refer to the
DeviceNet communication user’s
guide provided with the product CD.
E67 I/O connections Specific error for the DeviceNet
timeout communication. For further
information, please, refer to the
DeviceNet communication user’s
guide provided with the product CD.
Note: the drive is disabled with fatal errors E50 and E58 and must be
reset. It is possible to use the system bit register SX2 to reset a fatal
error.

9
 CHAPTER 1

SAFETY NOTICES

This manual contains information needed to properly use

the PLC1 board with the CFW-09 variable frequency drive.

Only trained and qualified personnel should operate this

type of equipment.

1.1 SAFETY NOTICES IN The following Safety Notices will be used in this Manual:
THE MANUAL

DANGER!
If the recommended Safety Instructions are not strictly
observed, it can lead to serious or fatal injuries of personnel
and/or equipment damage.

ATTENTION!
Failure to observe the recommended Safety Procedures can
lead to material damage.

NOTE!
The content of this Manual supplies important information for
the correct understanding of operation and proper
performance of the equipment.

1.2 SAFETY NOTICES The following symbols may be attached to the product, serving
ON THE PRODUCT as Safety Notice:

High Voltages

Components are sensitive to electrostatic discharge. Do

not touch them.

Mandatory connection to ground protection (PE)

Shield connection to ground

10
 CHAPTER 1 - SAFETY NOTICES

1.3 PRELIMINARY
RECOMMENDATIONS

DANGER!
Only qualified personnel should plan or implement the
installation, start up, operation and maintenance of the
CFW-09 and associated equipment.

The personnel must follow all safety instructions included in

this Manual and/or defined by the local regulations.

Failure to comply with these instructions may result in

personnel injury and/or equipment damage.

NOTE!
In this Manual, qualified personnel are defined as people that
are trained to:
1. Install, ground, power up and operate the CFW-09, as well
as the PLC1 board, according to this Manual and the local
safety procedures;
2. Use the safety equipment according to the local regulations;
3. Give first aid.

DANGER!
Always disconnect the supply voltage before touching any
electrical component inside the inverter.
Many components may be running (fans) or charged with high
voltages, even after the incoming AC power supply has been
disconnected or switched OFF. Wait at least 10 minutes for
the total discharge of the power capacitors.
Always connect the frame of the equipment to the ground (PE)
at the suitable connection point.

ATTENTION!
All electronic boards have components that are sensitive to
electrostatic discharges. Never touch any of the electrical
components or connectors.
If necessary to do so, touch the properly grounded metallic
frame or use a suitable ground strap.

NOTE!
Read this entire Manual carefully and completely before
installing or operating PLC1 board with the CFW-09.

11
 CHAPTER 2

GENERAL INFORMATION

This chapter defines the contents and purpose of this manual

2.1 ABOUT THIS MANUAL This manual provides instructions for installation and use of
the PLC1 board.

Chapter 1 - Safety Notices;

Chapter 2 - General Information;
Chapter 3 - Instalation and Configuration;
Chapter 4 - Detailed Parameter Description.

This Manual provides information required for the correct use

of the PLC1. As the PLC1 is very flexible, it allows many
different operation modes as described in this Manual. As
the PLC1 can be applied in several ways, it is impossible to
describe here all application possibilities of this board. WEG
does not assume any responsibility when the PLC1 is not used
according to this manual.

No part of this Manual may be reproduced in any form, without

written consent of WEG.

The communication user’s guide for the PLC1 board presented

in table 2.1 complements this user’s guide. These user’s
guides are available in PDF format on the product CD and
also at WEG website.

The compatibility of these user’s guides and the product is

directly related to the product software version. Hence, pay
attention to the communication user’s guide identification
(E/1, E/2 ... ) when downloading it from the WEG website.

