Altivar® 61 / 71

Profibus DPv1
User's manual VW3 A3 307 S371
30072-452-99
Retain for future use.
Altivar® 61 / 71 Profibus DPv1 30072-452-99
Table of Contents 07/2009

Table of Contents
Hazard Categories and Special Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Electrostatic Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Bus Voltage Measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Documentation Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Installation Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Programming Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Communication Parameters Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Modbus®, CANopen, Ethernet, Profibus, INTERBUS, Uni-Telway™, FIPIO®, Modbus® Plus, DeviceNet™ Manuals. . 8

ATV58-58F/ATV71 Compatibility Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Receipt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Installing the Card in the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Connection to the Bus. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Recommendations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Configuring the Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Control Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Configuring Profibus Variables PZDs (Communication Scanner) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Configuring Communication Interruption Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Configuring Monitored Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Monitoring the Address and Speed of the Bus. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Control-Signal Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Configuring Communication Interruption Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Card Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Software Setup of DPv1 Messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Profibus DPv1 Protocol. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Indirect Access (Using SLOT 1 Only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Direct Access (Using the SLOT INDEX). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Software Setup of DPv0 Messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Output PZDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Input PZDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

PKW Aperiodic Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

© 2009 Schneider Electric USA All Rights Reserved 3

30072-452-99 Altivar® 61 / 71 Profibus DPv1
07/2009 Table of Contents

Software Setup Using PL7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Example with SIMATIC Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

4 © 2009 Schneider Electric USA All Rights Reserved

Altivar® 71 Programming Guide 30072-452-92
Hazard Categories and Special Symbols 07/2009

Hazard Categories and Special Symbols

The following symbols and special messages may appear in this manual or on the equipment to warn of potential hazards or to call
attention to information that clarifies or simplifies a procedure.
A lightning bolt or ANSI man symbol in a “Danger” or “Warning” safety label on the equipment indicates an electrical hazard which,
as indicated below, can or will result in personal injury if the instructions are not followed.
The exclamation point symbol in a safety message in a manual indicates potential personal injury hazards. Obey all safety
messages introduced by this symbol to avoid possible injury or death.

Symbol Name

Lightning Bolt

ANSI Man

Exclamation Point

DANGER
DANGER indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury.

WARNING
WARNING indicates a potentially hazardous situation which, if not avoided, can result in death or serious injury.

CAUTION
CAUTION indicates a potentially hazardous situation which, if not avoided, can result in minor or moderate injury.

CAUTION
CAUTION, used without the safety alert symbol, indicates a potentially hazardous situation which, if not avoided, can result in
property damage.

Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel. No responsibility is
assumed by Schneider Electric for any consequences arising out of the use of this material.
The word drive as used in this manual refers to the controller portion of the adjustable speed drive as per the NEC.

© 2009 Schneider Electric USA All Rights Reserved 5

30072-452-92 Altivar® 71 Programming Guide
07/2009 Before You Begin

Before You Begin

Read and understand these instructions before performing any procedure on this drive. 1

DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
• Read and understand this manual before installing or operating the Altivar® 61 or 71 drive. Installation, adjustment, repair,
and maintenance must be performed by qualified personnel.
• The user is responsible for compliance with all national and local electrical code requirements with respect to grounding of all
equipment.
• Many parts in this drive, including the printed circuit boards, operate at the line voltage. DO NOT TOUCH. Use only electrically
insulated tools.
• DO NOT touch unshielded components or terminal strip screw connections with voltage present.
• DO NOT short across PA/+ and PC/– or across the DC bus capacitors.
• Before servicing the drive:
— Disconnect all power, including external control power that may be present.
— Place a “DO NOT TURN ON” label on all power disconnects.
— Lock all power disconnects in the open position.
— WAIT 15 MINUTES to allow the DC bus capacitors to discharge. Then follow the "Bus voltage Measurement" procedure
on page 7 to verify that the DC voltage is less than 42 V. The drive LED is not an indicator of the absence of DC bus
voltage.
• Install and close all covers before applying power or starting and stopping the drive.

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

DANGER
UNINTENDED EQUIPMENT OPERATION
Before turning the drive on, or on exiting the configuration menus, check that the inputs assigned to the run command are
deactivated (at state 0) since they can cause the motor to start immediately.

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

WARNING
DAMAGED DRIVE OR DRIVE ACCESSORY—UNINTENDED EQUIPMENT OPERATION
Do not install or operate any drive or drive accessory that appears damaged. The relays, inputs, or outputs of a damaged drive
may not operate in a normal manner, leading to unintended equipment operation.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

WARNING
LOSS OF CONTROL
• The designer of any control scheme must consider the potential failure modes of control paths and, for certain critical control
functions, provide a means to achieve a safe state during and after a path failure. Examples of critical control functions are
emergency stop and overtravel stop.
• Separate or redundant control paths must be provided for critical control functions.
• System control paths may include communication links. Consideration must be given to the implications of unanticipated
transmission delays or failures of the link. 2
• Each implementation of an Altivar 61 or 71 drive must be individually and thoroughly tested for proper operation before being
placed into service.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

1. The word drive as it is used in this manual refers to the controller portion of the adjustable speed drive as per the NEC.
2. For additional information refer to NEMA ICS 1.1 (latest edition), “Safety Guidelines for the Application, Installation, and Maintenance of Solid State Control” and to
NEMA ICS 7.1 (latest edition), “Safety Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive Systems.”

6 © 2009 Schneider Electric USA All Rights Reserved

Altivar® 71 Programming Guide 30072-452-92
Electrostatic Precautions 07/2009

Electrostatic Precautions

CAUTION
STATIC SENSITIVE COMPONENTS
Circuit boards and option cards can be damaged by static electricity. Observe the electrostatic precautions below when handling
circuit boards or testing components.

Failure to follow these instructions can result in injury or equipment damage.

Observe the following precautions for handling static-sensitive components:

• Keep static-producing material such as plastic, upholstery, and carpeting out of the immediate work area.
• Store static-sensitive components in protective packaging when they are not installed in the drive.
• When handling a static-sensitive component, wear a conductive wrist strap connected to the component or drive through a
minimum of 1 megohm resistance.
• Avoid touching exposed conductors and component leads with skin or clothing.

Bus Voltage Measurement

DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
Read and understand the precautions in “Before You Begin” starting on page 6 before performing this procedure.

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

The DC bus voltage can exceed 1,000 Vdc. Use a properly rated voltage-sensing device when performing this procedure. To
measure the DC bus voltage:
1. Disconnect all power.
2. Wait 15 minutes to allow the DC bus to discharge.
3. Measure the voltage of the DC bus between the PA/+ and PC/– terminals to ensure that the voltage is less than 42 Vdc.These
terminals are clearly labeled on each drive.
4. If the DC bus capacitors do not discharge completely, contact your local Schneider Electric representative. Do not repair or
operate the drive.

