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1. DC Bus ON O 8 Fa 8 9 ATV66U41N4 to D12N4 and ATV66U41M2 to U90M2 ON Protective Switch GV2 po00000090 000000009 J13 J12 ATV66C10N4 to C19N4 ATV66D16N4 to D79N4 and ATV66D12M2 to D46M2 Figure 1 Location of PA and Terminals ATV66U41N4 to C19N4 and ATV66U41M2 to D46M2 1997 Schneider S A All Rights Reserved __ 5 Section 1 Installation amp Configuration VD0C065309 Bus Voltage Measurement Procedure April 1997 O O A A A 7 died 72 F4A F4B F4C Figure 2 Location of PA and Terminals ATV66C23N41 to C31N41 1997 Schneider S A All Rights Reserved VDOC06S309 Section 1 Installation amp Configuration April 1997 Installing the Modbus Plus PCMCIA Kit Installing the Modbus Plus PCMCIA Kit To install the Modbus Plus PCMCIA Kit into the drive controller 1 Open the drive controller door 2 On models ATV66U41N4 to D12N4 and ATV66U41M2 to U90M2 remove the plastic knockout from the top of drive controller cover NOTE The drive controller enclosure
2. MM t 3 mel de See Table 20 on page 46 Reserved 2021 13 External fault command 2021 14 0 No fault EFL 2021 14 1 Fault M Peer Cop Adjustment 2021 15 0 No storage Storage 2121 15 1 Storage I Simultaneously writing 2021 1 2021 2 and 2021 5 to zero while the drive controller is running in SLC mode transfers control to Local Command mode Keypad or Terminal Strip The drive controller responds as indicated in Table 15 on page 39 However 2021 5 remains active Always stop drive controller and be sure it is in the Ready RDY state before switching to another motor Forces drive controller to fault when in SLC mode DLI amp FLI 1 and when Llx is configured for customer fault Keypad stop button stops drive controller regardless of control mode Serial Keypad or Terminal To restart drive controller you must cycle OffOn the appropriate Run command Data sent to Adjustment registers via Peer Copping are only written to the drive controller s non volatile memory when bit 2021 15 is set to 1 The factory setting is 0 and it is recommended that you leave it at 0 If you Peer Cop a change to an Adjustment register and want to save the change after Peer Copping cycle 2021 15 set to 1 then back to 0 Adjustments Peer Copped to these registers since the last time the bit was cycled are lost if all power to the controller is removed Adjustments made through messaging are automatically stored in the controller s non
3. Suppression of 2021 4 0 Monitor communication fault communication control 2021 4 1 Do not monitor communication fault NTO no time out 11 Always write both bits to the same state For operation in Serial Link Command SLC mode DLI and FLI must be set to 1 and LI1 must be active 44 1997 Schneider S A All Rights Reserved VDOC06S309 Section 3 Register Descriptions April 1997 Command Registers Read amp Write Table 18 Command Registers Cont d Drive Modbus Plus Description Possible Values Address 2021 cont d Run Stop command 23 2021 5 0 Stop 2021 5 1 Run Braking by DC injection 2021 6 0 No command to inject DC DCB 2021 6 21 Command to inject DC Orient Stop 2021 7 2 0 Orient Stop 2021 7 1 Normal Stop EN stop Aa E See Table 19 on page 46 Command of Voltage 2021 10 See Table 22 on page 47 Reduction 2 3 4 5 6 ss sos A WARNING LOSS OF CONTROL When using Multi Motor function partial transfer of motor commands may occur if you attempt a command mode transfer with controller in running state this includes motor operation with a zero speed reference When using Multi Motor function always stop drive controller before switching between Terminal Command mode and Serial Link Command mode Controller should be in Ready RDY state prior to changing command modes Failure to follow these instructions can result in death serious injury or equipment damage
4. MONITOR LINK PCMCIA card does not match the configuration of the drive controller option module Just after power up or after exiting the 4 flashes mode the card monitors the network and builds a table of active and token holding nodes After 5 s the card attempts to go to its normal operating state indicated by 6 flashes second 6 flashes per s 2 flashes then TOKEN GOOD NEVER GETTING Token is circulating normally and is received by PCMCIA card once per rotation Token is being passed between other nodes but Off for2 s TOKEN PCMCIA card never receives it 3 flashes then SOLE STATION Only node on the network or connection has been lost Off for 1 7 s 4 flashes then DUPLICATE Another node is using PCMCIA card address PCMCIA Off for 1 4 s STATION card waits for reconfiguration or for the other node to log off the network 12 5 COMM STATE UNSAG JAS MODBUS PLUS TOKEN GOOD TOKEN COUNT Ut ADR ME 31812 12 COMM STATE TOKEN GOOD TOKEN COUNT PEERCOP 1 CPT MESSAGES i ma 48538 Ok 12 VA Figure 22 Drive Controller Comm State Screen 1997 Schneider S A All Rights Reserved 25 Section 1 Installation amp Configuration Forced Local VDOC06S309 April 1997 Table 8 Drive Controller Communication Parameters Parameter VW3A66305 MODBUS PLUS Range 0 64 Description PCMCIA card version Drive controller address configure
5. Place a DO NOT TURN ON label on drive controller disconnect Lock disconnect in open position Failure to follow these instructions will result in death or serious injury ALTIVAR is a registered trademark of Square D Modbus Plus is a registered trademark of Schneider Automation O 1997 Schneider S A All rights reserved This document may not be copied in whole or in part or transferred to any other media without the written permission of Schneider S A Electrical equipment should be serviced only by qualified electrical maintenance personnel No responsibility is assumed by Schneider S A for any consequences arising out of the use of this material VDOC06S309 VW3A66305U Modbus Plus PCMCIA Communication Card Kit April 1997 Table of Contents TABLE OF CONTENTS INTRODUCTION BT a tremere cere eae em n tee 1 SYSTEM SAFETY CONSIDERATIONS 2 USING THIS MANUAL tn en A a 2 REVISION LEVEL o 242 m e e a Sb wor SR yos ee na 2 SECTION 1 INSTALLATION 8 CONFIGURATION 3 RECEIVING THE PCMCIA KIT 0 22 RII nee 3 COMMUNICATION INTERFACE SPECIFICATIONS 3 INSTALLING THE PCMCIA KIT 22 ee RR II 3 Bus Voltage Measurement Procedure 4 Installing the Modbus Plus PCMCIA Kit 7 NETWORK OVERVIEW tox spi tut Pada gale Peak ph dale 9 Logical Network aia eim a ee SO n
6. command the controller from a local node When controlling the drive controller via messaging you should reserve the Command Semaphore If a local node reserves the Command Semaphore and puts the controller into serial link mode DLI amp FLI 1 it must send a message before the controller s Time Out period set in menu 11 expires or the controller will stop and issue a serial link fault If a node reserves the Command Semaphore of a controller already in serial link mode and a message is not sent to the controller within 60 seconds the drive controller will stop and issue a serial link fault To ensure exclusive access rights you should also reserve the Adjustment Semaphore when adjusting the drive controller via messaging The node that reserves the Adjustment Semaphore has exclusive control of the Adjustment registers The node that reserves the Adjustment semaphore must send a message to the controller within 60 seconds or the Adjustment Semaphore is freed 66 1997 Schneider S A All Rights Reserved VDOC06S309 April 1997 VW3A66305U Modbus Plus PCMCIA Communication Card Kit Appendix A Address Descriptions amp Index APPENDIX A ADDRESS DESCRIPTIONS amp INDEX Address Bit Description 199 2001 2002 2003 2004 2005 2006 2007 2008 2009 2010 2011 2012 2013 2021 2022 2023 2024 2025 2026 2027 2029 2030 2031 Adjustment Semaphore High speed Low speed
