Operating manual

MODBUS fieldbus
Legal noti ce
KOSTAL Industrie Elektrik GmbH
An der Bellmerei 10
58513 Lüdenscheid
Germany
Tel. +49 (0)2351 16-0
Fax + 49 (0)2351 16-2400
[email protected]

Exclus ion of li abi lity

All names, trademarks, product names or other designations given in this manual may be legally
protected even if this is not labelled as such (e.g. as a trademark). KOSTAL assumes no liability for
their free usage.
The illustrations and texts have been compiled with great care. However, the possibility of errors
cannot be ruled out. The compilation is made without any guarantee.

General note on gender eq uality

KOSTAL is aware of how language impacts on gender equality and always makes an effort to
reflect this in documentation. Nevertheless, for the sake of readability we are unable to use non-
gender-specific terms throughout and use the masculine form instead.

© 2017 KOSTAL Industrie Elektri k GmbH

All rights reserved by KOSTAL, including those of reproduction by photocopy and storage in
electronic media. Commercial use or distribution of the texts, displayed models, diagrams and
photographs appearing in this product is not permitted.
This manual may not be reproduced, stored, transmitted or translated in any form or by means of
any medium - in whole or in part - without prior written permission.

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Contents
1. General information .................................................................................................. 5
1.1 Information about documentation ................................................................................. 5
1.1.1 Other applicable documents ......................................................................................... 6
1.1.2 Storing the documentation ........................................................................................... 6
1.2 Notes in this manual ..................................................................................................... 7
1.2.1 Warnings ..................................................................................................................... 7
1.2.2 Warning symbols used ................................................................................................. 8
1.2.3 Signal words ................................................................................................................ 8
1.2.4 Information notes ......................................................................................................... 9
1.3 Symbols used in this manual ...................................................................................... 10
1.4 Qualified staff ............................................................................................................. 10
1.5 Proper use ................................................................................................................. 10
1.6 Responsibility ............................................................................................................. 11
1.7 Contacts for information ............................................................................................. 11
1.8 Safety instructions ...................................................................................................... 11
2. Device and system description .............................................................................. 12
2.1 MODBUS................................................................................................................... 12
2.1.1 Master/slave operation ............................................................................................... 13
2.2 Scope of delivery ....................................................................................................... 13
2.3 Item description ......................................................................................................... 13
2.4 Hardware components ............................................................................................... 13
2.4.1 Interfaces on the drive controller ................................................................................. 15
2.4.2 Pin assignment for interfaces ...................................................................................... 19
2.4.3 Cable ......................................................................................................................... 19
2.5 Software components ................................................................................................ 19
3. Installation ............................................................................................................... 20
3.1 Configuration of the drive controller for MODBUS ........................................................ 21
3.2 INVEOR bus address ................................................................................................. 22

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Contents

4. Accessing data via MODBUS ................................................................................. 23

4.1 Process data ............................................................................................................. 23
4.1.1 Process data Out: Status word / actual frequency ....................................................... 23
4.1.2 Structure of INVEOR status word................................................................................ 24
4.1.3 Further Process data Out ........................................................................................... 26
4.2 Process data In control word / nominal frequency ....................................................... 31
4.2.1 Structure of INVEOR control word .............................................................................. 33
4.2.2 Further process data In .............................................................................................. 35
4.3 Parameter .................................................................................................................. 38
4.3.1 Parameter .................................................................................................................. 38
5. Error detection and troubleshooting ..................................................................... 48
5.1 Error word of application side ..................................................................................... 48
5.2 Error word of power side ............................................................................................ 49

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1. General information
Thank you for choosing an INVEOR drive controller with MODBUS from KOSTAL Industrie Elektrik
GmbH! Our INVEOR line of drive controllers is designed to be universally usable with all common
motor types and bus systems.
If you have any technical questions, please call our central service hotline:
Tel.: +49 (0)2331 80 40-848
Monday to Friday: 7 am to 5 pm (UTC/GMT +1)
Fax: +49 (0)2331 80 40-602
E-mail: [email protected]
Website
www.kostal-industrie-elektrik.com

1.1 Information about documentation

This documentation is a supplementary operating manual for the INVEOR drive controller with the
MODBUS bus system. It contains all the important information you need to install and operate the
bus system.
Please read the operating manuals for the drive controller and bus system through carefully. They
contain important information for operating the INVEOR with fieldbus.
We assume no liability for any damage resulting from non-observance of this manual.
This manual is an integral part of the product and applies exclusively to the INVEOR with MODBUS
from KOSTAL Industrie Elektrik GmbH.
Provide the operator of the system with this manual so it is available when needed.

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General information

1.1.1 Other applicable documents

This refers to all manuals that describe how to operate the drive controller system and any other
manuals for the equipment used. Download the 3D files (.stp) for INVEOR and adapter plates from
http://www.kostal.com/industrie/download/de/Antriebstechnik.
A description of parameters is available for download (www.kostal-industrie-elektrik.com) for
parametrising the drive controller system. In the download, you will find all the information required
for correct parameterisation.

1.1.2 Storing the documentation

Store this operating manual and all other applicable documents carefully so they are available
when needed.

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General information

1.2 Notes in this manual

1.2.1 Warnings
The warnings refer to life-threatening dangers. Serious injuries possibly resulting in death may
occur.

Each warning consists of the following elements:

1 2 3 4 5

DANGER!
Risk of death due to electrical shock!
Death or serious injury!
De-energise drive controller and secure it against being restarted.

Fig.: 1 Structure of warnings

1 Warning symbol

2 Signal word

3 Type of danger and its source

4 Possible consequence(s) of failure to comply

5 Corrective actions

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General information

1.2.2 Warning symbols used

Symbol Meaning

Danger

Danger due to electrical shock and discharge

Danger due to burns

Danger due to electromagnetic fields

1.2.3 Signal words

Signal words are used to identify the severity of the danger.

DANGER
Indicates a direct hazard with a high level of risk, which, if not avoided, will result in death or
serious injury.

WARNING
Indicates a hazard with a moderate level of risk, which, if not avoided, will result in death or serious
injury.

CAUTION
Indicates a hazard with a low level of risk, which, if not avoided, may result in minor or slight injury
or property damage.