CAUTION
IMPROPER DRIVE OPERATION
• If no power is applied to the drive for a long period, the performance of its electrolytic capacitors will be reduced.
• Apply power to the drive every two years using the following procedure. Do not initially connect the drive directly to full line
voltage. Without a motor connected to the drive, gradually increase the voltage using an adjustable AC source connected
between drive terminals L1 and L2:
— 25% of rated voltage for 30 minutes
— 50% of rated voltage for 30 minutes
— 75% of rated voltage for 30 minutes
— 100% of rated voltage for at least 5 hours
• Check the drive operation before placing into service.

Failure to follow these instructions can result in injury or equipment damage.

© 2009 Schneider Electric USA All Rights Reserved 7

30072-452-92 Altivar® 71 Programming Guide
07/2009 Documentation Structure

Documentation Structure

Installation Manual
This manual describes:
• How to assemble the drive
• How to connect the drive

Programming Manual
This manual describes:
• The functions
• The parameters
• How to use the drive display terminal (integrated display terminal and graphic display terminal)

Communication Parameters Manual

This manual describes:
• The drive parameters with specific information (addresses, formats, etc.) for use via a bus or communication network
• The operating modes specific to communication (status chart)
• The interaction between communication and local control

Modbus®, CANopen, Ethernet, Profibus, INTERBUS, Uni-Telway™, FIPIO®, Modbus® Plus,

DeviceNet™ Manuals
These manuals describe:
• Connection to the bus or network
• Configuration of the communication-specific parameters via the integrated display terminal or the graphic display terminal
• Diagnostics
• Software setup
• The communication services specific to the protocol

ATV58-58F/ATV71 Compatibility 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.

8 © 2009 Schneider Electric USA All Rights Reserved

Altivar® 61 / 71 Profibus DPv1 30072-452-99
Introduction 07/2009

Introduction

The Profibus DP communication card (catalog number VW3A A3 307 S371) is used to connect an Altivar® 61 / 71 drive to a
Profibus DPv1 bus.
This communication option card is supported by Altivar 61 firmware version V1.5 IE 13 and higher, and is only supported by
Altivar 71 firmware version V1.6 IE 19 and above. Specific versions of the Altivar 71 firmware are not supported.
Data is exchanged in order to make use of the following Altivar 61 / 71 functions:
• Configuration
• Adjustment
• Control
• Monitoring
• Diagnostics
The card has a 9-pin female SUB-D connector for connection to the Profibus DPv1 bus. The connector and cable for connection to
the Profibus DPv1 bus must be ordered separately.

© 2009 Schneider Electric USA All Rights Reserved 9

30072-452-99 Altivar® 61 / 71 Profibus DPv1
07/2009 Hardware Setup

Hardware Setup

Receipt
• Check that the card catalog number marked on the label is the same as that on the delivery note corresponding to the purchase
order.
• Remove the option card from its packaging and check that it has not been damaged in transit.

Presentation

1 LEDs

Addressing switches, also used to adjust

2
the drive process data exchange mode

3 9-pin female SUB-D connector

Installing the Card in the Drive

DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
Read and understand the instructions on page 7 before performing this procedure.
Failure to follow these instructions will result in death or serious injury.

Before working on the drive, turn it off and wait 15 minutes to allow the DC bus to discharge. Then, read and follow the “Bus
Voltage Measurement” procedure on page 7.
Refer to the drive instruction bulletin included with the drive.

10 © 2009 Schneider Electric USA All Rights Reserved

Altivar® 61 / 71 Profibus DPv1 30072-452-99
Hardware Setup 07/2009

Connection to the Bus

Connector pinout
The transmission interface conforms to the RS 485 standard and is electrically isolated from the drive.

Pin 5 Pin 1

9-pin female SUB-D

Pin 9 Pin 6

Pin Signal Pin Signal Pin Signal

1 Not connected 4 Not connected 7 Not connected
RxD/TxD-P
2 Not connected 5 DGND (Ground) 8
(Reception/Transmission +)
RxD/TxD-N
3 6 VP (5 volts) 9 Not connected
(Reception/Transmission -)

Connection accessories

Profibus DP bus connection elements

Description Used Catalog number
With line terminator 490 NAD 911 03
Connectors Intermediate connection 490 NAD 911 04
Intermediate connection and connector port 490 NAD 911 05

Profibus DP bus connection cables

Description Length Catalog number
100 m TSX PBS CA 100
Profibus DP connection cables
400 m TSX PBS CA 400

Example of connection:

Profibus DP communication module: TSX-PBY100

Altivar 61 / 71 Altivar 61 / 71

TSX PREMIUM PLC

Intermediate
connectors
490 NAD 911 04

Connector with line

terminator 490 NAD 911 03

Profibus DP connection
cable TSX PBS CAp00

© 2009 Schneider Electric USA All Rights Reserved 11

30072-452-99 Altivar® 61 / 71 Profibus DPv1
07/2009 Hardware Setup

Recommendations
• The user can select the data rate from a range of 9.6 kbps to 12 Mbps. This selection, made when starting up the network,
applies to the bus subscribers.
• The maximum segment length is in inverse proportion to the data rate.

Data rate (kbps) 9.6 19.2 93.75 187.5 500 1500 3000 6000 12000

Distance/segment (m) 1200 1200 1200 1000 400 200 100 100 100

Repeaters can be used to cover greater distances.

• The bus ends with a line terminator at each end of the segment.
• Do not connect more than 32 stations per segment without a repeater, or more than 127 stations with a repeater.
• Keep the bus away from the power cables (clearance of at least 30 cm).
• If it is necessary for power cables to cross each other, be sure they cross at right angles.

12 © 2009 Schneider Electric USA All Rights Reserved

Altivar® 61 / 71 Profibus DPv1 30072-452-99
Configuration 07/2009

Configuration

Configuring the Switches

DANGER
UNINTENDED EQUIPMENT OPERATION
Before turning the drive on, or on exiting the configuration menus, check that the inputs assigned to the run command are
deactivated (at state 0) since they can cause the motor to start immediately.

Failure to follow these instructions can result in equipment damage.

NOTE: A new configuration of the switches (address and mode) will only be applied after the next power up of the drive.

Selecting the Operating Mode

The switch furthest to the left is used to determine the type of cyclic exchanges performed by the drive:
• Switch 0 (OFF): Altivar® 61 / 71 mode
• Switch 1 (ON): Altivar® 58 compatibility mode
This manual only describes Altivar 61 / 71 mode. To find out about Altivar 58 compatibility mode, refer to the ATV58-58F/ATV71
migration manual.