7. 2103 Assignment of AI3 2104 Assignment of Al4 2105 Assignment of analog output AO1 2106 Assignment of analog output AO2 56 2107 Assignment of analog output AO3 2108 Assignment of LO1 2109 Assignment of LO2 2112 Assignment of R1 58 2113 Assignment of R2 2114 Assignment of R3 2115 Assignment of R4 2116 Assignment of Ll1 2117 Assignment of LI2 2118 Assignment of LI3 2119 Assignment of LI4 59 2120 Assignment of LI5 2121 Assignment of LI6 2122 Assignment of LI7 2123 _ Assignment of LI8 2141 Indicates the position of marker on 1 of 8 past faults 2142 Past fault 1 drive controller state 2143 Past fault 1 name of fault 2144 Past fault 2 drive controller state 2145 Past fault 2 name of fault 2146 Past fault 3 drive controller state 2147 Past fault 3 name of fault 2148 Past fault 4 drive controller state 2149 Past fault 4 name of fault 62 2150 Past fault 5 drive controller state 2151 Past fault 5 name of fault 2152 Past fault 6 drive controller state 2153 Past fault 6 name of fault 2154 Past fault 7 drive controller state 2155 Past fault 7 name of fault 2156 Past fault 8 drive controller state 2157 Past fault 8 name of fault 2201 Drive controller horsepower hardware rating 54 2202 Drive controller horsepower configured rati
8. 22 Drive Identification 22 FaulESCreenis ss sso d e deo ae p A do e des REA 23 Setting the Protocol 24 isses aa aie ERREUR a 23 Communication Menu 24 Drive Controller Comm State Screen 25 Forced Local Menu 26 MSTR Block Structure onea ppn a o 28 Typical Modbus Plus Network with ATV66 Drive Controller Nodes 34 Using the Command Semaphore 35 Typical Communication Fault Example 1 65 Communication Loss Example 2 no SLC Fault 66 LIST OF TABLES Table 1 Table 2 Table 3 Table 4 Table 5 Table 6 Table 7 Table 8 Table 9 Table 10 Modbus Plus Drop Cables 1 Modbus Plus Trunk Cable Catalog Numbers 1 Modbus Plus PCMCIA Interface Specifications 3 Trunk Cable Terminals 17 Drop Cable Terminals 19 Modbus Plus Card Configuration Parameters 24 Network and PCMCIA Card Status 25 Drive Controller Communication Parameters 26 MSTR Operation Codes 28 Control Block Holding Registers General Content 29 1997 Schneider S A All Righ
9. 38 39 51 59 forward 58 59 freewheel stop 45 46 frequency level 53 58 line 50 output 50 reference 46 55 F1 function key 26 G gating state 52 global data 33 transmission 11 grounding 8 9 60 62 drop cable 20 H high speed 43 horsepower 54 60 62 humidity 3 identification 22 input phase loss 60 62 inputs analog 49 logic 57 59 process 59 sequence 59 installation 3 7 interface electrical 3 1997 Schneider S A All Rights Reserved interference 13 IR compensation 43 isolation 3 O Extension module 1 22 55 J jog 53 58 59 jumpers cable taps 14 K keypad command 26 39 58 59 presence of 55 stopping with 52 knockout 7 L LEDs 25 DC bus 4 6 level current 53 58 frequency 53 thermal 53 limit current 51 58 59 62 registers 47 torque 52 58 line faults 62 frequency 50 voltage 50 link assigning commands over 44 52 assigning references over 44 52 75 VW3A66305U Modbus Plus PCMCIA Communication Card Kit Index VDOC06S309 April 1997 local 26 37 39 52 59 logic commands assigning over link 44 52 inputs LI1 LI8 57 59 output registers 48 outputs LO1 LO2 57 58 loss feedback 58 60 follower 58 60 of control 10 phase 61 loss of feedback 62 loss of follower 62 low speed 43 M mains no power 51 manual 53 memory card 55 failure 60 62 menus also see screens communication 23 forced local
10. Accel 1 j Deceli Accel 2 Decel2 Slip compensation JIR compensation Profile Voltage boost Damping Bandwidth Motor overload Drive reset Assignment of logic commands over link DLI Assignment of references over link FLI Alternate ramps Ramp 2 Suppression of communication control NTO Run Stop command Page 43 32 43 31 44 45 Braking by DC injection DCB Orient Stop Freewheel stop Fast stop 0 1 2 3 4 5 6 7 8 31 45 46 Command of voltage reduction 31 47 Multi motors or Multi parameters 31 45 46 External fault command EFL Peer Cop Adjustment storage EN Reference frequency s Command of LOx ROx state Command of AO level Current limit level Motoring torque limit level Regenerating torque limit level Voltage reduction level Command of AO level Command of AOS level O 1997 Schneider S A All Rights Reserved 31 45 31 46 31 48 31 48 31 47 31 47 31 47 31 47 31 48 67 VW3A66305U Modbus Plus PCMCIA Communication Card Kit VDOC06S309 Appendix A Address Descriptions amp Index April 1997 68 Address 2032 2041 2042 2043 2044 w Description Page Command of current limit 31 47 Run direction 31 46 Command of torque limit 31 47 ONDORWND Of W x o 11 14 Elapsed timer
11. If a value outside of the range is written the parameter is set to the range limit or to the factory default value 1997 Schneider S A All Rights Reserved VDOC06S309 Section 2 Modbus Plus Overview April 1997 Drive Communication Principles Values at Power Up At each power up the ATV 66 drive controller is initialized with the configuration and adjustments saved in its non volatile memory This includes values saved to drive controller Modbus Plus Adjustment registers 2001 2013 via the keypad messaging or by Peer Copping and cycling the Peer Cop Adjustment storage bit 2021 15 Drive controller Modbus Plus Command registers 2021 2032 are set to their factory default values see Table 12 on page 31 Also at power up the drive controller is placed in Local command Terminal Strip or Keypad Taking Command over the Network The minimum requirements to start drive from serial link are e Make selections in drive controller Menu 11 gt Communication e An active signal must be present on LI1 on the control basket If you are using a 115V I O Extension module VW3A66202T LI1 of that module must also be active e Ensure Forced Local is not active see page 26 Ensure no other processor on the network has reserved the Command Semaphore see page 34 e Enable Serial Link Control set word 2021 1 DLI amp 2021 2 FLI to 1 NOTE This manual does not support split DLI FLI Control see Table 18 on page 4
12. Physical Network The network bus consists of twisted pair shielded cable that is run in a direct path between successive nodes The two data lines in the cable are not sensitive to polarity however a standard wiring convention is followed in this bulletin to facilitate maintenance The physical network consists of one or more cable sections with any section supporting up to 32 nodes at a maximum cable distance of 1 500 ft 450 m Sections can be joined by repeater devices to extend the network s length and to support up to 64 nodes The minimum cable length between any pair of nodes must be at least 10 ft 3 m The maximum cable length between two nodesis the same as the maximum section length of 1 500 ft 450 m NOTE The ATV66 drive controller does not support a dual or redundant cable layout Up to 32 Nodes Max 1500 ft 450 m Cable Max 10 ft 3 m Cable Min 7 CableTaps O Jumpers Connected HN Jumpers Disconnected Figure 7 Single Cable Layout NOTE For information on jumpers refer to Figure 8 on page 14 CABLE ROUTING PRACTICES Environmental Requirements 12 Avoid areas of high temperature moisture vibration or other mechanical stress Secure the cable where necessary to prevent its weight and the weight of other cables from pulling or twisting the cable Use cable ducts raceways or other structures for protecting the cable These structures should be used for signal wiring paths and should not contain p
13. 2 attained Thermal level 1 attained 2049 9 0 Thermal level 1 not attained 2049 9 1 Thermal level 1 attained Thermal level 2 attained 2049 10 0 Thermal level 2 not attained 2049 10 2 1 Thermal level 2 attained No ramp follow 2049 11 2 0 Not active 2049 11 1 Active Run output command 2049 12 2 0 Not active bypass 2049 12 1 Active Rotation direction 2049 13 0 Running in forward 2049 13 1 Running in reverse Reserved 2049 14 2049 15 2050 0 Drive Faulted stopped 2050 0 0 Drive not faulted 2050 0 1 Drive faulted 2050 4 State of Adjustment 2050 4 0 Adjustment Semaphore free Semaphore 2050 4 1 Adjustment Semaphore reserved 2050 5 State of Command 2050 5 0 Command Semaphore free Semaphore 2050 5 1 Command Semaphore reserved 2050 Reserved bits 1 3 6 15 O 1997 Schneider S A All Rights Reserved 53 Section 3 Register Descriptions VD0C065309 Display Registers Read Only April 1997 Table 31 Motor Parameter Set Cycle Preset Speed Drive Modbus Plus Hahaa Description Address g P 2075 Oto2 Number of motor or parameter set selected 0 Motor Parameter set 1 1 Motor Parameter set 2 2 Motor Parameter set 3 2076 1to 8 Cycles step number in progress 2077 0 to 7 Preset speed number in progress Table 32 Drive Controller Horsepower Drive Modbus Plus Address Range Description Remarks 2201 Drive controller horsepower 0 Not used hardware rating 1 Reserved 2 Reserved 3 2 2 kW