PLC1 V2.0X
Revision
User’ Guide
Modbus User’ Guide E/1
WegTP User’ Guide P/1
CANopen Slave User’s Guide E/2
DeviceNet Slave User’s Guide P/2
WLP User’ Guide E/2
Table 2.1 - Communication user´s guide for the PLC1 board

2.2 ABOUT THE The PLC1 board adds important CLP (Programmable Logical
PLC1 BOARD Controller) functions to the CFW-09, enabling the execution
of complex linkage program by using the digital board inputs
and outputs as well as the digital and analog inputs and outputs
of the own inverter which can be accessed by the user´s
program.

12
 CHAPTER 2 - GENERAL INFORMATION

Among the several available functions we can mention simple

contacts and coils up to functions that uses floating point, such
as sum, subtraction, multiplication, division, trigonometry,
square root functions, etc.

Other important functions are the PID blocks, high-pass and

low-pass filters, saturation, comparison. All these functions
operate with floating point.

Besides the functions mentioned above, the PLC1 provides

blocks for motor speed and motor position control, that is a
trapezoidal-profile positioning and a S-profile positioning,
speed reference generation with trapezoidal acceleration
ramp, etc. (Note: when positioning functions used, the coupling
of an encoder on motor shaft is required).

All functions can interact with the user through the 100
programmable parameters that can be acessed directly
through the inverter HMI. The texts and user units of the
programmable parameters can be customized by the WLP.

The new Modbus functions introduced with the Version V1.50

of the board PLC1 allow executing advanced on-line
monitoring function with the Ladder program through the WLP
from Version V4.00 on.
CANopen and DeviceNet protocols were incorporated to the
product from version 1.60 on.

ATTENTION!
- The CFW-09 inverter software version should be the version
V2.40 or later.
- It is possible to use the set speed block with the V/F control
mode (scalar) for CFW-09 drives with software version V3.70
or later.

2.3 GENERAL
CHARACTERISTICS OF
THE PLC1

2.3.1 Hardware The PLC1 board has the following hardware characteristics:
9 isolated digital inputs, bi-directional, 24Vdc;
3 digital relay output 250V x 3A;
3 digital optocoupled outputs, bi-directional, 24Vdc x
500mA;
1 isolated encoder input, with external supply between
18Vdc and 30Vdc;
Encoder supply - 15Vdc x 300mA;
1 serial communication interface – RS-232C (standard
Protocol: MODBUS-RTU);

13
CHAPTER 2 - GENERAL INFORMATION

All sizes compatible with CFW-09;

User programming in Ladder language, with specific blocks
for positioning and CLP functions;
It permits the use of digital and analog inputs/ouputs of the
CFW-09, comprising 15 digital inputs, 9 digital outputs, 2
analog inputs and 2 analog outputs, accessed by the ladder.

2.3.2 Software The software for the PLC1 board has the following
characteristics:
The Parameter Range comprises the parameter from 750
to 899, totaling 150 parameters.
The 50 first parameters are predefined by the system or are
reserved parameters. The other 100 remaining parameters
are for general use, i. e., they may be programmed by the
user and can be used for the most different functions, as
contactors, timers, speed, acceleration and position
references, etc;
Volatile (zero-initialized) and retentive BIT, WORD and
FLOAT registers;
The programming of the PLC board is performed via WLP
Software using the Ladder Logic Language. It is possible
to monitor the Ladder logic online with the WLP version
V4.00 or higher and the PLC1 firmware version V1.50 or
higher.
Memory capacity for the user program: 64kB (65536 bytes).

ATENTTION!
The PLC1 version 2.0X is compatible only with the WLP
software version 6.20 or higher.

14
 CHAPTER 3

INSTALLATION AND CONFIGURATION

This chapter is intended to describe the installation and

configuration procedures for the PLC1 board.

ATENTTION!
Follow the instructions included in this chapter to guarantee
the correct installation and operation of the PLC1 board and
the CFW-09 drive.

3.1 INSTALLING THE PLC The PLC1 board is directly installed on the CFW-09 control
BOARD ON THE DRIVE board (CC9 control board), as presented in figures 3.1 e 3.2.