© 2009 Schneider Electric USA All Rights Reserved 13

30072-452-99 Altivar® 61 / 71 Profibus DPv1
07/2009 Configuration

Coding the Drive Address

An Altivar® 61 / 71 is identified on the bus by its address, coded between 0 and 126. The address corresponds to the binary
number given by position 0 (up/OFF) or 1 (down/ON) of the 7 switches on the right of the card. The least significant bits are on the
right.
The table below indicates the positions of the switches for the configurable addresses:

Addr. Switches Addr. Switches Addr. Switches Addr. Switches

0 0000 0000 032 0010 0000 064 0100 0000 096 0110 0000
1 0000 0001 033 0010 0001 065 0100 0001 097 0110 0001
002 0000 0010 034 0010 0010 066 0100 0010 098 0110 0010
003 0000 0011 035 0010 0011 067 0100 0011 099 0110 0011
004 0000 0100 036 0010 0100 068 0100 0100 100 0110 0100
005 0000 0101 037 0010 0101 069 0100 0101 101 0110 0101
006 0000 0110 038 0010 0110 070 0100 0110 102 0110 0110
007 0000 0111 039 0010 0111 071 0100 0111 103 0110 0111
008 0000 1000 040 0010 1000 072 0100 1000 104 0110 1000
009 0000 1001 041 0010 1001 073 0100 1001 105 0110 1001
010 0000 1010 042 0010 1010 074 0100 1010 106 0110 1010
011 0000 1011 043 0010 1011 075 0100 1011 107 0110 1011
012 0000 1100 044 0010 1100 076 0100 1100 108 0110 1100
013 0000 1101 045 0010 1101 077 0100 1101 109 0110 1101
014 0000 1110 046 0010 1110 078 0100 1110 110 0110 1110
015 0000 1111 047 0010 1111 079 0100 1111 111 0110 1111
016 0001 0000 048 0011 0000 080 0101 0000 112 0111 0000
017 0001 0001 049 0011 0001 081 0101 0001 113 0111 0001
018 0001 0010 050 0011 0010 082 0101 0010 114 0111 0010
019 0001 0011 051 0011 0011 083 0101 0011 115 0111 0011
020 0001 0100 052 0011 0100 084 0101 0100 116 0111 0100
021 0001 0101 053 0011 0101 085 0101 0101 117 0111 0101
022 0001 0110 054 0011 0110 086 0101 0110 118 0111 0110
023 0001 0111 055 0011 0111 087 0101 0111 119 0111 0111
024 0001 1000 056 0011 1000 088 0101 1000 120 0111 1000
025 0001 1001 057 0011 1001 089 0101 1001 121 0111 1001
026 0001 1010 058 0011 1010 090 0101 1010 122 0111 1010
027 0001 1011 059 0011 1011 091 0101 1011 123 0111 1011
028 0001 1100 060 0011 1100 092 0101 1100 124 0111 1100
029 0001 1101 061 0011 1101 093 0101 1101 125 0111 1101
030 0001 1110 062 0011 1110 094 0101 1110 0111 1110
126
031 0001 1111 063 0011 1111 095 0101 1111 0111 1111
• Addresses 0 and 1 are usually reserved for the Profibus DPv1 masters and must not be used to configure the Profibus DPv1
address on an Altivar 61 / 71.
• It is not advised to use address 126, which is incompatible with SSA service (Set Slave Address) and with some network
configuration software (such as, Sycon).
Examples:

Address 23

Address 89

The address can be checked using the display terminal (see Diagnostics on page 22).

14 © 2009 Schneider Electric USA All Rights Reserved

Altivar® 61 / 71 Profibus DPv1 30072-452-99
Configuration 07/2009

Control Configuration
There are a number of possible configurations. For more information, refer to the programming and communication parameters
manuals. The configurations below are just some of the possibilities available.
Control via Profibus DPv1 in I/O profile
The run command and the speed reference come from Profibus DPv1.Control is in I/O profile.
Configure the following parameters:

Parameter Value Comment

Profile I/O profile The run command is obtained by bit 0 of the command word.
Reference 1 configuration Network card The reference comes from Profibus DPv1.
Command 1 configuration Network card The command comes from Profibus DPv1.

Configuration via the graphic display terminal or the integrated display terminal:

Menu Parameter Value

[Profile] (CHCF) [I/O profile] (IO)
[1.6 - COMMAND] (/I7!) [Ref. 1 chan] (Fr1) [Com. opt card] (nEt)
[Cmd channel 1] (Cd1) [Com. opt card] (D1I)

Control via Profibus DPv1 or via the terminals in I/O profile

The run command and the speed reference both come from Profibus DPv1 or the terminals. Input LI5 at the terminals is used to
switch between Profibus DPv1 and the terminals. Control is in I/O profile.
Configure the following parameters:

Parameter Value Comment

Profile I/O profile The run command is obtained by bit 0 of the command word.
Reference 1 configuration Network card Reference 1 comes from Profibus DPv1.
Reference 1B configuration Analog input 1 on the terminals Reference 1B comes from input AI1 on the terminals.
Reference switching Input LI5 Input LI5 switches the reference (1 ↔ 1B).
Command 1 configuration Network card Command 1 comes from Profibus DPv1.
Command 2 configuration Terminals Command 2 comes from the terminals.
Command switching Input LI5 Input LI5 switches the command.

Reference 1B is connected to the functions (summing, PID, etc.) that remain active, even after switching.
Configuration via the graphic display terminal or the integrated display terminal:

Menu Parameter Value

[Profile] (CHCF) [I/O profile] (IO)
[Ref. 1 chan] (Fr1) [Com. card] (nEt)
[1.6 - COMMAND] (CtL-) [Cmd channel 1] (Cd1) [Com. card] (nEt)
[Cmd channel 2] (Cd2) [Terminals] (tEr)
[Cmd switching] (CCS) [LI5] (LI5)
[1.7 APPLICATION FUNCT.] (FUn-) [Ref. 1B chan] (Fr1b) [AI1 ref.] (AI1)
[REFERENCE SWITCH.] [Ref 1B switching] (rCb) [LI5] (LI5)

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30072-452-99 Altivar® 61 / 71 Profibus DPv1
07/2009 Configuration

Control via Profibus DPv1 in Drivecom profile

The run command and the speed reference come from Profibus DPv1.
Control is in Drivecom profile.
Configure the following parameters:

Parameter Value Comment

The run commands are in Drivecom profile, the command and the reference come
Profile Not Separate Drivecom profile
from the same channel.
Reference 1 configuration Network card The command comes from Profibus DPv1.

Configuration via the graphic display terminal or the integrated display terminal:

Menu Parameter Value

[Profile] (CHCF) [Not Separate] (SIM) (factory setting)
[1.6 - COMMAND] (CtL)
[Ref. 1 chan] (Fr1) [Com. card] (nEt)

Control via Profibus DPv1 or the terminals in Drivecom profile

The run command and the speed reference both come from Profibus DPv1 or the terminals. Input LI5 at the terminals is used to
switch between Profibus DPv1 and the terminals. Control is in Drivecom profile.
Configure the following parameters:

Parameter Value Comment

The run commands are in the Drivecom profile, the command and the
Profile Not Separate Drivecom profile
reference come from the same channel.
Reference 1 configuration Network card Reference 1 comes from Profibus DPv1.
Reference 2 configuration Analog input 1 on the terminals Reference 2 comes from input AI1 on the terminals.
Reference switching Input LI5 Input LI5 switches the reference (1 ↔ 2) and the command.