14. 3 hp 4 3 kW 5 2 4 kW 5 hp 6 5 5 kW 7 5 hp 7 7 5 kW 10 hp 8 2 11 kW 15 hp 9 15 kW 20 hp 10 Reserved 11 22 kW 30 hp 12 30 kW 40 hp 13 37 kW 50 hp 14 45 kW 60 hp 15 55 kW 75 hp 16 75 kW 100hp 17 90 kW 125 hp 18 110 kW 150 hp 19 132 kW 200 hp 20 160 kW 250 hp 21 200 kW 300 hp 22 220 kW 350 hp 2202 Drive controller horsepower Same as above with configured rating 1 0 75 kW 1 hp 2 1 5 kW 2 hp 10 18 5 kW 25 hp 23 250 kW 400 hp 54 1997 Schneider S A All Rights Reserved VDOC06S309 Section 3 Register Descriptions April 1997 Display Registers Read Only Table 33 Status of Options cards modules keypad Drive Modbus Plus Range Description Possible Values Address 2212 Oto1 Memory card 0 Memory card not installed option 1 Memory card installed 2213 Oto 1 Communication 0 Communication carrier module not installed carrier option 1 Communication carrier module installed 2214 0 to 1 Presence of 0 Keypad not present keypad 1 Keypad installed 2215 0 to 2 l O Extension 0 I O Extension module not installed option module 1 224 V I O Extension installed 2 115 V I O Extension installed 2217 0 1 4 PCMCIA 0 No PCMCIA card installed communication 1 Uni Telway Modbus Jbus PCMCIA card installed card 4 Modbus Plus PCMCIA card installed Drive Modbus Plus Table 34 Command Node Status Address 2222 St
15. Al1 Al4 49 output registers 48 outputs AO1 AO3 56 assigning analog inputs 49 analog outputs 56 commands 51 logic commands 44 logic inputs 59 logic outputs 58 references 44 relays 58 at speed 58 attenuation 13 ATV66 current 50 display status 52 54 documentation 2 fault registers 60 62 horsepower 54 identification 22 reset 44 terminals 5 6 thermal state 50 58 voltage range 50 auto run 59 auto test 62 auto manual 53 58 59 PI 59 B bandwidth 43 braking DC injection 45 51 62 dynamic 52 62 regenerative 62 relay state 51 release 58 bridge multiplexers 9 bus cable length 9 12 faults 60 62 LED 4 6 measuring voltage 4 6 network 12 voltage 50 button eject 7 bypass 53 58 60 62 O 1997 Schneider S A All Rights Reserved C cabling drop 13 14 16 19 electrical interference 13 environmental requirements 12 grounding 8 9 inspecting continuity 21 inspecting installation 20 network 12 14 routing 8 13 15 specifications 3 tap devices 12 19 trays 13 trunk 13 14 16 19 trunk and drop 21 capacitors measuring voltage 4 cards also see modules memory 55 PCMCIA 1 7 23 26 55 command node 55 semaphore 34 35 46 53 commands assigning 51 keypad 39 limit registers 47 local 26 37 52 output registers 48 over network 37 parameters 37 registers 27 44 48 remote 26 run 39 45 serial link 39 stop 39 45 terminal strip 39 73 VW3A66305U Modbus
16. BR BR BR BR A O O B AH OD AINA OD Al DO wo A Fault Reset Voltage Reduction by Al Foldback Voltage Reduction by Freq Threshold Jog Voltage Reduction by LI O O A KR a oD oO BR RL BR RP R OD OD NINNIN BR A Loss of Follower Detection Compatibility Index 1 Functionality is the same whether in SLC mode or in Local 4 Compatible with SLC mode but must be activated and or Command mode terminal strip or keypad Interaction with adjusted by register or bit manipulation not a Local Command terminal strip or keypad is not necessary mode input Does not interact with the terminal strip or keypad 2 Functionality is the same whether in SLC mode or in Local 5 Has functionality only when SLC mode is enabled but responds Command mode terminal strip or keypad Responds to only to Local Command Mode input necessary terminal strip inputs and provides necessary 6 Not compatible while in SLC mode dd BOE 7 Compatible with SLC mode but successful implementation 3 Compatible with SLC mode but must be activated by register requires continuous presence of run commands or bit manipulation not a Local Command mode input SLC Serial Link Command terminal strip or keypad Responds to necessary terminal Strip inputs except activation and provides necessary terminal strip outputs 40 1997 Schneider S A All Rights Reserved VDOC06S309 Section 3 Register Descriptions April 1997 Introduction
17. Bypass 27 Motor Select a 28 Motor Select b 29 Customer Fault 30 Reset Fault 31 Auto Run 33 Auto Manual PI 34 Reverse Speed PI 1997 Schneider S A All Rights Reserved _ 59 Section 3 Register Descriptions Display Registers Read Only VDOC06S309 April 1997 Table 41 Fault Register Fault that Caused Drive Controller to Trip Drive Modbus Plus Address 2051 60 1997 Schneider S A All Rights Reserved Possible Values 0 No fault 1 AC line overvoltage 2 DC bus overvoltage 3 DC bus undervoltage 4 Ground fault 5 Short circuit between phases Desat 6 15 V control basket power supply internal fault 7 Horsepower not recognized internal fault 8 Input phase loss 9 Motor overload 10 Customer fault 11 Drive Overtemperature 12 Overspeed with tachometer 13 Feedback loss 14 Serial link fault 15 Loss of follower 16 Memory failure 17 Precharge failure 18 Sequence time out fault Bypass 19 Process time out fault Bypass 20 Dynamic brake fault 21 DB resistor thermal fault 22 Transistor short circuit 23 Open transistor 24 Output phase loss 25 Control supply 26 Short circuit on motor LIC exceeded 27 Reserved 28 Reserved 29 Overspeed without tachometer VDOC06S309 Section 3 Register Descriptions April 1997 Display Registers Read Only Table 42 Present Faults Register Fault Present if bit 1 Dri
18. High speed 50 Hz for 50 Hz input power Freq set via keypad 60 Hz for 60 Hz input power in Menu 7 12 2002 0 to High Speed 0 1 Hz Low speed 0 Hz 2003 1 to 9999 0 1s Accel 1 3s 2004 1 to 9999 0 1s Decel 1 3s 2005 1 to 9999 0 1S Accel 2111 5s 2006 1 to 9999 0 18 Decel 2 11 5s 2007 1 to 100 0 1 Hz Slip compensation 21 3 Hz 2008 0 to 800 Bl 1 IR compensation 100 2009 0 to 100 1 Profile 20 2010 0 to 100 1 Voltage boost 20 2011 0 to 800 BI 1 Damping 20 2012 0 to 100 0 1 Bandwidth 20 2013 45 In to 115 In 0 1 A Motor overload 0 9 x In M These registers are only effective if Alternate Ramps has been selected via the keypad 2 This register is only effective if Slip Compensation has been set to Manual via the keypad 3 Depends on torque type High torque 150 Special 800 Other 100 O 1997 Schneider S A All Rights Reserved 43 Section 3 Register Descriptions VD0C065309 Command Registers Read amp Write April 1997 COMMAND REGISTERS READ amp WRITE Command registers cannot be modified if another device on the Modbus Plus Network has reserved this drive s Command Semaphore or is Peer Copping the desired Command register Command registers can also not be modified if Forced Local is active on this drive In addition Command registers except bits 2021 1 DLI 2021 2 FLI and 2021 15 Peer Cop Adjustment storage can only be modified if DLI and FLI are set high Serial
19. Plus PCMCIA Communication Card Kit Index VDOC06S309 April 1997 communication carrier module 1 23 55 distributed I O 9 links 2 10 menu 23 monitoring 44 peer to peer 9 configuration 22 26 62 parameters 23 connectors cable 12 14 68 pin 7 9 pin 3 7 control loss of 10 45 control supply 60 62 controller see ATV66 see drive controller count token 55 current drive controller 50 level 53 58 limit 51 58 59 62 output 50 customer fault 59 60 62 cycles 53 54 59 complete 58 fault 58 D damping 43 data accessing 36 order 38 precautions 41 range 36 structures 36 units 36 DC bus 60 62 74 DC injection braking DCB 45 51 62 deceleration 43 52 62 also see ramps desat 60 62 diagnostics 25 dimensions tap layout 15 direction 51 53 assigning to output 58 display analog inputs 49 analog outputs 56 command node status 55 cycle 54 drive status 52 54 elapsed time 55 fault 51 fault history 62 faults 60 frequency 50 horsepower 54 input state 57 LI1 LI8 assignments 59 machine frequency 55 message status 55 motor selected 52 54 output assignment 58 output speed 55 output state 57 parameter set 52 54 parameters 37 power 50 present faults 61 preset speed 54 registers 49 62 relay assignment 58 relay state 57 SLC local 51 speed 50 thermal state 50 token status 55 torque 50 voltage 50 O 1997 Schneider S A All Rights Reserved DLI 39 44 52 documentation 2
20. SCHNEIDER W Merlin Gerin B Square D M Telemecanique VDOC06S309 April 1997 Printed in USA O 1997 Schneider S A All Rights Reserved