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General information

1.2.4 Information notes

Information notes contain important instructions for the installation and problem-free operation of
the drive controller. These must be followed at all times. The information notes also point out that
failure to observe may result in damage to property or financial damages.

IMPORTANT INFORMATION
The drive controller may only be assembled, operated, maintained and installed by trained
and qualified staff.
Fig.: 2 Example of an information note

Symbols within the information notes

Symbol Meaning

Important information

Damage to property possible

Other notes

Symbol Meaning

INFORMATION

Enlarged view

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General information

1.3 Symbols used in this manual

Symbol Meaning
1., 1., 3. … Consecutive steps in a handling instruction

 Effect of a handling instruction

 Final result of a handling instruction

 List

Fig. 1: Symbols and icons used

Abbreviat ions used

Abbreviation Explanation

Tab. Table

Fig. Figure

It. Item

Ch. Chapter

1.4 Qualified staff

You will find the "Qualified staff" chapter in the operating manual for the INVEOR.

1.5 Proper use

You will find the "Proper use" chapter in the operating manual for the INVEOR.

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General information

1.6 Responsibility
You will find the "Responsibility" chapter in the operating manual for the INVEOR.

1.7 Contacts for information

More information is available from:
Central service hotline
Tel.: +49 2331 8040-848
Monday to Friday: 7 am to 5 pm (UTC/GMT +1)
Fax: +49 2331 8040-602
E-mail: [email protected]
Website address
Customers can find technical and general information on the following website:
www.kostal-industrie-elektrik.com

1.8 Safety instructions

You will find the "Safety instructions" chapter in the operating manual for the INVEOR.

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2. Device and system description
This chapter contains information on the scope of delivery for the drive controller and the function
description.

2.1 MODBUS
The MODBUS bus system is part of the fieldbus family.
The network is generally linear in structure. The maximum data transfer rate to a MODBUS bus
may be up to 115.2 kbit/s. The fieldbus cable is only connected via the M12 connector socket on
the front of the device. If the fieldbus cable is to be routed to another participant, an M12 T-splitter
(order no. 10272829) should be used.

Fig.: 3 Wiring and bus connection

INFORMATION
A repeater must be used when more than 32 devices (e.g. INVEOR) are operated on one
MODBUS string.

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Device and system description

2.1.1 Master/slave operation

The INVEOR should only be operated as a MODBUS slave.

2.2 Scope of delivery

The scope of delivery is described in the INVEOR basic documentation.
The MODBUS interface card forms part of the INVEOR.

2.3 Item description

As of software V 03.80, every INVEOR drive controller supports the MODBUS protocol.

IMPORTANT INFORMATION
Exceptions to this are INVEOR drive controllers with the MMI option (DK05)

2.4 Hardware components

The following hardware components are available for connecting the INVEOR to a MODBUS bus
system:

Description Article number

M12 connecting cable 2 m
M12 plug on M12 coupling / RS485 / 4-pin / 2 m / A-coded 10272382
P AL-WAK4-m-AL_8044041
M12 connecting cable 5 m
M12 plug on M12 coupling / RS485 / 4-pin / 5 m / A-coded 10272793
P AL-WAK4-m-AL-WAS4/S37080

Continues on next page

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Device and system description

Continuation

Description Article number

M12 connection cable open 2 m
M12 plug / open / RS485 / 4-pin / 2 m / A-coded 10272795
P AL-WAS4-m / S370 8043817
M12 connection cable open 10 m
M12 plug / open / RS485 / 4-pin / 10 m / A-coded 10272794
P AL-WAS4-m / S370 8043819
M12 T-splitter
M12 plug on plug and socket / RS485 / 4-pin / A-coded 10272829
J FKM4-FSM4-FSM4, 8008139
M12 plug can be self-assembled
M12 plug / RS485 / 4-pin / A-coded 10137294
INVZUB – L/CF/RS/M12M/-/-/A/
M12 coupling can be self-assembled
M12 coupling / RS485 / 4-pin / A-coded 10272796
P WAKC4K 8004811
M12 terminating resistor 120 Ohm
M12 plug / RS485 / 5-pin / A-coded 10343387
INVZUB – L/TE/RS/M12M/-/-/A/-/-

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Device and system description

2.4.1 Interfaces on the drive controller

The following connections can be found on the INVEOR with MODBUS interface card:
Size Alph a:

Fig.: 4 Size Alpha "MODBUS" connections

Size Alpha "MODBUS" connections

1 Blind plug (optional motor connection with wall mounting)
2 Control cable blind plug
3 Ground screw
4 Grid connection
5 Transparent plug
6 MMI / MODBUS
7 Foil keypad (optional)

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Device and system description

Size A:

Fig.: 5 Size A "MODBUS" connections

Size A "MODBUS" connections

1 Blind plug
2 Control line
3 Blind plug
4 MMI / MODBUS
5 Potentiometer
6 Grid connection
7 Blind plug STO (mount the EMC threaded connection in the accessory pack)
8 Blind plug STO (mount the EMC threaded connection in the accessory pack)

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Device and system description

Sizes B - C

Fig.: 6 Sizes B - C "MODBUS" connections

Sizes B - C "MODBUS" connections

1 Blind plug STO (install EMC screw connection supplied in the package)
2 Control line
3 Blind plug
4 Blind plug
5 MMI / MODBUS
6 Potentiometer
7 Blind plug STO (mount the EMC threaded connection in the accessory pack)
8 Blind plug STO (mount the EMC threaded connection in the accessory pack)
9 Grid connection

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Device and system description

Size D:

Fig.: 7 Size D "MODBUS" connections

Size D "MODBUS" connections

1 Cable screw connection with blind plug
2 Control line
3 Blind plug
4 MMI / MODBUS
5 Potentiometer
6 Blind plug STO (mount the EMC threaded connection in the accessory pack)
7 Blind plug STO (mount the EMC threaded connection in the accessory pack)
8 Grid connection

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Device and system description

2.4.2 Pin assignment for interfaces

Pin assignment on device side of M12 socket for MODBUS:

Pin no. Assignment Socket

1 24 V
2 RS 485 - A
3 GND
4 RS 485 - B
Housing Shielding
Fig. 8: Round plug connector, 4-pin, M12, A-coded for MODBUS fieldbus

2.4.3 Cable
The following points should be observed when wiring:
 Lay bus and power cables as far apart as possible (min. 30 cm),
 If cables do cross, an angle of 90° should be observed if possible.