Configuration via the graphic display terminal or the integrated display terminal:

Menu Parameter Value

[Profile] (CHCF) [Not Separate] (SIM)
[Ref. 1 chan] (Fr1) [Com. card] (nEt)
[1.6 - COMMAND] (CtL)
[Ref. 2 chan] (Fr2) [AI1 ref.] (AI1)
[Ref 2 switching] (rFC) [LI5] (LI5)

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Altivar® 61 / 71 Profibus DPv1 30072-452-99
Configuration 07/2009

Control in Drivecom profile via Profibus DPv1 and reference switching at the terminals
The run command comes from Profibus DPv1. The speed reference comes either from Profibus DPv1 or from the terminals. Input
LI5 at the terminals is used to switch the reference between Profibus DPv1 and the terminals. Control is in the Drivecom profile.

Configure the following parameters:

Parameter Value Comment

The run commands are in Drivecom profile, the command and the reference
Profile Separate Drivecom profile
can come from different channels.
Reference 1 configuration Network card Reference 1 comes from Profibus DPv1.
Reference 1B configuration Analog input 1 on the terminals Reference 1B comes from input AI1 on the terminals.
Reference switching Input LI5 Input LI5 switches the reference (1 ↔ 1B).
Command 1 configuration Network card Command 1 comes from Profibus DPv1.
Command switching Channel 1 Channel 1 is the command channel.

Reference 1B is connected to the functions (summing, PID, etc.) that remain active, even after switching.

Configuration via the graphic display terminal or the integrated display terminal:

Menu Parameter Value

[Profile] (CHCF) [Separate] (SEP)
[Ref. 1 chan] (Fr1) [Com. card] (nEt)
[1.6 - COMMAND] (CtL-)
[Cmd channel 1] (Cd1) [Com. card] (nEt)
[Cmd switching] (CCS) [ch1 active] (Cd1)
[1.7 APPLICATION FUNCT.] (FUn-) [Ref. 1B chan] (Fr1b) [AI1 ref.] (AI1)
[REFERENCE SWITCH.] [Ref 1B switching] (rCb) [LI5] (LI5)

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30072-452-99 Altivar® 61 / 71 Profibus DPv1
07/2009 Configuration

Configuring Profibus Variables PZDs (Communication Scanner)

PZDs are configured through the communication scanner. The 8 periodic output variables are assigned by means of parameters
nCA1 to nCA8. They are configured using the graphic display terminal via the [1.9 - COMMUNICATION] (COM-) menu and
[COM. SCANNER OUTPUT] (OCS-) submenu.
NOTE: [COM. SCANNER OUTPUT] (OCS-) submenu defines the data (parameters nCA1 to nCA8) from the PLC to the drive.
An nCAp parameter with a value of zero does not designate any parameter in the drive. These 8 words are described in the table
below:

Parameter name Profibus variable Default assignment

[Scan. Out1 address] (nCA1) PZD1 Command word (CMD)
[Scan. Out2 address] (nCA2) PZD2 Speed reference (LFRD)—in rpm
[Scan. Out3 address] (nCA3) PZD3 Not used
[Scan. Out4 address] (nCA4) PZD4 Not used
[Scan. Out5 address] (nCA5) PZD5 Not used
[Scan. Out6 address] (nCA6) PZD6 Not used
[Scan. Out7 address] (nCA7) PZD7 Not used
[Scan. Out8 address] (nCA8) PZD8 Not used

The 8 periodic input variables are assigned by means of parameters nMA1 to nMA8. They are configured using the graphic display
terminal via the [1.9 - COMMUNICATION] (COM-) menu and [COM. SCANNER INPUT] (ICS-) submenu.
NOTE: [COM. SCANNER INPUT] (ICS-) submenu defines the data (parameters nMA1 to nMA8) from the drive to the PLC.
An nMAp parameter with a value of zero does not designate any parameter in the drive. These 8 words are described in the table
below:

Parameter name Profibus variable Default assignment

[Scan. In1 address] (nMA1) PZD1 Status word (ETA)
[Scan. In2 address] (nMA2) PZD2 Output speed (RFRD)—in rpm
[Scan. In3 address] (nMA3) PZD3 Not used
[Scan. In4 address] (nMA4) PZD4 Not used
[Scan. In5 address] (nMA5) PZD5 Not used
[Scan. In6 address] (nMA6) PZD6 Not used
[Scan. In7 address] (nMA7) PZD7 Not used
[Scan. In8 address] (nMA8) PZD8 Not used

Example of configuring PZDs via the graphic display terminal:

RDY NET +0.00Hz 0A RDY NET +0.00Hz 0A

COM. SCANNER INPUT COM. SCANNER OUTPUT
Scan. In1 address : 3201 Scan. Out1 address : 8501
Scan. In2 address : 8604 Scan. Out2 address : 8602
Scan. In3 address : 0 Scan. Out3 address : 0
Scan. In4 address : 0 Scan. Out4 address : 0
Scan. In5 address : 0 Scan. Out5 address : 0
Code Quick Code Quick
Scan. In6 address : 0 Scan. Out6 address : 0
Scan. In7 address : 0 Scan. Out7 address : 0
Scan. In8 address : 0 Scan. Out8 address : 0

WARNING
LOSS OF CONTROL
• All modifications to parameters nMA1, nMA8 or nCA1, and nCA8 must be made with the motor stopped.
• The master PLC program should be updated with these modifications.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

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Altivar® 61 / 71 Profibus DPv1 30072-452-99
Configuration 07/2009

Configuring Communication Interruption Management

The response of the drive in the event of a Profibus DPv1 communication interruption can be configured.

RDY NET +0.00Hz 0A

COM. FAULT MANAGEMENT
Network fault mgt : Freewheel
Configuration can be performed using the graphic display terminal or the
integrated display terminal via the [Network fault mgt] (CLL) parameter in CANopen fault mgt : Freewheel
the [1.8 - FAULT MANAGEMENT] (FLt-) menu Modbus fault mgt : Freewheel
([COM. FAULT MANAGEMENT] (CLL-) submenu).

Code Quick

The values of the [Network fault mgt] (CLL) parameter, which trigger a [Com. network] (CnF), are:

Value Meaning
[Freewheel] (YES) : Freewheel stop (factory setting).
[Ramp stop] (rMP) : Stop on ramp.
[Fast stop] (FSt) : Fast stop.
[DC injection] (dCI) : DC injection stop.