21. Serial Link Command Mode or by the keypad in Local Command Mode For example if you select 2 motor sets Motor Select Switch menu and registers 2021 11 1 and 2021 12 0 the values in these registers affect motor 2 If Multi Motor or Multi Parameter operation is selected verify which motor or parameter set is being displayed in the Adjustment registers by reading bits 2048 10 and 2048 11 see page 52 before changing the Adjustment registers NOTE Adjustments Peer Copped to these registers are only written to the drive controller s non volatile memory when bit 2021 15 is set to 1 The factory setting is 0 and it is recommended that you leave it at 0 If you Peer Cop a change to an Adjustment register and want to save the change after Peer Copping cycle 2021 15 set to 1 then back to 0 Adjustments Peer Copped to these registers since the last time the bit was cycled are lost if all power to the controller is removed Adjustments made through messaging are automatically stored in the controller s non volatile memory regardless of the setting of 2021 15 1997 Schneider S A All Rights Reserved VDOC06S309 Section 3 Register Descriptions April 1997 Adjustment Registers Read amp Write Table 17 Adjustment Registers Drive E Range Units Description Factory Setting Address 199 O or 1 Adjustment 0 0 Free Semaphore 1 Reserved see page 34 2001 Low Speed to Max 0 1 Hz
22. Type rating will change from Type 1 to Open when the knockout is removed 3 Remove protective label from PCMCIA slot of option module 4 Install the plastic boot supplied with the Modbus Plus PCMCIA kit onto separately ordered cable see Figure 3 Install cable onto 9 pin D shell connector of the PCMCIA card NOTE Plastic boot must be installed to maintain ESD rating of drive controller 5 Insert the PCMCIA card 68 pin connector into the PCMCIA slot on top of option card with the Insert arrows facing toward the front of drive controller see Figure 3 Seat the plastic boot over the end of the PCMCIA card as shown Plastic Boot User provided cable see page 1 Plastic Knockout To remove PCMCIA Card push eject button on option card Figure 3 Mounting and Removing Modbus Plus PCMCIA Kit 1997 Schneider S A All RightsReseved 7 Section 1 Installation amp Configuration VD0C065309 Installing the Modbus Plus PCMCIA Kit April 1997 6 Route the cable ordered separately a For all drive controller models route the cable with other control wiring For more information see CABLE ROUTING PRACTICES on page 12 and also refer to bulletin VDOC065304_ b For models ATV66U41N4 to D12N4 and ATV66U41M2 to U90M2 cable must be routed through the knockout and outside the drive controller enclosure NOTE Additional mechanical and environmental protection of the cable may be required c F
23. drive controller current 50 display status 52 54 fault registers 60 62 horsepower 54 identification 22 ready 51 reset 44 thermal fault 52 thermal state 50 voltage range 50 drop cable connecting 18 20 connecting outer shield wire 20 grounding 20 labeling 20 routing 14 selecting 18 wiring 19 drop cabling 13 14 16 19 dynamic braking 52 60 62 E EFL see external fault eject button 7 elapsed time 55 electrical interface 3 emergency stop 2 10 enabling jog 58 run 59 examples cable tap 14 connecting drop cable 19 end site taps 17 grounding 9 in line taps 16 VDOC06S309 April 1997 VW3A66305U Modbus Plus PCMCIA Communication Card Kit Index examples cont d network 10 34 network cabling 14 token sequences 11 using semaphore 35 external fault 45 F fast stop 45 46 52 faults control supply 60 62 customer 59 60 62 display word 51 dynamic braking 60 62 external 45 feedback loss 60 62 ground 60 62 history 62 horsepower 60 62 loss of follower 60 62 memory 60 62 motor overload 60 62 overspeed 60 62 overtemperature 60 62 phase loss 60 62 precharge 60 62 register 60 61 registers 60 reset 59 resettable 51 screen 23 serial link 23 60 64 short circuit 60 62 state 58 thermal 52 time out 60 62 transistor 60 62 15 V input 60 62 feedback PI 58 feedback loss 58 60 62 firmware version 2 22 FLI 39 44 52 FLT see faults forced local 26
24. even if there is no node device connected to the network at the site i e temporary removal of drive controller for repair Labeling After the cable is installed label the cable segments for easy identification in future maintenance Adhesive labels are available commercially for cable identification If a cable layout diagram exists for the installation label each segment in accordance with the diagram If a diagram does not exist prepare one showing the cable segments and method of identifying them for future service Then label the segments accordingly Affix the labels to the cables at each network node drop Place them at a point that will be visible to maintenance personnel Complete the network installation labeling by properly labeling each site s cabinet or enclosure device mounting panel and device Checking the Cable Installation Inspecting the Cable Installation Visually inspect the cable for the following points e The cable runs should be consistent with the physical and electrical protection requirement described in Environmental Requirements on page 12 e The cable runs should be consistent with the network cable routing illustrated in Figure 9 on page 14 20 1997 Schneider S A All Rights Reserved VDOC06S309 Section 1 Installation amp Configuration April 1997 Trunk and Drop Cabling with Taps The tap at each end drop site on each section of the network should have its two int
25. 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 Failure to observe these precautions can result in death serious injury or equipment damage 1 For additional information refer to NEMA ICS 1 1 1984 R 1990 Safety Guidelines for the application Installation and Maintenance of Solid State Control and to NEMA ICS7 1 1995 Safety Standards for Construction and Guide for Selection Installation and Operation of Adjustable Speed Drive Systems O 1997 Schneider S A All Rights Reserved 41 Section 3 Register Descriptions VD0C065309 Adjustment Registers Read amp Write April 1997 ADJ USTMENT REGISTERS Read Write 42 These parameters can be adjusted regardless of whether the drive controller is running or stopped and regardless of the DLI FLI setting see page 37 NOTE You can only use the keypad to choose Multi Motor or Multi Parameter operation The Adjustment register values are linked with the Motor or Parameter set determined by 2021 11 and 2021 12 see pages 45 46 in
26. may range from 1 to 100 the ATV66 drive controller range is 1 to 60 1997 Schneider S A All Rights Reserved 29 Section 2 Modbus Plus Overview VD0C065309 Peer Cop April 1997 Read and Write MSTR Operations An MSTR Write operation transfers data from a controlling device to the drive controller An MSTR Read operation transfers data from the drive controller to a controlling device on the network Control Block PEER 30 The registers in the MSTR control block the top node contain the following information in a Read or Write operation see Table 11 Table 11 Control Block Registers Read Write Operations Register Function Content Displayed Operation type 1 Write 2 Read 1st implied Error status Displays a hex value indicating MSTR error when relevant Write of registers to be sent to drive controller Read of registers to be read from drive controller Drive controller Specifies starting register in the drive controller to be read 2nd implied Length ias data area from or written to 1 40001 49 40049 4th 8th Designates 1st 5th routing path addresses respectively eer Routing 1 5 implied last non zero byte in routing path is the transaction device COP Peer Cop also known as specific transfer is a method of mapping a block of registers from one specific node to the drive controller s Command and Adjustment registers The transmitting node se
27. of 43 is the default Motor Overload setting For all other size controllers the default setting is 0 9 times the Nominal Drive Controller Output Current see bulletin VD0C06S304 5 These registers are reserved for future use DO NOT Peer Cop to these registers For more details on Adjustment and Command registers see Section 3 Register Descriptions 32 O 1997 Schneider S A All Rights Reserved VDOC06S309 Section 2 Modbus Plus Overview April 1997 Global Data Transmission Global Data Transmission When a networked node holds the token it may communicate with other nodes on the link and gather network statistics When a node releases the token it appends up to 32 sixteen bit words of global data to the token frame This data packet is seen by all nodes present on the network and any appropriately programmed node can extract the data and record it in its global database For a Modbus Plus network with the maximum 64 nodes the global database can be up to 2048 sixteen bit words 32 words per node Global data cannot be shared between networks since the token cannot pass through a bridge If global data transmission is enabled for the ALTIVAR 66 drive controller up to the first 32 display registers of the drive controller can be broadcast to the network as global data with each token rotation To enable global data transmission enter the number of display registers to be transmitted in the Global Tx field of Men