Sizes 1 and 2

Sizes 3 to 10

Figure 3.1 – Location of the PLC1 board installation on the CFW-09 drive.

NOTE!
For size 1 drives (models from 6A to 13A/220-230V and
models from 3.6A to 9A/380-480V) the plastic side cover shall
be removed in order to fit the board in the drive correctly.
For all remaining sizes, the PLC board can be directly fitted
in.

15
CHAPTER 3 - INSTALLATION AND CONFIGURATION

PLC Board

CC9 Board

Plastic Spacer

Metal Spacer
Screw M3 x 8
Torque 1Nm

Figure 3.2 - Seating the PLC1 on the CC9 control board

Follow the steps bellow for the proper installation of the board:
Step 1 – Make sure the equipment is disconnected from the
power supply and remove the frontal cover of the
CFW-09;
Step 2 – When using size 1 drives, remove the plastic side
cover.
Step 3 – Configure the jumpers of the board according to
tables 3.1 and 3.2 of the CONFIGURING THE
JUMPERS section.
Step 4 – Seat the PLC board on the CC9 control board
aligning the terminals of the XC4 and XC5
connectors (on the PLC board) with the terminals of
the female XC140 and XC3 connectors (on the CC9
control board).
Step 5 – Check if all terminals of the XC4 and XC5
connectors are aligned.
Step 6 – Press the center and the left up corner of the board
until it is completely seated on the spacers.
Step 7 – Insert and tighten the screws to firmly secure the
board to the 2 metal spacers.
16
 CHAPTER 3 - INSTALLATION AND CONFIGURATION

3.2 CONFIGURING THE Some functions and characteristics of the PLC board operation
JUMPERS are defined by the setting of the jumpers on the card (see figu-
re 3.3). The following tables describe the possible
configurations for the jumpers and their functions.

XC10 Jumper: Firmware Download

XC10 Jumper
Open Normal Operation
Closed Firmware Download

Table 3.1 - XC10 jumper

XC11 Jumper: Encoder Error

XC11 Jumper
Open Enables fault generation for the encoder
Close Do not generate encoder fault
Table 3.2 - XC11 jumper

3.3 DIP-SWITCH The PLC1 board is fitted with an internal CAN network
CONFIGURATION termination resistor, which shall be enabled at both ends of
the bus.

DIP-switch S4: Termination Resistor

DIP-switch S4
ON Enables the CAN network termination resistor
OFF Disables the CAN network termination resistor

Table 3.3 – DIP-switch S4

3.4 CONNECTORS Figure 3.3 shows the connectors and jumpers available on the
DESCRIPTION PLC1 board.

34

34
XC4

D1 XC22 XC21
26

13

XC3 1

XC10 XC11
X1
1

XC5
1
32
14

5 K1
1
6 9 K2
XC9
XC8 K3
2 6
1 5
XC7

Figure 3.3 - PLC1 board - connectors

The connectors and their terminals function are described
below. 17
CHAPTER 3 - INSTALLATION AND CONFIGURATION

XC21 Connector: Relay Outputs and Digital Inputs

XC21 Connector Function Specification
1 C DO1 Digital relay outputs Contact capacity:
2 NO
3 C DO2 3A
4 NO 250Vac
5 C DO3
6 NO
7 NC Not connected -
8 NC Not connected -
9 DI6 Isolated digital Inputs Input voltage:
10 DI7 (15 to 30)Vdc
11 DI8 Input current:
-
(*) + +
-
12 DI9 11mA @ 24Vdc
13 COM DI Common to the inputs DI6 -
to DI9

Figure 3.4 - XC21 connector

ATTENTION!
(*) External Power Supply.