2.5 Software components

The INVEOR drive controller can be parameterised using the INVEORpc tool and MMI (see
operating manual) as well as using the MODBUS master.

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3. Installation
Der Anschluss der Feldbusleitung erfolgt ausschließlich über einen
frontseitig auf der M12 Anschlussbuchse sitzenden M12 T-Verteiler.

Folgender MODBUS M12 T-Verteiler kann verwendet werden:

 M12 T Verteiler
M12 Stecker auf Stecker und Buchse / RS485 / 4-Pol / M12 T-splitter
A-codiert Artikel-Nr.
J FKM4-FSM4-FSM4, 8008139 10272829
A terminating resistor must be installed at both ends of the MODBUS.

Folgender MODBUS M12 Abschlusswiderstand kann verwendet

werden: Terminating resistor
 M12 Abschlusswiderstand 120 Ohm Artikel-Nr.
M12 Stecker / RS485 / 5-Pol / A-codiert 10343387
INVZUB – L/TE/RS/M12M/-/-/A/-/-

Terminating resistor
plug assignment

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Installation

3.1 Configuration of the drive controller for MODBUS

In order for the drive controller to be controlled by MODBUS, the following basic parameters must
be set using the INVEORpc tool:
 Set parameter 6.064 RS485 type (RS485 bus type) to MODBUS "1"
 Set parameter 1.130 (target value source) to MODBUS "4"
 Set parameter 1.131 (target value approval) to MODBUS "7"
The user must choose the set of parameters appropriate to him.

6.051 SAS / MODBUS baud rate Unit:

Relationship Parameter manual: Transfer status: min. 0 own value
to parameter P. xy 2 max.: 8 (to be
entered)
def.: 2
Configuration of the MODBUS baud rate:
0 = 9600 5 = 600
1 = 19200 6 = 1200
2 = 38400 7 = 2400
3 = 57600 8 = 4800
4 = 115200

6.065 MODBUS configuration Unit:

Relationship Parameter manual: Transfer status: min. 0 own value
to parameter P. xy 2 max.: 7 (to be
entered)
def.: 0
Configuration of the MODBUS bus:
0 = 8 Bits, Even Parity, 1 Stop Bit, 16 Bit, Big Endian
1 = 8 Bits, No Parity, 2 Stop Bit, 16 Bit, Big Endian
2 = 8 Bits, No Parity, 1 Stop Bit, 16 Bit, Big Endian
3 = 8 Bits, Odd Parity, 1 Stop Bit, 16 Bit, Big Endian
4 = 8 Bits, Even Parity, 1 Stop Bit, 32 Bit, Big Endian
5 = 8 Bits, No Parity, 2 Stop Bit, 32 Bit, Big Endian
6 = 8 Bits, No Parity, 1 Stop Bit, 32 Bit, Big Endian
7 = 8 Bits, Odd Parity, 1 Stop Bit 32 Bit, Big Endian

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Installation

3.2 INVEOR bus address

In order for an INVEOR to be clearly recognised in a MODBUS system, it must be assigned an
address.
The assignment can take place by setting parameter 6.050 "SAS/ MODBUS address".
Use INVEORpc for the parameterisation.

6.050 SAS / MODBUS address Unit:

Relationship Parameter manual: Transfer status: min. 0 own value
to parameter P. xy 0 max.: 247 (to be
entered)
def.: 0
Selection of the MODBUS address

IMPORTANT INFORMATION
The address of an INVEOR must lie within the range from 1 to 247.

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4. Accessing data via MODBUS
Accessing data via MODBUS is purely acyclic and can be undertaken with
16-bit / 32-bit access.
The 16-bit or 32-bit data width can be set via parameter 6.065 "MODBUS configuration".
In the INVEOR a distinction is made between In/Out process data and parameters.
The process data sent from the MODBUS master to the INVEOR drive controller is known as
"Process data In".
The process data sent from the INVEOR drive controller to the MODBUS master is known as
"Process data Out".

4.1 Process data

4.1.1 Process data Out: Status word / actual frequency
The status word and actual frequency can be read by the MODBUS master.
Both values can be read individually and together.

Example 1:
16-bit data width, read the actual frequency:
Read at address 2000, 1 register (1 x 16-bit)

Example 2:
16-bit data width, read the status word and actual frequency:
Read at address 1999, 2 register (2 x 16-bit)

Example 3:
32-bit data width, read the status word and actual frequency:
Read at address 3999, 4 register (4 x 16-bit)

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Accessing data via MODBUS

16-bit access:

Address Data type Designation Unit Description

1999 WORD* Status word - See structure of status word 4.1.2
2000 WORD Actual frequency Hz Signed 16-bit standardised to 0.1 Hz/digit
Tab.: 1 Addresses of process values Out 16-bit

32-bit access:
Address Data type Designation Unit Description
3999 DWORD* Status word - See structure of status word 4.1.2
4001 REAL*** Actual frequency Hz
Tab.: 2 Addresses of process values Out 32-bit

* WORD data type corresponds to INT16 = 2 bytes

** DWORD data type corresponds to UINT32 = 4 bytes
***REAL data type corresponds to = 4 bytes

IMPORTANT INFORMATION
The REAL depiction is the standard IEEE format
(Help: 50 % target value = 0X42480000)
The endianness of the fieldbus should be observed for all data types.

4.1.2 Structure of INVEOR status word

The meanings of the individual bits of the INVEOR status word are described in the following table.