The values of the [Network fault mgt] (CLL) parameter, which do not trigger a [Com. network] (CnF), are:

Value Meaning
[Ignore] (nO) : Event ignored.
[Per STT] (Stt) : Stop according to configuration of [Type of stop] (Stt).
Change to fallback speed, maintained as long as the detected fault persists and the run command has
[fallback spd] (LFF) :
not been removed.
The drive maintains the speed at the time the detected fault occurred, as long as the detected fault
[Spd maint.] (rLS) :
persists and the run command has not been removed.

The fallback speed can be configured in the [1.8 – FAULT MANAGEMENT] (FLt-) menu using the [Fallback speed] (LFF) parameter.

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30072-452-99 Altivar® 61 / 71 Profibus DPv1
07/2009 Configuration

Configuring Monitored Parameters

Up to 4 parameters can be selected and their value displayed in the [1.2 - MONITORING] menu ([COMMUNICATION MAP]
submenu) on the graphic display terminal.
The selection is made via the [6 - MONITORING CONFIG.] menu ([6.3 - CONFIG. COMM. MAP] submenu).

Each parameter in the range [Address 1 select] … RDY NET +0.00Hz 0A

[Address 4 select] can be used to select the parameter logic
address. An address at zero is used to disable the function. The 6.3 CONFIG. COMM. MAP.
Communication Parameters instruction manual provided on the Address 1 select : 3204
CD-ROM that is included with the drive can be used to obtain logic
addresses. Format address 1 : Signed
Address 2 select : 3205
In the example given here, the monitored words are:
Format address 2 : Signed
• Parameter 1 = Motor current (LCR): Logic address W3204;
signed decimal format Address 3 select : 7121
• Parameter 2 = Motor torque (OTR): Logic address W3205; Code Quick
signed decimal format
Format address 3 : Hex
• Parameter 3 = Last detected fault (LFT): Logic address W7121;
hexadecimal format Address 4 select : 0
• Disabled parameter: Address W0; default format: Hexadecimal Format address 4 : Hex
format

One of the three display formats below can be assigned to each monitored word:

Format Range Terminal display

Hexadecimal 0000 … FFFF [Hex]
Signed decimal -32,767 … 32,767 [Signed]
Unsigned decimal 0 … 65,535 [Not signed]

NOTE: If a monitored parameter:

—has been assigned to an unknown address (such as, 3200)
—has been assigned to a protected parameter
—has not been assigned
the value displayed in the [COMMUNICATION MAP] screen will be "-----" (see “Control-Signal Diagnostics” on page 22).

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Altivar® 61 / 71 Profibus DPv1 30072-452-99
Diagnostics 07/2009

Diagnostics
Monitoring the Address and Speed of the Bus
From the graphic display terminal, select the [1.9 - COMMUNICATION] (COM-) menu ([PROFIBUS DP] (PbS-) submenu) to
display both parameters:
• [Address] (Adrc): Drive address on the bus configured with the switches
• [Bit rate] (bdr): Bus speed imposed by the Profibus DPv1 master
These parameters cannot be modified.

LEDs
The Profibus DPv1 card has two LEDs, ST and DX, visible through the window on the cover of the Altivar 61 / 71:
1.1
1.2 • The status of the Profibus DPv1 card is indicated by the red ST (status) LED: LED 2.1.
1.3 • The status of the Profibus DPv1 communication link is indicated by the green DX (data exchange) LED: LED 2.2.
1.4
1.5

2.1 ST
2.2 DX
2.3
2.4
2.5

The table below provides the meaning of the various states of these two LEDs:

Red ST LED Green DX LED

Description Corrective action(s)
(LED 2.1) (LED 2.2)

The card has been configured and its

parameters set correctly by the master.

Enter a value between 1 and 126 using the switches on the

The card is in Idle state, awaiting configuration.
option card.

Check the connection to the Profibus DPv1 bus, start up the

The card is in Wait_Prm or Wait_Cfg state. PLC, and, if the drive has a communication card interruption
(CnF) [Com Network], reset it.

The card is in ILF [Internal Com Link] detected Check the connection between the Profibus DPv1 card and
fault mode. the drive. See page 25 for more information.

The card is in the "data exchange" state, and

data exchange is taking place.

No communication on the bus, Check the connection to the Profibus DPv1 bus, start up the
no data is being exchanged. PLC.

LED states

LED off Slow flashing (0.5 s)

LED on Quick flashing (0.1 s)

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30072-452-99 Altivar® 61 / 71 Profibus DPv1
07/2009 Diagnostics

Control-Signal Diagnostics
On the graphic display terminal, the [1.2 - MONITORING] menu ([COMMUNICATION MAP] submenu) can be used to display
control-signal diagnostic information between the Altivar 61 / 71 drive and the Profibus DPv1 master:
• Active command channel
• Value of the command word (CMD) from the active command channel
• Active reference channel
• Value of the reference from the active reference channel
• Value of the status word
• Values of four parameters selected by the user
• In the [COM. SCANNER INPUT MAP] submenu: PZD input values
• In the [COM SCANNER OUTPUT MAP] submenu: PZD output values
• In the [CMD. WORD IMAGE] submenu: Command words from the channels
• In the [FREQ. REF. WORD MAP] submenu: Frequency reference from the channels
Example of the display of communication diagnostic information

RUN NET +50.00Hz 80A

COMMUNICATION MAP
Command channel : Com. card
Cmd value : 000FHex
Channel ref. active : Com. card
Frequency ref : 500.0Hz
Status word : 8627Hex
Code Quick
W3204 : 53
W3205 : 725
W7132 : 0000Hex
W0 : -----Hex
COM. SCANNER INPUT MAP
COM SCANNER OUTPUT MAP
CMD. WORD
IMAGE
FREQ. REF. WORD
MAP
MODBUS NETWORK DIAG
MODBUS HMI DIAG
CANopen MAP
PROG. CARD SCANNER

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Altivar® 61 / 71 Profibus DPv1 30072-452-99
Diagnostics 07/2009

Displaying the Command Word

The [Command channel] parameter indicates the active command channel.

The [Cmd value] parameter indicates the hexadecimal value of the command word (CMD) used to control the drive.
The [CMD. WORD IMAGE] submenu is used to display the hexadecimal value of the command word produced by Profibus DPv1:
• Command word CMD3 .......... communication card channel .......... field [Com card cmd.]

Displaying the Frequency Reference

The [Channel ref. active] parameter indicates the active reference channel.
The [Frequency ref] parameter indicates the value (in 0.1 Hz units) of the frequency reference (LFR) used to control the drive.
The [FREQ. REF. WORD MAP] submenu is used to display the value (in 0.1 Hz units) of the speed reference produced by
Profibus DPv1:
• Speed reference LFR3 .......... Profibus DPv1 channel .......... parameter [Com. card ref.]

Displaying the Status Word

The [Status word] parameter indicates the value of the status word (ETA).