XC22 Connector: 24V Transistor Outputs and Digital Inputs

XC22Connector Function Specification
14 NC Not connected -
15 COM DO Common to the digital -
- Load outputs DO4, DO5 e DO6
(*) + +
-
Max. voltage: 48Vdc
16 DO6 Bidirectional opto-isolated
17 DO5 digital outputs Current capacity: 500mA
18 DO4
19 NC Not connected -
20 NC Not connected -
21 DI1 Bidirectional isolated Input voltage:
22 DI2 digital inputs (15 to 30)Vdc
23 DI3 Input current: 11mA @
- 24 DI4 24Vdc
(*) + +
-
25 DI5
26 COM DI Common to inputs -
DI1 to DI5
Figure 3.5 - XC22 connector

ATTENTION!
(*) External Power Supplies.

XC3 Connector: Functionless

XC7 Connector: RS-232C

XC7 Connector Function Specification

1 5Vdc 5Vdc supply Current capacity:
50mA
2 RTS Request to send -
3 GND Reference -
4 RX Receives -
5 GND Reference -
6 TX Transmits -
Table 3.4 - XC7 connector

18
 CHAPTER 3 - INSTALLATION AND CONFIGURATION

XC8 Connector: External 24Vdc Input and CAN Network

XC8 Connector Function Specification
21 CAN GND CAN GND -
22 24Vdc Supply for encoder input (18 to 26)Vdc
Drawn current: 25mA +
the encoder current.

23 CANL CANL -
24 GND ENC 24Vdc encoder reference -
25 CANH CANH -
26 NC Not connected -
27 CAN Network supply 18 to 26Vdc
24Vdc CANopen 50mA @ 24Vdc
28 NC Not connected -
Table 3.5 - XC8 connector

XC9 Connector: Incremental Encoder

Applications that require more speed or positioning accuracy,

a speed feedback of the motor shaft by means of incremental
encoder is required. The drive connection is realized through
the XC9 (DB9) connector of the PLC1 board.

The used encoder should have following features:

Supply voltage: 15 Vdc, with current consumption lower than
200 mA;
2 quadrature channels (90º) + zero pulse with
supplementary outputs (differential): Signals A, A, B, B, Z
and Z;
“Linedriver” type or “Push-Pull” (level 15Vdc) circuit;
Electronic circuit isolated against encoder frame;
Number of pulses recommended per revolution: 1024 ppr;

Follow the instructions below when mounting the encoder on

the motor:
Couple the encoder onto the motor shaft directly (by using
a flexible coupling, but without torsional flexibility);
Both motor shaft and metallic encoder frame must be
isolated electrically against motor (min. spacing: 3 mm);
Use flexible couplings of high quality to prevent mechanical
oscillation or “backlash”;
For electrical connection use shielded cable and lay it
separately (spacing >25cm) from the oher wirings (power,
controle cables, etc). If possible, install it inside a metallic
conduit.

19
CHAPTER 3 - INSTALLATION AND CONFIGURATION

XC9 Connector Description

Encoder connect.***
red
A A 3 A
H A
blue 2 A Encoder signal
B B
yellow 1 B
15Vdc
green 9 B differential
I B
grey 8 Z
C Z
J Z
rose 7 Z

D +VE
white 4 +VE Source*

F COM
brown 6 COM Reference 0V**

E NC 5 Ground

G loop

Board PLC1
Encoder

XC9 Connector
Max. recommended length: 100m (DB9 - male)

* Regardless of the external power supply 18Vdc to 26Vdc, the output

voltage will be always 15Vdc.
** Referenced to ground via 1F in parallel with 1k
*** Valid pin location for encoder HS35B-Dynapar. When other encoder
models are used, check the correct connection to meet the required
sequence.
Figure 3.6 - Encoder connection

NOTE!
The max. permitted encoder frequency is 100kHz.

Required sequence for encoder signals:

B t

A t
Motor is running clockwise

Figure 3.7 - Sequence for encoder signals

3.5 CONFIGURING THE In order to enable the CFW-09 to be controlled by the PLC1
CFW-09 TO board it is necessary to perform the following configurations,
OPERATE WITH PLC1 depending on the desired functions:
BOARD
Control Type (P202):

For the blocks that generate speed reference, you can use the
drive in ‘Sensorless’ (P202=3) mode. Please consider that in
this operation mode there is no high precision at low speed. In
addition, the position gain Kp (P760) should be reset to zero
to prevent instability when the motor is disabled. For the
position blocks (TCURVE and SCURVE), the drive must be
operated in vector mode with encoder (P202 = 4).