Bit Value Meaning Description

1 Ready for engagement Grid voltage present, no fault
0
0 Not ready for engagement
1 Ready for operation No fault / HW enable set
1
0 Not ready for operation
1 Operation Motor is energised
2
0 Operation blocked

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Accessing data via MODBUS

Bit Value Meaning Description

1 Error active A fault is present
3
0 Free from faults
1 No OFF 2 On 2 off / STW bit 1 set ³(logic can be
4 inverted with parameter 6.066.)
0 Electr. stop active (OFF 2)
1 No OFF 3 On 3 off / STW bit 2 set ³(logic can be
5 inverted with parameter 6.066)
0 Rapid stop active (OFF 3)
1
1 Engagement inhibit active PWM blocked
6 1
0 No engagement inhibit PWM enabled
2
1 Warning active A warning is present
7
0 No warning
1 Nominal/actual value Actual value within a tolerance band
deviation in tolerance range Parameter 6.070 / 6.071
8 0 Nominal/actual value
deviation outside tolerance
range
1 Control from AG INVEOR is parameterised for activation via
9 fieldbus
0 No control from AG
1 Target frequency reached Actual frequency > = reference value
(Parameter 6.072)
10
0 Target frequency fallen Actual frequency < reference value
below
1 Device-specific Meaning not specified
11
0 -
1 Device-specific Meaning not specified
12
0 -
1 Device-specific Meaning not specified
13
0 -

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Accessing data via MODBUS

Bit Value Meaning Description

1 Device-specific Meaning not specified
14
0 -
1 Device-specific Meaning not specified
15
0
Tab.: 3 INVEOR status word

AG: Automation device

1 Deviation from standard
2 As of software version 03.61
3 As of software version 03.74

4.1.3 Further Process data Out

Further "Process data Out" is available as of start address 999 (16-bit access) and/or as of
address 1999 (32-bit access).
The following tables contain the process data Out available.
Please note that 1 register must be read for the 16-bit data width and 2 registers for the 32-bit
data width!

INFORMATION
With the 32-bit data width, all process data Out is of the "REAL" data type.
With the 16-bit data width, all process data Out is of the "INT16" data type (values
standardised to the maximum value)
e.g. reading the supply voltage (Address 1005)
Maximum 1000 V 14261
x 1000 V = 435,2 V
Read 14261 215

z. B. Auslesen einer negativen Ist-Frequenz (Adresse 999)

Maximum 400 Hz −2458
x 400 Hz = −30 Hz
gelesen -2458 215

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Accessing data via MODBUS

16-bit access:
Data
Address Designation Unit Maximum Description
type
999 REAL Actual frequency Hz 400 Hz
1000 REAL Output voltage V 100 V Motor voltage
1001 REAL Motor current A 100 A
1002 REAL IGBT temperature °C 200 °C
1003 REAL Intermediate circuit voltage V 1000 V
1004 REAL Target frequency value Hz 400 Hz
1005 WORD Grid voltage V 1000 V Input voltage
1006 WORD Intermediate circuit current A 100 A
1007 WORD Inner temperature °C 200 °C FC inner temperature
1008 WORD Incremental encoder speed Hz 400 Hz only with encoder option
Incremental encoder
1009 t.b.d. only with encoder option
position
1010 WORD Application error, low word 1 Bit-coded
1011 WORD Application error, high word 1 Bit-coded
1012 WORD Power error, low word 1 Bit-coded
1013 WORD Power error, high word 1 Bit-coded
Bit 0 = Dig. In 1
Bit 1 = Dig. In 2
1014 WORD Digital inputs 1 Bit 2 = Dig. In 3
Bit 3 = Dig. In 4
Bit 4 = EN-HW / STO
10.0 Analogue input 1
1015 WORD Analogue In 1 V
application
10.0 Analogue input 2
1016 WORD Analogue In 2 V
application
Frequency target value
1017 WORD F_target ramp Hz
behind ramp
Frequency target value of
1018 WORD F_target Hz
target value source
Actual value of PID
1019 WORD PID actual value % 100.0
process controller

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Accessing data via MODBUS

Data
Address Designation Unit Maximum Description
type
Target value of
1020 WORD PID target value % 100.0
PID process controller
1021 WORD Analogue Out 1 V 10.0 Analogue Out 1
1022 WORD Intermediate circuit power W 50000.0 Intermediate circuit power
1023 WORD Reserved - Reserved
1024 WORD Reserved - Reserved
1025 WORD Reserved - Reserved
1026 WORD Reserved - Reserved
1027 WORD Reserved - Reserved
1028 WORD BUS/Soft PLC status word 1 BUS/Soft PLC status word
1029 WORD Rotation speed rpm Motor shaft speed
1030 WORD Torque Nm 200.0 Torque
1031 WORD Electric motor rating W 25000.0 Electric motor rating
Virtual DigOuts of the soft
1032 WORD Virtual DigOuts, low word 1
PLC
Virtual DigOuts of the soft
1033 WORD Virtual DigOuts, high word 1
PLC
Customer-specific output Customer-specific soft PLC
1034 WORD 1 10000
variable 1 output variable
Customer-specific output Customer-specific soft PLC
1035 WORD 1 10000
variable 2 output variable
Customer-specific output Customer-specific soft PLC
1036 WORD 1 10000
variable 3 output variable
1037 WORD Operating time in seconds 1 Operating time in seconds
1038 WORD Power On cycles 1 Power On cycles
1039 WORD Electric energy kWh kWh 32767 Total electric energy

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Accessing data via MODBUS

Data
Address Designation Unit Maximum Description
type
Status of outputs:
Bit 0 = Dig Out 1
Status of outputs (DigOut 1 + Bit 1 = Dig Out 2
1040 WORD
2, relays 1 + 2) Bit 2 = Relay 1
Bit 3 = Relay 2
Bit 4 = Virt Out 1
1041 WORD Appl. (current) error, low word 1 Bit-coded
Appl. (current) error, high
1042 WORD 1 Bit-coded
word
Power (current) error, low
1043 WORD 1 Bit-coded
word
Power (current) error, high
1044 WORD 1 Bit-coded
word
Tab.: 4 Process data Out 16-bit

*Data type WORD corresponds to INT16

32-bit access:
Address Data
Designation Unit Description
type
1999 REAL Actual frequency Hz
2001 REAL Output voltage V Motor voltage
2003 REAL Motor current A
2005 REAL IGBT temperature °C
2007 REAL Intermediate circuit voltage V
2009 REAL Target frequency value Hz
2011 REAL Grid voltage V Input voltage
2013 REAL Intermediate circuit current A
2015 REAL Inner temperature °C FC inner temperature
2017 REAL Incremental encoder speed Hz only with encoder option
2019 t.b.d. Incremental encoder position only with encoder option