Displaying Parameters Selected by the User

The four [W····] parameters indicate the value of the four words selected by the user.
The address and display format of these parameters can be configured in the [6 - MONITORING CONFIG.] menu
([6.3 - CONFIG. COMM. MAP] submenu) (see "Configuration" section on page 20).
The value of a monitored word equals "-----" if:
• Monitoring has not been activated (address equals W0)
• The parameter is write protected
• The parameter is not known (such as, W3200)

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30072-452-99 Altivar® 61 / 71 Profibus DPv1
07/2009 Diagnostics

Displaying PZDs (Communication Scanner)

In the [1.2 - MONITORING] (SUP-) menu:

• The [COM. SCANNER INPUT MAP] (ISA-) submenu is used to display the value of the 8 input PZDs (communication
scanner input parameters NM1 to NM8).
• The [COM SCANNER OUTPUT MAP] (OSA-) submenu is used to display the value of the 8 output PZDs (communication
scanner output parameters NC1 to NC8).
Configuration of these periodic parameters is described in the "Configuration" section.
Example of displaying PZDs on the graphic display terminal:

RUN NET +50.00Hz 80A RUN NET +50.00Hz 80A

COM. SCANNER INPUT MAP COM SCANNER OUTPUT MAP
Com Scan In1 val. : 34359 Com Scan Out1 val. : 15
Com Scan In2 val. : 600 Com Scan Out2 val. : 598
Com Scan In3 val. : 0 Com Scan Out3 val. : 0
Com Scan In4 val. : 0 Com Scan Out4 val. : 0
Com Scan In5 val. : 0 Com Scan Out5 val. : 0
Code Quick Code Quick
Com Scan In6 val. : 0 Com Scan Out6 val. : 0
Com Scan In7 val. : 0 Com Scan Out7 val. : 0
Com Scan In8 val. : 0 Com Scan Out8 val. : 0
In this example, only the first two parameters have been configured (default assignment).

[Com Scan In1 val.] = [34343] Status word = 34359 = 16#8637 V Drivecom status "Operation enabled",
reverse operation, speed reached.
[Com Scan In2 val.] = [600] Output speed = 600 V 600 rpm
[Com Scan Out1 val.] = [15] Command word = 15 = 16#000F V "Enable operation" (Run) command
[Com Scan Out2 val.] = [598] Speed reference = 598 V 598 rpm

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Altivar® 61 / 71 Profibus DPv1 30072-452-99
Diagnostics 07/2009

Configuring Communication Interruption Management

Profibus DPv1 communication interruptions are displayed by the red LED on the Profibus DPv1 card. In factory settings, a Profibus
DPv1 communication interruption triggers a [Com. network] (CnF) and a freewheel stop. The response of the drive in the event of
a Profibus DPv1 communication interruption can be changed (see “Configuring Communication Interruption Management” on
page 19):
• Drive [Com. network] (CnF) (freewheel stop, stop on ramp, fast stop or DC injection stop).
• No drive [Com. network] (CnF) (stop, maintain, fallback).
The interruption management is described in the user’s manual "Communication parameters", chapter "Communication
monitoring":
• After initialization (power up), the drive checks that at least one of the command or reference parameters has been written once
via Profibus DPv1.
• Then, if a Profibus DPv1 communication interruption occurs, the drive reacts according to the configuration (such as, stop,
maintain, and fallback).
The origin of the last Profibus DPv1 communication interruption can be displayed by the parameter [Com. network] (CnF):

Value Description of the values of the parameter [Com. network] (CnF)

0 No interruption
Time out on the reception of the periodic variables addressed to the drive. This time out is adjustable by the network
1
configuration software.
2 Unsuccessful identification between the Profibus DPv1 card of the drive and the Profibus DPv1 master.
3 Unsuccessful identification of the Profibus DPv1 card of the drive (hardware related).

The parameter [Com. network] (CnF) is displayed on the display terminal (graphic only): [1.10 DIAGNOSTICS] (DGT-) menu,
[MORE FAULT INFO] (AFI-) submenu.

Card Conditions
The [Internal Com link] (ILF) appears under certain card conditions:
• Hardware related on the Profibus DPv1 card itself.
• Dialog related between the option card and the drive.
It is not possible to configure the behavior of the drive in the event of a [Internal Com link] (ILF) event, the drive stops in freewheel.
This type of event cannot be reset.
Two parameters display the origin of the last [Internal Com link] (ILF) events:
• [Internal link fault 1] (ILF1) displays the value that occurred on option card no. 1 (directly mounted on the drive),
• [Internal link fault 2] (ILF2) displays the value that occurred on option card no. 2 (mounted on the option card no. 1),
The parameter [Internal link fault 1] (ILF1) and [Internal link fault 2] (ILF2) are displayed on the display terminal (graphic only):
[1.10 DIAGNOSTICS] (DGT-) menu, [MORE FAULT INFO] (AFI-) submenu.

Value Description of the values of the parameter Internal link fault 1] (ILF1) and [Internal link fault 2] (ILF2)
0 No interruption
1 Loss of internal communication with the drive
2 Potential hardware problem detected
3 Error in the EEPROM checksum
4 EEPROM–analysis needed
5 Flash memory–analysis needed
6 RAM memory–analysis needed
7 NVRAM memory–analysis needed
8 Improper analog input
9 Improper analog output
10 Improper logic input
11 Improper logic output
101 Unknown card
102 Improper exchange between the option card and the drive
103 Dialog time out between the option card and the drive

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30072-452-99 Altivar® 61 / 71 Profibus DPv1
07/2009 Software Setup of DPv1 Messaging

Software Setup of DPv1 Messaging

Profibus DPv1 Protocol

Data is exchanged according to the master-slave principle. Only the master can initialize communication. The slaves behave like
servers responding to requests from masters. Several masters can coexist on the same bus. In this case, the slave I/O can be read
by the masters. However, a single master has write access to the outputs. The number of data items exchanged is defined at the
time of configuration.
A GSD file contains the configuration information for the Altivar® 61/71 with Profibus DPv1. This file is used by the PLC during the
configuration phases. The GSD file is unique to the whole Altivar 61/71 range. It does not describe the drive parameters, just the
communication information. This file appears on the CD-ROM supplied with the drive.
The Profibus DPv1 card for Altivar 61/71 drives only supports supports types 3, 4, 5 and 8 PPO format (Parameter-Process
Data-Object) cyclic frames.

PKW length (word) PZD length (word)

1 2 3 4 1 2 3 4 5 6 7 8 9 10
PPO type 1
PPO type 2
PPO type 3
PPO type 4
PPO type 5
PPO type 6
PPO type 7
PPO type 8

PPO cyclic frames contain the periodic variables that are used for 2 types of service:
• I/O exchanges (PZD)
• Aperiodic exchanges (PKW) for parameter setting, configuration and diagnostics
PKW aperiodic exchanges are included in the cyclic frames and do not require special frames. An aperiodic exchange is used to
read or write a parameter. The Altivar 61 / 71 PKW service does not conform to Profidrive.
Several types of DPv1 master can currently be used:
• Some masters require the exclusive use of slot 1, which requires an indirect access mechanism.
• Others allow the data to be accessed directly using direct access.