20
 CHAPTER 3 - INSTALLATION AND CONFIGURATION

Important Notes:

Always when possible, use the vector mode with encoder;

Avoid scalar mode operation (V/F), if the PLC will generate
speed reference when the CFW-09 software version lower
than 3.70;
Check the correct setting of the P161 and P162 parameters
that are the proportional speed gain and the integral speed
gain, respectively. The correct setting of these parameters are
very important for a good drive performance.

Local / Remote Selection (P220):

When the PLC is used as movement generator, this option

must be set to ‘Always Local’ (P220=0).

Local Reference Selection (P221):

When the PLC is used as movement generator, this option

must be set to ‘PLC’ (P221=11), i. e., the speed reference
will be given by the PLC board.

Local Run/Stop Selection (P224)

To enable the PLC to control the drive through the run/stop

options and also enable the PLC to disable the drive, this
option must be set to ‘PLC’ (P224=4).

AO1 Output Function (P251):

To enable the PLC to control the analog drive output 1

(AO1), set P251=12. Note that P252 is the gain of the
analog output 1.

AO2 Output Function (P253):

To enable the PLC to control the analog drive output 2

(AO2), set P253=12. Note that P254 is the gain of the
analog output 2.

Digital Inputs DI101 to DI106, P263 to P268:

These parameters correspond to the digital drive inputs

DI1 to DI6 and they are read by the PLC, independent of
the functions programmed at the parameters P263 to P268.

Digital Relay Outputs DO101 to DO103, P277, P279

and P280:

These Parameters correspond to the RL1 to RL3 drive

outputs. To enable the PLC to control these outputs, you
must set these parameters to the function ‘PLC’, i. e.
P277=27, P279=27 and P280=27.
21
 CHAPTER 4

DETAILED PARAMETER DESCRIPTION

This chapter describes in details all the PLC programming
and read parameters. Besides these parameters, the CFW-
09 parameters must also be configured in accordance with
the application (refer to the CFW-09 User’s Guide for its
parameter description).

Range
[FactorySetting]
Parameter Unit Description / Note
P750 - It shows the firmware version of the PLC board.
Firmware version [-] Example: version 1.30. At the parameter you can read
of the PLC board - 130.
[Read parameter]

P751 0 to 65535 It shows the duration of the user program cycle. Each
Scan cycle of the [-] unit corresponds to 100µs.
user program x100 µs To obtain the value of the scan cycle, divide the value of
[Read parameter] P751 by 10.
Exemple: when 79 is read, this means that the program
scan cycle is 79 ÷ 10 = 7,9ms.

P752 (*) 0 or 1 It reset the retentive markers, both bit type and word
Resets retentive [0] type.
markers - Set the parameter to 1 (one) and restart the system.
[Configuration The value of this parameter returns to 0 (zero)
parameter] automatically.

P753 (*) 0 to 65535 It loads the factory setting to the system parameters (750
Loads default [0] to P799).
settings, if =1234 - Set this parameter to 1234 and reset the system.
[Configuration
parameter]

P754 0 to 65535 It shows the position reference in rotations. The position

Position reference [-] reference starts at zero and after the movement has
(rotations) rotations been concluded, it returns to zero.
[Read parameter]

P755 0 to 3599 It shows the fraction of the revolution of the reference

Position reference [-] position in tenth of degree. The position reference starts
(fraction of rotation) degrees/10 at zero and after the movement has been concluded, it
[Read parameter] returns to zero.

(*) IMPORTANT: for enabling the new values, the system must be restarted when one or more parameters have been
changes.