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Accessing data via MODBUS

Data
Address Designation Unit Description
type
2021 DWORD* Application error 1 Bit-coded
2025 DWORD Power error 1 Bit-coded
Bit 0 = Dig. In 1
Bit 1 = Dig. In 2
2029 DWORD Digital inputs 1 Bit 2 = Dig. In 3
Bit 3 = Dig. In 4
Bit 4 = EN-HW / STO
2031 REAL Analogue In 1 V Analogue input 1 application
2033 REAL Analogue In 2 V Analogue input 2 application
Frequency target value behind
2035 REAL F_target ramp Hz
ramp
Frequency target value of target
2037 REAL F_target Hz
value source
Actual value of PID process
2039 REAL PID actual value %
controller
Target value of
2041 REAL PID target value %
PID process controller
2043 REAL Analogue Out 1 V Analogue Out 1
2045 REAL Intermediate circuit power W Intermediate circuit power
2047 REAL Reserved - Reserved
2049 REAL Reserved - Reserved
2051 REAL Reserved - Reserved
2053 REAL Reserved - Reserved
2055 REAL Reserved - Reserved
2057 DWORD BUS/Soft PLC status word 1 BUS/Soft PLC status word
2059 REAL Rotation speed rpm Motor shaft speed
2061 REAL Torque Nm Torque
2063 REAL Electric motor rating W Electric motor rating
2065 DWORD Virtual DigOuts (lowWord) 1 Virtual DigOuts of the soft PLC
Customer-specific output Customer-specific soft PLC
2069 REAL 1
variable 1 output variable
Customer-specific output Customer-specific soft PLC
2071 REAL 1
variable 2 output variable

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Data
Address Designation Unit Description
type
Customer-specific output Customer-specific soft PLC output
2073 REAL 1
variable 3 variable
2075 DWORD Operating time in seconds 1 Operating time in seconds
2077 DWORD Power On cycles 1 Power On cycles
2079 REAL Electric energy Wh Wh Total electric energy
Status of outputs:
Bit 0 = Dig Out 1
Status of outputs (DigOut 1 Bit 1 = Dig Out 2
2081 DWORD
+ 2, relays 1 + 2) Bit 2 = Relay 1
Bit 3 = Relay 2
Bit 4 = Virt Out 1
2083 DWORD* Application error (at present) 1 Bit-coded
2087 DWORD Power error (at present) 1 Bit-coded
Tab.: 5 Process data Out 32-bit

4.2 Process data In control word / nominal frequency

The control word and nominal frequency can be transferred by the MODBUS master.
The two values can be written individually and together.
Example 1:
16-bit data width, write the nominal frequency:
Write at address 2002, 1 register (1 x 16-bit)
Example 2:
16-bit data width, write the control word and nominal frequency:
Write at address 2001, 2 registers (2 x 16-bit)

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Example 3:
32-bit data width, write the control word and nominal frequency:
Write at address 4003, 4 register (4 x 16-bit)

16-bit access:
Address Data type Designation Unit Description
2001 WORD* Control word - See structure of control word 4.2.1
2002 WORD Nominal frequency Hz Signed 16-bit standardised to 0.1 Hz/digit
Tab.: 6 Addresses of process values In 16-bit

32-bit access:
Address Data type Designation Unit Description
4003 DWORD* Control word - See structure of control word 4.2.1
4005 REAL*** Nominal frequency Hz
Tab.: 7 Addresses of process values In 32-bit

* WORD data type corresponds to INT16 = 2 bytes

** DWORD data type corresponds to UINT32 = 4 bytes
***REAL data type corresponds to = 4 bytes

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4.2.1 Structure of INVEOR control word

The meanings of the individual bits of the INVEOR control word are described in the following
table.

IMPORTANT INFORMATION
The control word is only accepted if bit 10 (control from AG) is set, otherwise the sent
control word is rejected.

IMPORTANT INFORMATION
The target value is only accepted if bit 6
(target value enabled) is set. Otherwise the target value is rejected.

Bit Value Meaning Description

1* ON 1 Engagement condition 1
0
0 OFF 1 Shut down via ramp
1* ON 2 Engagement condition 2
1
0 Electr. stop (OFF 2) Switch off PWM, free shutdown
1* ON 3 Engagement condition 3
2
0 Rapid stop (OFF 3) Shut down via fastest possible ramp
1* Operating condition 1 Operating condition 1
3
0 Switch off PWM, free shutdown
1* Operating condition 2 Operating condition 2
4
0 Shut down via fastest possible ramp
1 Block HLG 1
Not implemented
5
0 Stop HLG 1
Not implemented
1* Enable target value Adopt target value
6
0 Block target value Reject target value
Error acknowledgement
1 Collective acknowledgement on pos. flank
7 (0-> 1)
0* --- ---

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Bit Value Meaning Description

1 JOG (right) 1
Not implemented
8
0 1
Not implemented
1 JOG (left) 1
Not implemented
9
0 1
Not implemented
1* Control from AG Management via interface, control word valid
10
0 Control word is rejected
1 Device-specific -
11
0
1 Device-specific -
12
0
1 Device-specific -
13
0
1 Device-specific -
14
0
1 Device-specific -
15
0
Tab.: 8 Control word

HLG: Ramp function generator

* Operating condition
1
Deviation from standard

IMPORTANT INFORMATION
An example of a control word with which the start-up works is 0x45F.
The endianness of the fieldbus should be observed for all data types.

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4.2.2 Further process data In

Further process data In is available as of start address 1049 (16-bit access) and/or as of address
2099 (32-bit access).
The following tables contain the process data In available.
Please note that 1 register must be written for the 16-bit data width and 2 registers for the 32-bit
data width!