Indirect Access (Using SLOT 1 Only)

To use Profibus DPv1 messaging the following sequence must be used:
Step 1: The Profibus DPv1 master must first give the slave the modbus offset of the parameter to be read or written:

Function Slot Index Length Data Data

0x5F 0x01 0xE9 0x02 Offset Offset

Example with ACC 0x5F 0x01 0xE9 0x02 0x2329

(offset 9001)

Step 2 (read): The Profibus DPv1 master must give the length to be read starting from the offset indicated in step 1:

Function Slot Index Length Data Data

0x5E 0x01 0xEA <0x3C

Example with ACC 0x5E 0x01 0xEA 0x02

(length 1 word: length = 0x2 bytes)

The response to this request contains the data to be read.

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Altivar® 61 / 71 Profibus DPv1 30072-452-99
Software Setup of DPv1 Messaging 07/2009

Step 2 (write): The Profibus DPv1 master must give the value to be written at the offset indicated in step 1:

Function Slot Index Length Data Data

0x5F 0x01 0xEA 0x02 Value Value

Example with ACC 0x5F 0x01 0xEA 0x02 0x0010

(write at 1.6 s)

To check what offset has been configured for the slave, use this function:

Function Slot Index Length Data Data

0x5E 0x01 0xE9 0x02 Offset Offset

Direct Access (Using the SLOT INDEX)

Direct access is available from slot 2 on:
Read

Function MSB slot LSB index Length Data Data

Example with ACC 0x5E 0x23 0x29 0x02

(offset 9001 = Ox2329)

The response to this request contains the data to be read:

Function MSB slot LSB index Length Data Data

Value read 0x5E 0x23 0x29 0x02 Value

Write

Function MSB slot LSB index Length Data Data

Example with ACC 0x5F 0x23 0x29 0x04 0x0011

(offset 9001 = Ox2329)

Irrespective of the type of access used (direct or indirect)

Read report:

Function Slot Index Length Data Data

0xDF 0x80 0xXX 0xYY 0

Write report:

Function Slot Index Length Data Data

0xDE 0x80 0xXX 0xYY 0

With event types:

0xXX - 0xYY Type of event Meaning

0xC2 - 0x00 Resource SAP not available (in use)
0xB7 - 0x00 Access Incorrect length (= 0 or > 60)
0xA0 - 0x00 Application Read unsuccessful (time out, etc)

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30072-452-99 Altivar® 61 / 71 Profibus DPv1
07/2009 Software Setup of DPv0 Messaging

Software Setup of DPv0 Messaging

Output PZDs
The first eight bytes contain an aperiodic request (PKW) to write or read a parameter. The remaining 20 bytes contain the output
PZDs (written from the Profibus master), of which only PZD1 to PZD8 are significant.

1 2 3 4 5 6 7 8 9 10 11 12 13 14
PKW PZD1 PZD2 PZD3
PKE 0 R/W PWE NC1 NC2 NC3

15 16 17 18 19 20 21 22 23 24 25 26 27 28
PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10
NC4 NC5 NC6 NC7 NC8 Not used Not used

PKW request:

PKE Parameter logic address

Request code
0: No request
RIW
1: Read
2: Write
For a read request: Not used
PWE
For a write request: Parameter value

Cyclic control and adjustment parameters:

• PZD1: Communication scanner output word 1 (NC1)
• PZD2: Communication scanner output word 2 (NC2)
• PZD3: Communication scanner output word 3 (NC3)
• PZD4: Communication scanner output word 4 (NC4)
• PZD5: Communication scanner output word 5 (NC5)
• PZD6: Communication scanner output word 6 (NC6)
• PZD7: Communication scanner output word 7 (NC7)
• PZD8: Communication scanner output word 8 (NC8)
The default assignment of the periodic output data is:
• PZD1 = Command word
• PZD2 = Speed reference
• PZD 3 to PZD 10 = Not used

1 2 3 4 5 6 7 8 9 10 11 12 13 14
PKW PZD1 PZD2 PZD3
Speed
PKE 0 R/W PWE Command word Not used
reference

15 16 17 18 19 20 21 22 23 24 25 26 27 28
PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10
Not used Not used Not used Not used Not used Not used Not used

The assignment of PZDs is described in the “Configuring Profibus Variables PZDs (Communication Scanner)” on page 18.
How to display the value of the PZDs is described in “Displaying PZDs (Communication Scanner)” on page 24.

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Altivar® 61 / 71 Profibus DPv1 30072-452-99
Software Setup of DPv0 Messaging 07/2009

Input PZDs
The first eight bytes contain the response (PKW) to the aperiodic read/write request. The remaining 20 bytes contain the input
PZDs (read mode), of which only PZD1 to PZD8 are significant.

1 2 3 4 5 6 7 8 9 10 11 12 13 14
PKW PZD1 PZD2 PZD3
R/W/
PKE 0 PWE NM1 NM2 NM3
N

15 16 17 18 19 20 21 22 23 24 25 26 27 28
PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10
NM4 NM5 NM6 NM7 NM8 Not used Not used

PKW request

PKE Parameter logic address

Response code
0: No request
R/W/N 1: Successful read report
2: Successful write report
7: Event report
For a successful request: Parameter value
For an incorrect request:
PWE
0: Incorrect address
1: Write access denied

Cyclic monitoring parameters:

• PZD1: Communication scanner input word 1 (NM1)
• PZD2: Communication scanner input word 2 (NM2)
• PZD3: Communication scanner input word 3 (NM3)
• PZD4: Communication scanner input word 4 (NM4)
• PZD5: Communication scanner input word 5 (NM5)
• PZD6: Communication scanner input word 6 (NM6)
• PZD7: Communication scanner input word 7 (NM7)
• PZD8: Communication scanner input word 8 (NM8)
The default assignment of the periodic input data is:
• PZD1 = Status word (ETA)
• PZD2 = Output speed (RFRD)
• PZD 3 to PZD 10 = Not used

1 2 3 4 5 6 7 8 9 10 11 12 13 14
PKW PZD1 PZD2 PZD3
PKE 0 R/W PWE Status word Output speed Not used

15 16 17 18 19 20 21 22 23 24 25 26 27 28
PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10
Not used Not used Not used Not used Not used Not used Not used

The assignment of PZDs is described in the “Configuring Profibus Variables PZDs (Communication Scanner)” on page 18.
How to display the value of the PZDs in “Displaying PZDs (Communication Scanner)” on page 24.