28. overtemperature 60 62 storage 3 terminal command 26 39 58 59 terminals 5 6 test 25 62 thermal alarm 51 58 DB fault 62 fault 52 level 53 58 state 50 time 55 time out 36 55 60 62 token passing 11 sequences 11 status 55 torque limit 52 motor 50 torque limit 58 transistor short circuit 60 62 O 1997 Schneider S A All Rights Reserved transmission delays 2 10 trunk selecting cable 16 trunk and drop 21 mounting taps 15 trunk cable 14 16 connecting 16 to end sites 16 to in line taps 16 trunk cabling 13 14 16 19 U undervoltage 60 62 units 36 VDOC06S309 April 1997 VW3A66305U Modbus Plus PCMCIA Communication Card Kit Index V value analog outputs 56 version firmware 2 voltage boost 43 bus 50 drive controller 50 faults 60 62 line 50 measuring 4 6 motor 50 output 50 overvoltage 60 62 reduction 59 undervoltage 60 62 VW3A66201T module 1 VW3A66202 module 1 23 VW3A66205 module 1 23 VW3A66301 module 1 W wiring trunk cable 17 19 words also see Appendix A display 49 62 structure 36 writing access protection 38 reserved registers 39 41 Numerics 68 pin connector 7 9 pin connector 7 Symbols terminal 5 6 speed speed 59 15 V input 60 62 1997 Schneider S A All Rights Reserved 79 VW3A66305U Modbus Plus PCMCIA Communication Card Kit VDOC06S309 Index April 1997 80 1997 Schneider S A All Rights Reserved GROUPE
29. reset 31 46 Mode in which all commands are assigned Drive controller ready RDY or SLC Fault FLT Reset authorized Brake engage relay state Forced local NTO Resettable fault 33 51 Motor running Actual rotation direction DC injection braking Steady state Motor thermal overload alarm Current limit No line power NLP Output frequency Output current Display of logic input activation LI1 L18 Display of logic output activation LO1 LO2 33 57 Display of relay activation R1 R4 33 50 2045 Value of analog input Al1 33 49 2046 Motor torque 33 50 2047 Speed reference 2048 NOD AKON D tb db ob mk NA G 0 Local command mode T K Logic commands over link DLI Reference commands over link FLI Dynamic braking Fast stop Power loss ramp stop Gating state Orient complete 33 52 Deceleration DEC Acceleration ACC Multi motor or Multi parameter selected Drive controller thermal fault Torque limit Stopping by the keypad O 1997 Schneider S A All Rights Reserved VDOC06S309 VW3A66305U Modbus Plus PCMCIA Communication Card Kit April 1997 Appendix Address Descriptions amp Index Address Bit Description Page 2049 Jog Shutdown complete Cycle complete Alternate ramp Auto Manual Frequency level 1 attained Frequency level 2 attained Current level 1attained Current level 2 attained Thermal level
30. the drive controller ground point on the local site panel or frame Direct continuity should be present Also check for proper termination and insulation of individual drop twisted pair shields If any check point fails inspect the cable and all connections for damage or miswiring and correct the condition Figure 16 9 Pin D Shell Connector drive controller end of drop cable 1997 Schneider S A All Rights Reserved 21 Section 1 Installation amp Configuration VD0C065309 Communication Configuration April 1997 COMMUNICATION CONFIGURATION First Power Up To understand access to the different menus refer to the Level 1 42 Configuration manual VD0C06S305_ and if an I O Extension Module is installed the Level 3 Configuration manual VDOCO6T306_ At first power up a message appears on the keypad display identifying the option module The Modbus Plus PCMCIA card can be used with either the Communication Carrier module VW3A66205 or the I O Extension module VW3A66201T or VW3A66202T After OPT the catalog number of the selected card is shown Press ENT to reconfigure the drive controller to factory settings OPT UM3Be6285 INSTALLED REMEMBER YOU NEED TO CONFIGURE THE OPTION ENT to continue Figure 17 First Power Up with VW3A66205 Option Module installed A WARNING UNINTENDED EQUIPMENT OPERATION e Installing an option module will reset all drive controller parameters including I O a
31. types 37 VDOC06S309 VW3A66305U Modbus Plus PCMCIA Communication Card Kit April 1997 Index PCMCIA range 36 registers cont d cable 8 RDY 51 relay state 57 cata fpe 26 55 ready state 58 62 SLC local 51 configuration parameters ved 55 speed 50 23 KN thermal state 50 grounding 8 receiving 3 token 55 installing kit 7 messages 55 torque 50 kit part no 1 references voltage 50 removing kit 7 assigning over link 44 52 relays specifications 3 frequency 46 55 braking 51 status 25 speed 50 command registers 48 Peer Cop 30 32 registers R1 R4 57 58 adjustment storage 45 adjustment 27 42 43 remote 26 phase loss 60 62 analoginputss repeater devices 9 12 PI analog outputs 56 44 51 59 alam BG command 27 45 46 aa reverse speed 50 command node 55 resettable fault 51 feedback 58 commands 44 46 48 reverse 58 59 input assignment 49 current 50 rotation output assignment 56 cycle 54 see direction power description ee rotation time 55 disconnecting 4 RAN i m 9 drive status 52 54 routing cable 8 13 15 Nb elapsed time 55 run 62 no line power 62 taut S G ds P fault history 62 autoforward 59 output 50 frequency 50 autoreverse 59 supply 60 62 horsepower 54 command 39 45 58 power up index 67 71 enabling 59 menu 22 input state 57 no run permissive 62 values 37 limit command 47 output command 53 precautions 2 4 10 22 39 LI1 LI8 assignments 59 running state 58 41 44 45 machine frequency 55 precharge failure 60 62 messa
32. 041 2 0 No fault 2041 2 1 Drive controller faulted 2041 3 0 Reset not authorized 2041 3 1 Reset authorized Brake engage relay 2041 4 0 Brake set relay deenergized state 2041 4 1 Brake released relay energized Forced local 2041 5 0 Drive controller not forced to local 2041 5 1 Drive controller forced to local NTO 2041 6 0 Time out fault 2041 6 1 No time out fault Resettable fault 2041 7 0 Non resettable fault 2041 7 1 Resettable fault Motor running 2041 8 0 Motor stopped 2041 8 1 Motor running Actual rotation direction 2041 9 0 Forward 2041 9 1 Reverse DC injection braking 2041 10 0 No current injected 2041 10 1 DC being injected Steady state 2041 11 0 Drive controller not in steady state 2041 11 1 Drive controller in steady state Motor thermal overload alarm Reserved 2041 12 0 Drive controller not in motor overload 2041 12 1 Drive controller in motor overload 2041 13 Current limit No line power NLP 2041 14 0 Drive controller not in current limit 2041 14 1 Drive controller in current limit 2041 15 0 Drive controller not faulted on line phase loss 2041 15 1 Drive controller faulted on line phase loss 1997 Schneider S A All Rights Reserved 51 Section 3 Register Descriptions VD0C065309 Display Registers Read Only April 1997 Table 28 Drive Controller Status Registers Drive Modbus Plus Description Possible Values A
33. 1attained Thermal level 2 attained No ramp follow Run output command bypass Rotation direction Drive faulted stopped State of Adjustment Semaphore 33 53 State of Command Semaphore 2051 Display of fault causing trip 33 60 2052 Display of present faults 33 61 2053 Output power 2054 Output voltage 2055 Line voltage daten 2056 Bus voltage 2057 Motor thermal state value 2058 Drive controller thermal state value 2059 Elapsed time hours 2060 Elapsed time minutes 2061 Output speed rpm 33 55 2062 Machine frequency reference customer units 2063 Machine frequency customer units 2064 Value of analog input Al2 2065 Value of analog input AIS 33 49 2066 Value of analog input Al4 2067 Value of AO 2068 Value of AO2 33 56 2069 Value of AO3 2070 Speed ramp output 2072 Nominal motor voltage range 2075 Number of motor or parameter set selected 2076 Cycles step number in progress 54 2077 Preset speed number in progress 33 53 0 1 2 3 4 5 6 7 8 2050 33 50 O 1997 Schneider S A All Rights Reserved HU 6g VW3A66305U Modbus Plus PCMCIA Communication Card Kit VD0CO06S309 Appendix A Address Descriptions amp Index April 1997 Address Bit Description Page 2101 Assignment of Al 2102 Assignment of Al2 49