INFORMATION
With the 32-bit data width, all process data In is of the "REAL" data type.
With the 16-bit data width, all process data In is of the "INT16" data type (values
standardised to the maximum value)
e.g. adaptation of customer-specific input variable 2 (Address 1053) to 800
800
Maximum 10000
10000
𝑥𝑥 215 = 2621

16-bit access:
Maxi-
Address Data type Designation Unit mum Description

Control of outputs:
Bit 0 = Dig Out 1
(Parameter 4.150 = 25)
Bit 1 = Dig Out 2
(Parameter 4.170 = 25)
1049 WORD* Digital relay outputs 1 Bit 2 = Relay 1
(Parameter 4.190 = 25)
Bit 3 = Relay 2
(Parameter 4.210 = 25)
Bit 4 = Virt Out 1
(Parameter 4.230 = 25)
1050 WORD Analogue Out 1 V 10.0 Control of analogue output

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Accessing data via MODBUS

Maxi-
Address Data type Designation Unit mum Description

Customised
Customised input variable Soft
1051 WORD input variable 1, low 1
PLC (32 bit)
word
Customised
Customised input variable Soft
1052 WORD input variable 1, high 1
PLC (32 bit)
word
Customised
Customised input variable Soft
1053 WORD Input variable 2 / PID - 10000
PLC
actual value
Customised Customised input variable Soft
1054 WORD - 10000
input variable 3 PLC
Customised Customised input variable Soft
1055 WORD - 10000
input variable 4 PLC

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32-bit access:

Maxi-
Address Data type Designation Unit Description
mum
Control of outputs:
Bit 0 = Dig Out 1
(Parameter 4.150 = 25)
Bit 1 = Dig Out 2
(Parameter 4.170 = 25)
Digital relay
2099 DWORD* 1 Bit 2 = Relay 1
outputs
(Parameter 4.190 = 25)
Bit 3 = Relay 2
(Parameter 4.210 = 25)
Bit 4 = Virt Out 1
(Parameter 4.230 = 25)
2101 REAL Analogue Out 1 V 10.0 Control of analogue output
Customised Customised input variable Soft PLC
2103 DWORD 1
input variable 1 (32 bit)
Customised
2107 REAL Input variable 2 / - 10000 Customised input variable Soft PLC
PID actual value
Customised
2109 REAL - 10000 Customised input variable Soft PLC
input variable 3
Customised
2111 REAL - 10000 Customised input variable Soft PLC
input variable 4
Tab.: 9 Addresses of process data In 32-bit

* DWORD data type corresponds to UINT32 = 4 bytes

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Accessing data via MODBUS

4.3 Parameter

IMPORTANT INFORMATION
Only parameters with an access level of 2 or less can be accessed (see list of parameters in
operating manual).
Access for both reading and writing is possible.

IMPORTANT INFORMATION
You will find detailed information about the parameters in the "Parameters" chapter of the
"INVEOR drive controller" operating manual.

4.3.1 Parameter
The following parameters can be accessed for reading and writing.

IMPORTANT INFORMATION
Changing a parameter value via the fieldbus includes direct EEPROM write access.

INFORMATION
With the 32-bit data width, all parameters are of the "REAL" data type.
With the 16-bit data width, all parameters In are of the "INT16" data type (values
standardised to the maximum value)
e.g. adaptation of maximum frequency (Address 3000) to 75 Hz
75 Hz
Maximum 400 Hz
400 𝐻𝐻𝐻𝐻
𝑥𝑥 215 = 6144

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INFORMATION
The data below is listed sorted in ascending order by "Number*".

MODBUS INVEOR parameter

16-bit 32-bit Number* Accepted Name in English Minimum Maximum Unit

2999 5999 1.020 2: Always Minimum frequency 0 400 Hz

3000 6001 1.021 2: Always Maximum frequency 5 400 Hz

3002 6005 1.050 2: Always Deceleration time 1 0.1 1000 s

3003 6007 1.051 2: Always Run up time 1 0.1 1000 s

3047 6095 1.052 2: Always Deceleration time 2 0.1 1000 s

3048 6097 1.053 2: Always Run up time 2 0.1 1000 s

3049 6099 1.054 2: Always Ramp selection 0 9

3171 6343 1.088 2: Always Deceleration time 3 0.1 1000 s

3007 6015 1.100 2: Always Operating mode 0 3

3004 6009 1.130 2: Always Target value source 0 10

Target value
3006 6013 1.131 2: Always 0 16
approval

3080 6161 1.132 2: Always Start protection 0 8

3040 6081 1.150 2: Always Rotation direction 0 16

Acknowledge
3052 6105 1.180 2: Always 0 7
function
Auto
3053 6107 1.181 2: Always 0 1000 s
acknowledgement

3108 6217 1.182 2: Always Auto ackn. no. 0 500

Fixed frequency
3054 6109 2.050 2: Always 0 4
mode

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Accessing data via MODBUS

MODBUS INVEOR parameter

16-bit 32-bit Number* Accepted Name in English Minimum Maximum Unit

3008 6017 2.051 2: Always Fixed frequency 1 -400 400 Hz

3009 6019 2.052 2: Always Fixed frequency 2 -400 400 Hz

3010 6021 2.053 2: Always Fixed frequency 3 -400 400 Hz

3011 6023 2.054 2: Always Fixed frequency 4 -400 400 Hz

3012 6025 2.055 2: Always Fixed frequency 5 -400 400 Hz

3013 6027 2.056 2: Always Fixed frequency 6 -400 400 Hz

3014 6029 2.057 2: Always Fixed frequency 7 -400 400 Hz

3138 6277 2.150 2: Always MOP digit. input 0 8

3050 6101 2.151 2: Always MOP step range 0 100 %

3140 6281 2.152 2: Always MOP step time 0.02 1000 s

3139 6279 2.153 2: Always MOP react. Time 0.02 1000 s

MOP reference
3141 6283 2.154 2: Always 0 1
memory

3036 6073 3.050 2: Always PID-P amplific. 0 100

3037 6075 3.051 2: Always PID-I amplific. 0 100 1/s

3038 6077 3.052 2: Always PID-D amplific. 0 100 s

3005 6011 3.060 2: Always PID actual value 0 3

3081 6163 3.061 2: Always PID inverted 0 1

PID fixed nominal

3082 6165 3.062 2: Always 0 100 %
value 1
PID fixed nominal
3126 6253 3.063 2: Always 0 100 %
value 2
PID fixed nominal
3127 6255 3.064 2: Always 0 100 %
value 3

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MODBUS INVEOR parameter

16-bit 32-bit Number* Accepted Name in English Minimum Maximum Unit

PID fixed nominal

3128 6257 3.065 2: Always 0 100 %
value 4
PID fixed nominal
3129 6259 3.066 2: Always 0 100 %
value 5
PID fixed nominal
3130 6261 3.067 2: Always 0 100 %
value 6
PID fixed nominal
3131 6263 3.068 2: Always 0 100 %
value 7
PID fixed nominal
3132 6265 3.069 2: Always 0 2
mod