22
 CHAPTER 4 - DETAILED PARAMETER DESCRIPTION

Range
[FactorySetting]
Parameter Unit Description / Note
P756 0 or 1 Signal of the real position shown at Parameters P757
Position signal [-] and P758.
[Read parameter] - 0 = negative
1 = positive

P757 0 to 65535 It shows the real position in rotations.

Real position [-]
(rotations) rotations
[Read parameter]

P758 0 to 3599 It shows the fraction of revolution of the real position in

Real position [-] tenth of degree.
(fraction of rotation) degrees/10
[Read parameter]

P759 0 a 3599 It shows the Lag error in tenth of degree.

Lag error [-]
[Read Parameter] degrees/10

P760 0 to 200 Increase this gain to speed up the answer to a position

Proportional [ 50 ] error and decrease this gain when system vibrates or
position gain (Kp) - becomes unstable.
[Configuration
parameter]

P761 0 to 200 It has the function to reset eventual position errors. In

Integral position [0] general, this gain is zero and may cause a position
gain (Ki) - overshoot, i.e. to go beyoud the desired position and
[Configuration return.
parameter]

P762 0 to 65535 This is the max. permitted positioning error, i. e., the
Max. lag error [ 1800 ] max. permitted difference between reference position
[Configuration degrees/10 and the real position, in degrees. The parameter and
parameter] the lag values are divided by 10. For instance 10 at P762
means that the max. following error is 1 degree. When
P762 = 0 (default setting), the lag error will not be
checked.

23
CHAPTER 4 - DETAILED PARAMETER DESCRIPTION

Range
[FactorySetting]
Parameter Unit Description / Note
P763 0 or 1 When this Parameter is set to 1, it disables the user
Desables user [0] program. This setting should be used in any abnormal
program, if=1 - condition only, where the program is causing some error
[Configuration type, for instance, when it prevents the communication
parameter] with the serial interface. In this case, disable the program
and install the new corrected version and then enable it
again.

P764 (*) 1 to 247 When, for instance, the MODBUS network connection
PLC address [1] is used through serial interface RS-485 (inverter
at network - RS-232-RS-485), this parameter defines the address
[Configuration at the network board.
parameter]

P765 (*) 1 to 6 Sets the baud rate of the serial interface.

Baud rate of [ 4 (= 9600bps) ] The permitted settings are:
RS-232 - P765 Baud rate (bps)
[Configuration 1 1200
parameter] 2 2400
3 4800
4 9600
5 19200
6 38400
Table 4.1 - RS-232 baud rate

P766 (*) 0 to 10000 Defines the sampling time for the PID blocks in intervals
PID sample [1] of 1.2ms.
time x 1.2ms Example: P766 = 10 means that the PID “ sampling time
[Configuration will be 12ms.
parameter]

P767 (*) 0 to 10000 This parameter shall be set with the driven motor
Synchronous motor [ 1800 ] synchronous speed.
speed rpm Use the following equation to obtain the motor
[Configuration synchronous speed:
parameter]
120 f
ns 
2p
Where,
ns = Motor synchronous speed
f = Motor frequency
p = Number of pair of poles.

For instance, a 4-pole motor – 50 Hz, has a synchronous

speed of 1500rpm.
(*) IMPORTANT: for enabling the new values, the system must be restarted when one or more parameters have been
changes.
24
 CHAPTER 4 - DETAILED PARAMETER DESCRIPTION

Range
[FactorySetting]
Parameter Unit Description / Note
(*)
P768 0 to 65535 It shows the number of pulses per encoder revolution.
Encoder resolution [ 1024 ]
[Configuration ppr
parameter]

P769 (*) 0 to 3599 The input value should be in tenth of degree. This value
Position of the [0] can be used to search for the machine zero and so set
encoder zero pulse degrees/10 the zero position.
[Configuration
parameter]