34. 2 22 Reserved 23 Brake Release 24 Shutdown Complete 25 Orient Complete 26 Cycle Complete 27 Cycle Fault 28 Run Output Command Bypass 29 Jog enabled 32 Feedback Limit Pl 33 Feedback High Alarm PI 34 Feedback low alarm PI VDOC06S309 Section 3 Register Descriptions April 1997 Display Registers Read Only Table 40 Logic Input Assignments Drive Modbus Plus Description Possible Values Address 2116 Assignment of LI1 Stop 3 wire 0 Not assigned control or Run Enable 2 wire control 1 Stop 3 wire control not reconfigurable 2 Run Enable 2 wire control 2117 Assignment of LI2 Forward 3 Forward not reconfigurable 4 Reverse 5 Current Limit 2118 Assignment of LI3 6 Voltage Reduction factory setting Reverse 7 Alternate Ramps 2119 Assignment of Ll4 8 Jog factory setting Jog 9 Speed 2120 Assignment of LI5 10 Speed factory setting PS A 11 Controlled stop 2121 Assignment of LI6 Jer Start Cycle Cycles factory setting PS B 13 Reset Cycle Cycles i 14 Step Locking Cycles 2122 Assignment of LI7 15 Next step Cycles factory setting PS C 16 Setpoint Memory 2123 Assignment of LI8 17 Preset Speed a PS A factory setting Reset Fault 18 Preset Speed b PS B 19 Preset Speed c PS C 20 Orient Command 21 Orient Pulses 22 Forced Local 23 Auto Manual 24 Terminal Keypad 25 Process Input Bypass 26 Sequence Input
35. 26 power up 22 messages 27 55 status 55 Modbus Plus 16 27 40 modules Communication Carrier 1 23 55 display status 55 displaying 22 installation precautions 22 I O Extension 1 55 motor running 51 selecting 46 52 76 motors display selection 52 multiple 45 52 overload 43 60 62 selecting 46 59 short circuit 60 62 thermal overload alarm 51 thermal state 50 torque 50 voltage range 50 mounting tap 15 MSTR instruction 28 30 multi motors 45 46 52 multi parameters 45 46 52 N NEMA safety standards 2 10 41 network bridge multiplexers 9 bus cable 12 cabling 14 commanding over 37 example 10 node devices 9 performance 35 36 physical 12 security 35 tap devices 13 token sequence 11 token sequences 11 next step 59 NLP 51 no ramp follow 53 58 node devices addressing 11 display status 55 drop cables 14 maximum number 9 12 NTO 36 44 51 63 O 1997 Schneider S A All Rights Reserved O open transistor 60 62 operating shock 3 temperature 3 orient 52 58 59 stop 45 output current 50 frequency 50 logic 57 phase loss 60 62 power 50 speed 55 voltage 50 outputs analog 48 56 logic 48 58 overload 60 62 alarm 51 motor 43 overspeed 58 60 62 overtemperature 60 62 overtravel stop 2 10 overvoltage 60 62 P PA terminal 5 6 parameters adjustment 37 command 37 configuration 23 display 37 display selection 52 multiple 45 52 selecting 46 52
36. 4 Status display on keypad will read SLC e Send Run Command set word 2021 5 Stop Run to 1 Send Speed Reference write a value between 3970 60 Hz forward and 3970 60 Hz reverse to word 2022 Parameter Types There are several different types of parameters Command parameters Enable and disable Serial Link Command mode start and stop the drive controller and command the general operation of the drive Command parameters cannot be modified if Command Semaphore has been reserved by another device or In Forced Local Mode or Drive controller is being Peer Copped by another device Command parameters except 2121 1 2 amp 15 can be modified only if 2021 1 DLI amp 2021 2 FLI are set and can always be monitored by any device e Adjustment parameters Used to change variables in the drive controller These parameters can be written and read by any device while the controller is running or stopped For exclusive control of the Adjustment registers the device must reserve the Adjustment Semaphore Display parameters Read only Can be monitored by any device 1997 Schneider S A All Rights Reserved 37 Section 2 Modbus Plus Overview VD0C065309 Drive Communication Principles April 1997 Protection of Command Access The Command Semaphore ensures access protection in writing the Command registers The device that sets 2236 to 1 reserves the semaphore and prohib
37. 44 9 0 Output not active 2044 9 1 Output active 2044 10 0 Output not active 2044 10 1 Output active 2044 11 0 Output not active 2044 11 1 Output active 2044 12 0 Output not active 2044 12 1 Output active 2044 13 0 Output not active 2044 13 1 Output active 2044 14 0 Output not active 2044 14 1 Output active 2044 0 2044 15 1997 Schneider S A All Rights Reserved 57 Section 3 Register Descriptions Display Registers Read Only VDOC06S309 April 1997 Table 39 LOx ROx Assignment Drive Modbus Plus Description Address 2108 Assignment of LO1 factory setting At Speed 2109 Assignment of LO2 factory setting Current Limit 2112 Assignment of R1 factory setting Fault 2113 Assignment of R2 factory setting Running State 2114 Assignment of R3 factory setting Thermal Level 1 2115 Assignment of R4 58 factory setting Ready State 1997 Schneider S A All Rights Reserved Possible Values 0 No assignment 1 Ready State 2 Running State 3 At Speed 4 Forward Direction 5 Reverse Direction 6 Terminal Keypad 7 Auto Manual 8 Current Limit 9 Torque Limit 10 Fault State 11 Drive Controller Thermal Alarm 12 Loss of Follower 13 No Ramp Follow 14 Feedback Loss 15 Overspeed 16 Frequency Level 1 17 Frequency Level 2 18 Current Level 1 19 Current Level 2 20 Thermal Level 1 21 Thermal Level
38. 7 Ramp Output 8 PI Reference Output 9 PI Feedback Output 10 PI Error Output 11 PI Integrator 0 to 11 Assignment of 0 Not assigned analog output AO3 1 Motor Current 2 Motor Frequency 3 Output Power factory setting 4 Motor Torque 5 Output Voltage 6 Motor Thermal State 7 Ramp Output 8 Pl Reference Output 9 Pl Feedback Output 10 PI Error Output 11 PI Integrator O 1997 Schneider S A All Rights Reserved VDOC06S309 Section 3 Register Descriptions April 1997 Display Registers Read Only Table 38 LIx LOx ROx State Drive Modbus Plus Description Possible Values Address 2044 Display of LI1 activation 2044 1 0 Input not active Display of LI2 activation Display of LI3 activation Display of LI4 activation Display of LI5 activation Display of LI6 activation Display of LI7 activation Display of LI8 activation Display of LO1 activation Display of LO2 activation Display of R1 activation Display of R2 activation Display of R3 activation Display of R4 activation Reserved 2044 1 1 Input active 2044 2 0 Input not active 2044 2 1 Input active 2044 3 0 Input not active 2044 3 1 Input active 2044 4 0 Input not active 2044 4 1 Input active 2044 5 0 Input not active 2044 5 1 Input active 2044 6 0 Input not active 2044 6 1 Input active 2044 7 0 Input not active 2044 7 1 Input active 2044 8 0 Input not active 2044 8 1 Input active 20
39. A Interface Specifications Isolation network to drive controller Isolation cable jacket to ground PCMCIA connector Electrical interface Storage temperature Operating temperature Humidity Altitude Shock non operating Shock operating INSTALLING THE PCMCIA KIT Galvanically isolated for 30 V RMS 50 V peak 150 V RMS 9 pin female D shell RS 485 40 to 185 F 40 to 85 C Same as drive controller See VD0C06S304 95 relative humidity at 140 F 60 C non condensing Up to 15 000 ft 4 500 m 30 g for 11 ms three shocks axis Same as drive controller See VD0C06S304 WARNING UNINTENDED EQUIPMENT ACTION Read and understand this document VD0C06S304 VDOCO6S305_ and manual for applicable option module before operating drive controller Failure to follow these instructions can result in death serious injury or equipment damage Before installing removing or replacing the Modbus Plus PCMCIA Kit remove all power from the drive controller including external control power that may be present on the option module and perform the Bus Voltage Measurement Procedure on page 4 O 1997 Schneider S A All Rights Reserved Section 1 Installation amp Configuration VD0C065309 Bus Voltage Measurement Procedure April 1997 Bus Voltage Measurement Procedure A DANGER HAZARDOUS VOLTAGE Drive controller contains energy storage devices Read and understand Bus Voltage