3083 6167 3.070 2: Always PID standby time 0 1000 s

3084 6169 3.071 2: Always PID standby hyst. 0 50 %

3165 6331 3.072 2: Always PID dry. Time 0 32767 s

3168 6337 3.073 2: Always PID target value min 0 100 %

PID target value

3169 6339 3.074 2: Always 0 100 %
max

3024 6049 4.020 2: Always AI1 input type 1 2

3025 6051 4.021 2: Always AI1 standard. Low 0 100 %

3026 6053 4.022 2: Always AI1 standard. High 0 100 %

3022 6045 4.023 2: Always AI1 dead time 0 100 %

3021 6043 4.024 2: Always AI1 filter time 0.02 1 s

3018 6037 4.030 2: Always AI1 function 0 1

3102 6205 4.033 2: Always AI1-phys unit 0 10

3103 6207 4.034 2: Always AI1 phys min -10000 10000 %

3104 6209 4.035 2: Always AI1 phys max -10000 10000 %

3166 6333 4.036 2: Always AI1 wire break time 0 32767 s

3033 6067 4.050 2: Always AI2 input type 1 2

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MODBUS INVEOR parameter

16-bit 32-bit Number* Accepted Name in English Minimum Maximum Unit

3034 6069 4.051 2: Always AI2 standard Low 0 100 %

3035 6071 4.052 2: Always AI2 standard High 0 100 %

3031 6063 4.053 2: Always AI2 dead time 0 100 %

3030 6061 4.054 2: Always AI2 filter time 0.02 1 s

3027 6055 4.060 2: Always AI2 function 0 1

3105 6211 4.063 2: Always AI2-phys unit 0 10

3106 6213 4.064 2: Always AI2 phys min -10000 10000 %

3107 6215 4.065 2: Always AI2 phys max -10000 10000 %

3167 6335 4.066 2: Always AI2 wire break time 0 32767 s

3041 6083 4.100 2: Always AO1 function 0 40

3042 6085 4.101 2: Always AO1 standard Low -32767 32767

3079 6159 4.102 2: Always AO1 standard high -32767 32767

3119 6239 4.110 2: Always DI1 inverted 0 1

3120 6241 4.111 2: Always DI2 inverted 0 1

3121 6243 4.112 2: Always DI3 inverted 0 1

3122 6245 4.113 2: Always DI4 inverted 0 1

3055 6111 4.150 2: Always DO1 function 0 60

3056 6113 4.151 2: Always DO1 on -32767 32767

3057 6115 4.152 2: Always DO1 off -32767 32767

3058 6117 4.170 2: Always DO2 function 0 60

3059 6119 4.171 2: Always DO2 on -32767 32767

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MODBUS INVEOR parameter

16-bit 32-bit Number* Accepted Name in English Minimum Maximum Unit

3060 6121 4.172 2: Always DO2 off -32767 32767

3061 6123 4.190 2: Always Rel.1 function 0 60

3062 6125 4.191 2: Always Relay 1 on -32767 32767

3063 6127 4.192 2: Always Relay 1 off -32767 32767

3093 6187 4.193 2: Always Relay 1 on delay 0 10000 s

3094 6189 4.194 2: Always Relay 1 off delay 0 10000 s

3064 6129 4.210 2: Always Relay 2 function 0 60

3065 6131 4.211 2: Always Relay 2 on -32767 32767

3066 6133 4.212 2: Always Relay 2 off -32767 32767

3095 6161 4.213 2: Always Relay 2 on delay 0 10000 s

3096 6193 4.214 2: Always Relay 2 off delay 0 10000 s

3159 6319 4.230 2: Always VO function 0 60

3160 6321 4.231 2: Always VO on -10000 10000

3161 6323 4.232 2: Always VO off -10000 10000

3162 6325 4.233 2: Always VO on delay 0 32767 s

3163 6327 4.234 2: Always VO off delay 0 32767 s

3123 6247 5.010 2: Always External fault 1 0 7

3124 6249 5.011 2: Always External fault 2 0 7

3085 6171 5.070 2: Always Motor current limit % 0 250 %

3086 6173 5.071 2: Always Motor current limit s 0 100 s

3155 6311 5.075 2: Always Gearbox factor 0 1000

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MODBUS INVEOR parameter

16-bit 32-bit Number* Accepted Name in English Minimum Maximum Unit

3110 6221 5.080 2: Always Blocking detection 0 1

3153 6307 5.081 2: Always Block.time 1 50 s

Start-up
3170 6341 5.082 2: Always 0 1
error_current

3137 6275 5.090 2: Always Par.set change 0 12

3069 6139 5.100 2: Always Techn.param.1 -9999999 9999999

3070 6141 5.101 2: Always Techn.param.2 -9999999 9999999

3071 6143 5.102 2: Always Techn.param.3 -9999999 9999999

3072 6145 5.103 2: Always Techn.param.4 -9999999 9999999

3073 6147 5.104 2: Always Techn.param.5 -9999999 9999999

3074 6149 5.105 2: Always Techn.param.6 -9999999 9999999

3075 6151 5.106 2: Always Techn.param.7 -9999999 9999999

3076 6153 5.107 2: Always Techn.param.8 -9999999 9999999

3077 6155 5.108 2: Always Techn.param.9 -9999999 9999999

3078 6157 5.109 2: Always Techn.param.10 -9999999 9999999

3143 6287 5.110 2: Always Techn.param.11 -32768 32767

3144 6289 5.111 2: Always Techn.param.12 -32768 32767

3145 6291 5.112 2: Always Techn.param.13 -32768 32767

3146 6293 5.113 2: Always Techn.param.14 -32768 32767

3147 6295 5.114 2: Always Techn.param.15 -32768 32767

3148 6297 5.115 2: Always Techn.param.16 -32768 32767

3149 6299 5.116 2: Always Techn.param.17 -32768 32767

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MODBUS INVEOR parameter

16-bit 32-bit Number* Accepted Name in English Minimum Maximum Unit

3150 6301 5.117 2: Always Techn.param.18 -32768 32767

3151 6303 5.118 2: Always Techn.param.19 -32768 32767

3152 6305 5.119 2: Always Techn.param.20 -32768 32767

3097 6195 6.050 2: Always SAS/ SPF adr 0 31

3109 6219 6.051 2: Always SAS baud rate 0 3

0:
3098 6197 6.060 Fieldbus address 0 127
Commissioning
0:
3099 6199 6.061 Fieldbus baud rate 0 8
Commissioning

3101 6203 6.062 2: Always Bus time-out 0 100 s

3175 6351 6.066 2: Always Status word Bits 4/5 0 1

Target/actual value
3156 6313 6.070 2: Always 0 100 %
dev.