P770 (*) 0 to 2 The setting of this parameter allows selecting the

CAN protocol [0] communication protocol that will be used for the CAN
[Configuration - interface available at the PLC1 board.
parameter] P770 Description Note
0 Disable CANopen and DeviceNet protocols are
disabled. Setting P770 to’0’ enables the
speed synchronism via CAN, which is
programmed via WLP software (FOLLOW
and MSCANWEG function blocks).
1 CANopen Setting P770 to ‘1’ makes the PLC1 board
operate as a slave on the CANopen network.
Additional information about how using the
PLC1 board with this protocol can be found
on the CANopen communication user’s guide
provided with the product CD.
2 DeviceNet Setting P770 to ‘2’ makes the PLC1 board
operate as a slave on the DeviceNet network.
Additional information about how using the
PLC1 board with this protocol can be found
on the DeviceNet communication user’s
guide provided with the product CD.
Table 4.2 - CAN interface available at the PLC1 board

NOTE!
Change of parameter P770 is executed when the
device is reset or at next power up.

P771 (*) 0 to 127 P771 sets the address of the PLC1 board in the CAN
CAN Address [63] network. The range of valid addresses is dependent on
[Configuration - the selected protocol:
parameter] CANopen: valid addresses from 1 to 127.
DeviceNet: valid addresses from 0 to 63.
It is not necessary to define the device address when
the synchronism function via CAN is used.
(*) IMPORTANT: for enabling the new values, the system must be restarted when one or more parameters have been
changes.
25
CHAPTER 4 - DETAILED PARAMETER DESCRIPTION

Range
[FactorySetting]
Parameter Unit Description / Note
NOTE!
Change of parameter P771 (CAN address) is
executed when the device is reset or at next power
up.

P772 (*) 0 to 8 Adjust CAN baud rate. Accept Values:

CAN baud rate [0]
Maximum
[Configuration bits/second P772 Description
Cable Length
parameter] 0 1 Mbit/s 25 m
1 Reservado -
2 500 Kbit/s 100 m
3 250 Kbit/s 250 m
4 125 Kbit/s 500 m
5 100 Kbit/s 600 m
6 50 Kbit/s 1000 m
7 20 Kbit/s 1000 m
8 10 Kbit/s 1000 m
Table 4.3 - CAN baud rate
The DeviceNet protocol only supports three baud rates:
500 kbps, 250 kbps and 125 kbps. If any other option is
chosen the auto-baud is selected.
NOTE!
Change of baud rate is valid only after the device is
reset or at next power up.

P773 0 to 1 This parameter allows the PLC1 action selection when

Bus off recovery [0] a bus off error occurs. The permitted values are:
[Configuration -
P773 Description Note
parameter] 0 Manual After the bus off error has been
detected, the device displays E61, the
CAN communication will be disabled
and the device must be reset manually
to return to network operation.
1 Automatic The communication will be restart
automatically after bus off error has
been detected.

Table 4.4 - Permitted values when a bus off error occurs

P774 0 to 1 Setting of this parameter selects the action to be taken

Action to be taken [1] by the PLC1 board upon detection of a communication
upon detection of a - failure on the CAN interface:
communication
failure
[Configuration
parameter]
(*) IMPORTANT: for enabling the new values, the system must be restarted when one or more parameters have been
changes.
26
 CHAPTER 4 - DETAILED PARAMETER DESCRIPTION

Range
[FactorySetting]
Parameter Unit Description / Note
P774 Description Note
0 Indicate the Setting P774 to ‘0’ displays the error
error code on the HMI upon detection of
communication failure.
1 Cause a fatal Setting P774 to ‘1’, besides displaying
error on the the error code on the HMI, disables
device the device upon detection of
communication failure. Device needs
to be reset in order to operate again.
Table 4.5 - Action a communication failure

Communication errors may be different according to the

protocol used. Please, refer to the communication guide
specific for the protocol in use.