40. ENT amp NETWORK SECURITY A serial link fault SLF may occur under certain conditions Tables 44 amp 45 on page 64 list some typical conditions and the drive controller s response The controller s response is based on Which node put the drive controller in SLC mode serial link command mode DLI amp FLI set to 1 e Whether drive controller is in SLC mode e State of bit 4 of register 2021 NTO If 202144 is set to 1 the Modbus Plus PCMCIA card does not monitor the frequency of messaging on the serial link It is useful to set 2021 4 to 1 during certain diagnostic and commissioning procedures Set it to 0 for normal SLC mode operation WARNING LOSS OF CONTROL Setting 2021 4 NTO to 1 disables serial link fault protection Provide alternate control paths when disabling the serial link fault protection Disabling the serial link fault protection can result in loss of control and can result in death serious injury or equipment damage 1997 Schneider S A All Rights Reserved 63 Section 4 Fault Management 8 Network Security Typical Fault Conditions VDOC06S309 April 1997 Table 44 Drive Controller Response to Loss of Node irn t State of Network Condition driv dn 2021 4 Fault Drive Controller Response SLC mode NTO 0 No Loss of Peer Cop Command Node or Local Node l that 0 Yes SLF after Time Out set in Menu 11 expires initiated message o
41. Instruction Bulletin VDOC06S309 April 1997 a Col Tolomecanique ju gouarne D z Oo m D 4 ALTIVAR 66 Modbus Plus PCMCIA Communication Card Kit VW3A66305U User s Manual rj Telemecanique D SQUARE D A DANGER HAZARDOUS VOLTAGE Before installing PCMCIA card or operating ALTIVAR 66 drive controller with PCMCIA card installed read and understand completely this and all other bulletins delivered with the ALTIVAR 66 drive controller and associated options Installation adjustment repair and maintenance of these drive controllers must be performed by qualified personnel Disconnect all power before servicing drive controller WAIT ONE MINUTE until DC bus capacitors discharge then measure DC bus capacitor voltage between PA and terminals to verify DC voltage is less than 45 V The DC bus LED is not an accurate indication of the absence of DC bus voltage DO NOT short across DC bus capacitors or touch unshielded components or terminal strip screw connections with voltage present Install all covers and close door before applying power or starting and stopping the drive controller User is responsible for conforming to all applicable code requirements with respect to grounding all equipment Many parts in this drive controller including printed wiring boards operate at line voltage DO NOT TOUCH Use only electrically insulated tools Before servicing drive controller Disconnect all power
42. Link Command is enabled NOTE Bit 0 is the right most least significant bit Bit 15 is the left most most significant bit Table 18 Command Registers Drive Modbus Plus Description Possible Values Address 2021 Drive reset 2021 0 0 Noreset 2021 0 1 Reset must be in Serial Link Command SLC mode for reset to take effect A WARNING UNINTENDED EQUIPMENT ACTION This manual does not support split control of the DLI and FLI bits i e DLI 1 and FLI 0 or DLI 0 and FLI 1 If split control of DLI and FLI is required for your application contact your Square D representative for assistance DO NOT program the controller in split control of DLI and FLI mode using only the information in this manual Failure to follow these instructions can result in death serious injury or equipment damage Assignment of logic 2021 1 0 commands over link DLI 1112021 1 1 Logic commands over link 2 0 1 Assignment of references 2021 No references over link over link FLI 111 2021 2 1 References over link Alternate ramps Ramp 2 2021 3 0 Ramp 1 2021 3 1 Ramp2 A WARNING No logic commands over link LOSS OF CONTROL Setting 2021 4 NTO to 1 disables serial link fault protection Provide alternate control paths when disabling the serial link fault protection Disabling the serial link fault protection can result in loss of control and can result in death serious injury or equipment damage
43. Measurement Procedure before installing PCMCIA Communication Card Kit Measurement of DC bus capacitor voltage must be performed by qualified personnel DC bus LED is not an accurate indication of absence of DC bus voltage DO NOT short across capacitors or touch unshielded components or terminal strip screw connections with voltage present Many parts in this drive controller including printed wiring boards operate at line voltage DO NOT TOUCH Use only electrically insulated tools Failure to follow these instructions will cause shock or burn resulting in death or serious injury The PA and terminals are located inside the drive controller see Figure 1 To measure bus capacitor voltage Disconnect all power from the drive controller Wait 1 minute to allow the DC bus to discharge Open the front cover of the drive controller Set the voltmeter to the 1000 VDC scale Measure the bus capacitor voltage between the PA and terminals to verify that the DC voltage is less than 45 V Do not short across capacitor terminals with voltage present 5 If the bus capacitors are not fully discharged contact your local Square D representative Do do not operate the drive controller Hx e qud 4 O 1997 Schneider S A All Rights Reserved VDOC06S309 Section 1 Installation amp Configuration April 1997 Bus Voltage Measurement Procedure
44. SECTION 3 REGISTER DESCRIPTIONS WARNING UNINTENDED EQUIPMENT ACTION This manual does not support split control of the DLI and FLI bits i e DLI 1 and FLI 0 or DLI 0 and FLI 1 If split control of DLI and FLI is required for your application contact your Square D representative for assistance DO NOT program the controller in split control of DLI and FLI mode using only the information in this manual Writing to registers that are designated as reserved may cause unintended equipment operation DO NOT write data to registers unless the function to be performed is completely understood Consult the appropriate drive controller manual for additional details Failure to follow these instructions can result in death serious injury or equipment damage INTRODUCTION The Modbus Plus link identifies ALTIVAR 66 ATV66 drive controllers as a series of holding registers The tables in this section describe ATV66 registers and their corresponding Modbus Plus addresses Registers are shown as drive controller Modbus Plus addresses These are the addresses you will use in the MSTR instructions In this section registers are grouped by function For a list of registers in numerical order see Appendix A on page 67 NOTE Bit 0 is the right most least significant bit Bit 15 is the left most most significant bit WARNING LOSS OF CONTROL The designer of any control scheme must consider the potential
45. Transmission 0 32 0 No Global Data Transmitted COMMAND NODE Bl 1 64 Must not equal ADDRESS NUM REGISTERS F1 1 32 12 All command registers 11 Time period between last Peer Cop transmission from Command Node and moment when drive controller responds to data sent via messaging from other nodes see PEER COP on page 30 for more information Also time period between loss of communication with node that placed drive controller in Serial Link Control mode and the resulting Serial Link Fault 21 For more information see Global Data Transmission on page 33 3 For more information see PEER COP on page 30 24 O 1997 Schneider S A All Rights Reserved VDOC06S309 Section 1 Installation amp Configuration April 1997 Communication Menu Diagnostics The status of the Modbus Plus communications link is indicated by the green LED see Table 7 The LED is located next to the PCMCIA card s 9 pin connector Network and PCMCIA card status is also displayed in menu 12 Communication State For additional information on Troubleshooting see Section 4 Fault Management amp Network Security on page 63 LED Pattern Off 1 flash per s Table 7 Network and PCMCIA Card Status ATV66 Display NOT CONFIGURED PCMCIA ERROR Indication Status PCMCIA card not configured has no address PCMCIA card cannot communicate with drive controller has lost communication and does not respond to a reset CONFIG MISMATCH