3157 6315 6.071 2: Always Tolerance range 0 32767 s

3158 6317 6.072 2: Always Target comp. value 0 400 Hz

3111 6223 6.080 2: Always Process data Out 3 0 49

3112 6225 6.081 2: Always Process data Out 4 0 49

3113 6227 6.082 2: Always Process data Out 5 0 49

3114 6229 6.083 2: Always Process data Out 6 0 49

3328 6657 33.034 1: Ready Motor speed 0 80000 rpm

3329 6659 33.035 1: Ready Motor frequency 10 400 Hz

3370 6741 33.050 1: Ready Stator resistance 0 100 Ohm

3372 6745 33.105 1: Ready Scatter inductivity 0 1 H

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MODBUS INVEOR parameter

16-bit 32-bit Number* Accepted Name in English Minimum Maximum Unit

3115 6231 6.084 2: Always Process data Out 7 0 49

3116 6233 6.085 2: Always Process data Out 8 0 49

3117 6235 6.086 2: Always Process data Out 9 0 49

3118 6237 6.087 2: Always Process data Out 10 0 49

3133 6267 6.110 2: Always Process data In 3 0 10

3134 6269 6.111 2: Always Process data In 4 0 10

3135 6271 6.112 2: Always Process data In 5 0 10

3136 6273 6.113 2: Always Process data In 6 0 10

0:
3357 6715 32.100 Output power PM 0 1100 W
Commissioning

3367 6735 33.001 1: Ready Type of motor 1 2

3355 6711 33.010 2: Always I2T fact. motor 0 1000 %

3339 6679 33.011 2: Always I2T time 0 1200 s

3387 6775 33.015 1: Ready R optimisation 0 200 %

Motor phase
3402 6805 33.016 1: Ready 0 1
monitoring

3325 6651 33.031 1: Ready Motor current 0 150 A

3326 6653 33.032 1: Ready Motor rating 50 55000 W

3323 6647 33.110 1: Ready Motor voltage 0 1500 V

3327 6655 33.111 1: Ready Motor cos phi 0.5 1

3380 6761 33.138 2: Always Holding current time 0 3600 s

3371 6743 33.200 1: Ready Stator induc. 0 1 H

3384 6769 33.201 1: Ready Nominal flux 0 10000 mVs

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MODBUS INVEOR parameter

16-bit 32-bit Number* Accepted Name in English Minimum Maximum Unit

3366 6733 34.010 1: Ready Control method 100 299

3340 6681 34.011 1: Ready Type of encoder 0 2 1

3341 6683 34.012 1: Ready Encoder line count 0 10000 1

4442 8885 34.013 2: Always Encoder offset -360 360 °

3386 6773 34.020 2: Always Flying restart 0 1

3385 6771 34.021 2: Always Catch time 0 10000 ms

3263 6527 34.030 2: Always Switching frequency 1 4

3376 6753 34.090 2: Always Speed controller Kp 1 10000 mA/rad/s

3377 6755 34.091 2: Always Speed controller Tn 0 10 s

3368 6737 34.110 2: Always Slip trimmer 0 1.5

Quadr. characteristic
3393 6787 34.120 2: Always 0 1
curve

3394 6789 34.121 2: Always Flux adjustment 10 100 %

Control reserve
3369 6739 34.130 2: Always 0 3
voltage

3392 6785 34.225 1: Ready Field weaken.PMSM 0 1

PMSM start-up
3391 6783 34.226 2: Always 5 1000 %
current

3398 6797 34.227 1: Ready PMSM init. time 0 100 s

PMSM start-up
3395 6791 34.228 1: Ready 0 1
procedure

3396 6793 34.229 1: Ready PMSM start-up ramp 0.1 1000 s

3397 6795 34.230 1: Ready Start-up frequency P 5 400 Hz

3375 6751 35.080 2: Always Brake chopper 0 1

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5. Error detection and troubleshooting
The errors from the application and power side can be issued in the Process data Out
(see Chapter 4.1.3 "weitere Prozessdaten Out").

5.1 Error word of application side

The following section contains a list of possible error messages of the application.

Bit. Error number Description

0 1 Undervoltage 24 V application
1 2 Overvoltage 24 V application
5 6 Customer PLC version error
7 8 Communication application<>power
9 10 Parameter distributor
10 11 Power time out
Cable break at analogue in 1
12 13
(4–20 mA / 2–10 V)
Cable break at analogue in 2
13 14
(4–20 mA / 2–10 V)
14 15 Blocking detection
15 16 PID dry run

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Error det ection and troubl eshooting

Bit. Error number Description

16 17 Start-up error
17 18 Excess temperature for frequency converter application
20 21 Bus time-out
21 22 Acknowledgement error
22 23 External fault 1
23 24 External fault 2
24 25 Motor detection
25 26 STO inputs plausibility
Tab.: 10 Application error word

5.2 Error word of power side

The following section contains a list of possible power side error messages.

Bit. Error number Description

0 32 Trip IGBT
1 33 Overvoltage of intermediate circuit
2 34 Undervoltage of intermediate circuit
3 35 Excess motor temperature
4 36 Power failure
6 38 Excess IGBT module temperature
7 39 Overcurrent
8 40 Excess frequency converter temperature
10 42 I2T motor protection shut-off
11 43 Ground leak
13 45 Motor connection disrupted
14 46 Motor parameters
15 47 Drive controller parameters
16 48 Type plate data
17 49 Power class restriction
21 53 Motor tipped
Tab.: 11 Power error word

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KOSTAL Industrie Elektrik GmbH
Lange Eck 11
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Germany
08/2017 – BA – FBMO – EN

Service-Hotline: +49 2331 8040-848

Phone: +49 2331 8040-800
Fax: +49 2331 8040-602

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