P775 0 to 5 Inform CAN Status:

CAN status [-]
[Read parameter] - P775 CAN Status
0 Disabled
1 Reserved
2 CAN enabled
3 Warning (some telegrams with error)
4 Error Passive (Much telegrams with error
or is the only network device with
enabled CAN transmitting telegrams).
5 Bus Off (number of detected errors
exceeded the internal device limit and the
communication has been disabled)
Table 4.6 - CAN status

P776 0 to 65535 Cyclic counter is incremented at each CAN telegram

Counter of received [-] received with success. Counting is restart each time the
telegrams - counter reaches to upper limit.
[Read parameter]

P777 0 to 65535 Cyclic counter is incremented at each CAN telegram

Counter of [-] received with success. Counting is restart each time the
transmitted - counter reaches to upper limit.
telegrams
[Read parameter]

P778 0 to 65535 Cyclic counter is incremented each time an error is

Counter of [-] detected (warning, error passive or bus off). Counting
detected errors - is restart each time the counter reaches to upper limit.
[Read parameter]

27
CHAPTER 4 - DETAILED PARAMETER DESCRIPTION

Range
[FactorySetting]
Parameter Unit Description / Note
P780 0 to 4 Indicates the status of the CANopen communication,
Status of the [-] informing if the protocol was correctly initialized and the
CANopen - state of the slave node guarding service.
communication
P780 Description Note
[Read parameter]
0 Disabled The CANopen protocol was not set
in parameter P700 and it is
disabled.
1 Reserved
2 CANopen The CANopen protocol was
enabled correctly started.
3 Node Node guarding service was started
Guarding by the master and it is properly
enabled working.
4 Node Timeout for the node guard service.
Guarding This event results in a PLC1 board
error error (E65).
Table 4.7 - Status of the CAN communication

Refer to CANopen communication user’s guide to obtain

detailed description about the protocol.

P781 0 to 127 Each device in the CANopen network has an associated

Status of the [-] status. The current status of the PLC1 board is displayed
CANopen node - in this parameter.
[Read parameter] P781 Description Note
0 Not The CANopen protocol was not set
initialized in parameter P700 and it is
disabled.
4 Stopped Data transfer between master and
slave is not possible in this sate
5 Operational All communication services are
available in this state.
127 Pre- Only some CANopen
operational communication services are
available in this state.
Table 4.8 - Status of the CANopen node

Refer to CANopen communication user’s guide to obtain

detailed description about the protocol.

P782 0 to 5 P782 Description

Status of the [-] 0 Not Powered / Not Online
DeviceNet - 1 On-line / Not Connected
network 2 Link Ok / Online and Connected
[Read parameter] 3 Connection Timeout
4 Critical Link Failure
5 Running Auto-baud
Table 4.9 - Status of the DeviceNet network

A detailed description of these items can be found on

the DeviceNet user’s guide for this product.
28
 CHAPTER 4 - DETAILED PARAMETER DESCRIPTION

Range
[FactorySetting]
Parameter Unit Description / Note
P783 0 or 1 P783 Description
Status of the [-] 0 Master in Run mode
DeviceNet - 1 Master in Idle mode
master Table 4.10 - Status of the DeviceNet master
[Read parameter]
For a detailed description of these items, please, refer
to the DeviceNet programming user’s guide specific for
this product.

P784 0 to 10 The setting of this parameter defines the number of

Number of [1] reading words exchanged with the master of the
reading words - DeviceNet network.
[Configuration
parameter]

P785 0 to 10 The setting of this parameter defines the number of

Number of [1] writing words exchanged with the master of the
writing words - DeviceNet network.
[Configuration
parameter]

P793 (*) 0 to 5 The setting of this parameter allows selecting the protocol
Select serial [0] to the serial, parity and stop-bit communication.
protocol -
P793 Description
[Configuration
0 Modbus, no parity and 2 stop-bits.
parameter] 1 WegTP, no parity and 2 stop-bits.
2 ModBus, even parity and 1 stop-bit.
3 WegTP, even parity and 1 stop-bit.
4 ModBus, odd parity and 1 stop-bit.
5 WegTP, odd parity and 1 stop-bit.

Table 4.11 - Select serial protocol

(*) IMPORTANT: for enabling the new values, the system must be restarted when one or more parameters have been
changes.

29