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30072-452-99 Altivar® 61 / 71 Profibus DPv1
07/2009 Software Setup of DPv0 Messaging

PKW Aperiodic Service

The PKW service, consisting of PKE, R/W, R/W/N, and PWE, enables aperiodic access to Altivar 61 and 71 parameters in read
and write mode.

Output PKWs

PKE
Parameter logic address
R/W
0: No request
1: Read
2: Write
One-off read and write requests can be triggered continuously while R/W equals 1 or 2.
NOTE: Values other than 0, 1 and 2 should not be used. In particular, the values 16#0052 and 16#0057 must not be used, as
these are reserved for compatibility with the Altivar 58/58F.
PWE
If write: Value to be written

Input PKWs

PKE
Copies the output PKE value
R/W/N
0: No request
1: Correct read operation
2: Correct write operation
7: Read or write discrepancy
PWE
• If correct read operation: Parameter value. This can be limited by the drive if the maximum value is exceeded by the write
operation.
• If correct write operation: Value of the write PWE
• If the read or write operation was not successful:
0: Incorrect address
1: Write operation refused
NOTE: The parameters in the output PZDs should not be changed by the PKW service.
Parameters linked to output PZDs should not be changed by the PKW service.
Example: The speed reference and the frequency reference.

30 © 2009 Schneider Electric USA All Rights Reserved

Altivar® 61 / 71 Profibus DPv1 30072-452-99
Software Setup of DPv0 Messaging 07/2009

Examples of PKW aperiodic exchanges

Aperiodic write operation: Acceleration time ACC (address 9001) = 10 s, unit 0,1s (values in hexadecimal format).

1 2 3 4 5 6 7 8 etc.
23 29 00 02 00 00 00 64 etc.

ACC = 10 s

Write request

Address 9001 = 2329h

The positive response is identical to the write request, aperiodic part (bytes 1 to 8).
Example of negative response:

1 2 3 4 5 6 7 8 etc.
23 29 00 07 00 00 00 0 etc.

0 (incorrect address)

Negative response

© 2009 Schneider Electric USA All Rights Reserved 31

30072-452-99 Altivar® 61 / 71 Profibus DPv1
07/2009 Software Setup Using PL7

Software Setup Using PL7

Correspondence Between Cyclic Data and PL7 PRO Words

In PL7, cyclic exchanges between the Profibus DPv1 master (such as, TSX Premium PLC + TSX PBY100 module) and the
Altivar 61 / 71 take the form of input words %IWxy.0.k and output words %QWxy.0.k, where "x" = number of the PLC rack and
"y" = location of the Profibus DPv1 module in the PLC rack.

Altivar 61 / 71 Altivar 61 / 71
Profibus PL7 output word Profibus PL7 input word
parameter parameter
%QWxy.0 PKE %IWxy.0 PKE
%QWxy.0.1 R/W %IWxy.0.1 R/W/N
PKW PKW
%QWxy.0.2 Not used %IWxy.0.2 Not used
%QWxy.0.3 PWE %IWxy.0.3 PWE
PZD1 %QWxy.0.4 NC1 PZD1 %IWxy.0.4 NM1
PZD2 %QWxy.0.5 NC2 PZD2 %IWxy.0.5 NM2
PZD3 %QWxy.0.6 NC3 PZD3 %IWxy.0.6 NM3
PZD4 %QWxy.0.7 NC4 PZD4 %IWxy.0.7 NM4
PZD5 %QWxy.0.8 NC5 PZD5 %IWxy.0.8 NM5
PZD6 %QWxy.0.9 NC6 PZD6 %IWxy.0.9 NM6
PZD7 %QWxy.0.10 NC7 PZD7 %IWxy.0.10 NM7
PZD8 %QWxy.0.11 NC8 PZD8 %IWxy.0.11 NM8
PZD9 %QWxy.0.12 PZD9 %IWxy.0.12
Not used Not used
PZD10 %QWxy.0.13 PZD10 %IWxy.0.13

Default configuration of the periodic variables

PL7 output PL7 input

Profibus Altivar 61/ 71 parameter Profibus Altivar 61/ 71 parameter
word word
PKE %QWxy.0 PKE %IWxy.0
R/W %QWxy.0.1 R/W %IWxy.0.1
PKW Not PKW Not
%QWxy.0.2 %IWxy.0.2
used used
PWE %QWxy.0.3 PWE %IWxy.0.3
PZD1 %QWxy.0.4 Command word (CMD) PZD1 %IWxy.0.4 Status word (ETA)
PZD2 %QWxy.0.5 Speed reference (LFRD) PZD2 %IWxy.0.5 Output speed (RFRD)
PZD3 %QWxy.0.6 PZD3 %IWxy.0.6
PZD4 %QWxy.0.7 PZD4 %IWxy.0.7
PZD5 %QWxy.0.8 PZD5 %IWxy.0.8
PZD6 %QWxy.0.9 PZD6 %IWxy.0.9
Not used Not used
PZD7 %QWxy.0.10 PZD7 %IWxy.0.10
PZD8 %QWxy.0.11 PZD8 %IWxy.0.11
PZD9 %QWxy.0.12 PZD9 %IWxy.0.12
PZD10 %QWxy.0.13 PZD10 %IWxy.0.13

32 © 2009 Schneider Electric USA All Rights Reserved

Altivar® 61 / 71 Profibus DPv1 30072-452-99
Example with SIMATIC Manager 07/2009

Example with SIMATIC Manager

Configuration example:
In the SIMATIC project:
• Add the GSD file that corresponds to the VW3 A3 307 S371 card.
• Add the ATV71-PROFIBUS-DPV1-Modular to the Profibus address configured by the switch on the card.
• Select the correct PPO.

• Write down the PLC memory address where ATV61 / 71 periodics are mapped (refer to the red circle in the figure above).
This address area is used to setup DPv1 messaging.

© 2009 Schneider Electric USA All Rights Reserved 33

30072-452-99 Altivar® 61 / 71 Profibus DPv1
07/2009 Example with SIMATIC Manager

Messaging Example by Indirect Access:

Select a function bloc "SFC58" dedicated for DPv1 writing (indirect access - slot 1) and complete the fields. Follow the instructions
given in the section Indirect access page 26.
LADR field must correspond to the PLC memory address where ATV61 / 71 periodics are mapped (16#100 corresponds to 256 in
decimal).
RECNUM field corresponds to the index (0XE9 ou 0XEA) in accordance with the indirect mechanism already described.
RECORD filed corresponds to the ATV61 / 71 memory offset.

Writing example Reading example

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Altivar® 61/71 Profibus DPv1
User’s Manual

Schneider Electric USA Electrical equipment should be installed, operated, serviced, and maintained only by qualified
8001 Knightdale Blvd. personnel. No responsibility is assumed by Schneider Electric for any consequences arising out of
Knightdale, NC 27545 the use of this material.
1-888-SquareD 30072-452-99 07/2009
(1-888-778-2733)
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