46. alog Input this value is always active If programmed as By Frequency Level this value is active above the programmed frequency If programmed as By Logic Input you must set the function command bit 2021 10 2032 0 or 2032 3 high for this value to take control 2 Loss of all power to drive controller Control logic inactive green LED on front of controller Off resets this bit to factory default O 1997 Schneider S A All RighisReseved 47 Section 3 Register Descriptions Command Registers Read amp Write VDOC06S309 April 1997 48 Table 23 Logic Relay Analog Output Command Registers Drive An Range Description Possible Values Address 2023 1 0 or 1 Command of LO1 M 0 Off 1 On Factory default 0 2l 2023 22 Oor1 Command of LO2 1 0 Off 1 On Factory default 0 21 2023 6 Oor1 Command of R2 M 0 Off 1 On Factory default 0 21 2023 7 Oor1 Command of R3 M 0 Off 1 On Factory default 0 P1 2023 8 Oor1 Command of R4 M 0 Off 1 On Factory default 0 21 2023 bits 0 3 5 9 15 Reserved 2024 0 to 0 0 or 4 mA Bl 4095 20 mA Aon heer ane OP ACH Loyal Factory default 0 A 2030 0 to 0 0 or 4 mA BI 4095 20 mA dus CIAO AOS Loyal Factory default 0 A 2031 0 to 0 0 or 4 mA Bl 4095 20 mA 2095 C0 mang OF AG evel Factory default 0 2 1 Logic and relay outputs must be unassigned via the keypad or their controllin
47. an ms 11 Physical Network dnb ada rds ak NG diate ey datos NG aca 12 CABLE ROUTING PRACTICES 12 Environmental Requirements 12 TRUNK AND DROP CABLING WITH TAPS 13 Routing Gabl s vere a eee dre ep dox d eu aod dhe ay aia 14 Mounting the Tap 15 Connecting the Trunk Cables 16 Modbus Plus Trunk Cable 16 Cable Entry and Jumpers Taps at In Line Sites 16 Cable Entry and Jumpers Taps at End Sites 16 Connecting the Wires 17 Connecting the Drop Cable eh 18 Modbus Plus Drop Cable 18 Connecting the Signal Wires 19 Connecting the Drop Cable Drain Wire 20 Grounding 2e AA eee A ES o ost ades ea s 20 Labelirig uci tes x EP ee He pere n ba eroe ete per REED E es 20 Checking the Cable Installation 20 Inspecting the Cable Installation 20 Checking Cable Continuity 21 COMMUNICATION CONFIGURATION 22 First Rower Dp ne etes ee dan t tee rods doe
48. ate of 0 Disabled command node 1 0K 2 Time out Drive Modbus Plus Table 35 Token Message Status Address Description 2223 Token rotation time 2224 Token count 2225 Messages received Drive Modbus Plus ENE Address Description Possible Values 2059 Elapsed time hours Total time 2059 2060 2060 Elapsed time minutes 2061 Output speed Scale factor determined by nominal motor RPM 2062 Machine frequency reference Frequency times customer units scaling factor 2063 User Machine frequency Frequency times defined customer units scaling factor 1997 Schneider S A All Rights Reserved 55 Section 3 Register Descriptions VD0C065309 Display Registers Read Only April 1997 Drive Modbus Plus Address 2067 2068 2069 2105 2106 2107 56 Table 37 Analog Output Assignment and Value Range Possible Values 0 to 100 Value of AO1 0 to 100 Value of AO2 0 to 100 Value of AO3 0 to 11 Assignment of 0 Not assigned analog output AO1 1 Output Current 2 Output Frequency factory setting 3 Output Power 4 Motor Torque 5 Output Voltage 6 Motor Thermal State 7 Ramp Output 8 Pl reference Output 9 Pl feedback Output 10 Pl error Output 11 PI Integrator 0 to 11 Assignment of 0 Not assigned analog output AO2 1 Motor Current factory setting 2 Motor Frequency 3 Output Power 4 Motor Torque 5 Output Voltage 6 Motor Thermal State
49. d in the TOKEN GOOD TOKEN GOOD 11 gt Communication Menu See Table 7 on page 25 TOKEN COUNT with token rotation time MONITOR LINK NEVER GETTING TOKEN SOLE STATION DUPLICATE STATION 0 65535 When token pass counter reaches PEERCOP n OK 65535 it begins again at 0 Parameter Command Node address n 1 to 64 CPT DISABLED TIMEOUT 0 65535 Range Command Node state Number of messages received When MESSAGES Forced Local 26 message counter reaches 65535 it begins again at O A forced local logic input can be defined in the 7 2 Application Functions menu This logic input returns control to the terminal strip or keypad if in Serial Link Command Mode see page 39 FORCED LOCAL NO YES LOGIC IN amp ENT to modify ESC to quit Figure 23 Forced Local Menu Forced local can also be selected in the 5 gt Keypad Configuration menu and assigned to the F1 function key The F1 function key can be used to toggle between Local Keypad or Terminal Command depending on the setting of T K and Remote Serial Link Command O 1997 Schneider S A All Rights Reserved VDOC06S309 Section 2 Modbus Plus Overview April 1997 Messaging SECTION 2 MODBUS PLUS OVERVIEW INTRODUCTION The Modbus Plus PCMCIA card allows an ALTIVAR 66 ATV66 drive controller to function as a node on a Modbus Plus network This section explains how information is e
50. data to the initiating node As a node on a Modbus Plus network the ATV66 drive controller cannot initiate messages but all of its Command Read amp Write Adjustment Read amp Write and Display Read only registers can be Read by other networked devices through messaging at any time even when the drive controller is running Other networked devices can Write to Command registers as long as they are not peer copped and the Command Semaphore is not reserved e Adjustment registers as long as they are not peer copped and the Adjustment Semaphore is not been reserved 1997 Schneider S A All Rights Reserved 27 Section 2 Modbus Plus Overview VD0C065309 MSTR Block April 1997 See Command and Adjustment Semaphores on page 34 for a discussion of how these semaphores limit messaging Registers that have received peer cop data from their command node within the time out period designated in Menu 11 gt Communication cannot be written by other nodes through messaging If a Write message is received for peer copped registers the message is refused and a negative acknowledgment is returned MSTR BLOCK Overview of MSTR Block PLCs that support a Modbus Plus communications capability have a special MSTR master instruction with which nodes of the network can initiate message transactions The MSTR function allows you to initiate one of nine possible network communications operations over Modbus Plus Each operati
51. ddress 2048 Local command mode 2048 0 0 Terminal command T K 2048 0 1 Keypad command Logic commands over 2048 1 2 0 Not activated link DLI 2048 1 21 Activated Reference commands 2048 2 0 Not activated over link FLI 2048 22 1 Activated Dynamic braking 2048 3 20 Dynamic braking not active 2048 32 1 Dynamic braking in progress Fast stop 2048 4 20 Fast stop not active 2048 42 1 Fast stop in progress Power loss ramp stop 2048 5 0 Not active 2048 5 21 Ramp stop in progress Gating state 2048 6 20 Drive controller gating 2048 6 21 Drive controller not gating Orient complete 2048 7 2 0 Orient stop not active 2048 7 21 Orient stop complete 200 ms pulse Deceleration DEC 2048 82 0 Drive controller not in deceleration 2048 8 1 Drive controller in deceleration Acceleration ACC 2048 9 0 Drive controller not in acceleration 2048 9 1 Drive controller in acceleration Wutteamoe soto ee Tale blow Reserved 2048 12 Drive controller thermal 2048 13 0 Drive controller not in thermal overload fault fault 2048 13 1 Drive controller in thermal overload fault Torque limit 2048 14 0 Drive controller not in torque limit 2048 14 1 Drive controller in torque limit Stopping by the keypad 2048 15 0 Not active 2048 15 1 Drive controller stopped by keypad p 1 Keypad Stop button stops drive controller regardless of control mode Serial Keypad Terminal To restart the controller you must cycle Off gt O
52. ddress sequence from one node to another Network nodes function as peer members of a logical ring gaining access to the network upon receipt of a token frame Each network maintains its own token rotation sequence independent of other networks Where multiple networks are joined by bridges the token is not passed through the bridge device While holding the token a node initiates message transactions with other nodes Each message contains routing fields defining its source and destination including its routing path through bridges to the final destination on a remote network When passing the token a node can write into a global database that is broadcast to all nodes on the network Global data is transmitted as a field within the token frame Other nodes monitor the token pass and can extract the global data if they have been programmed to do so Use of the global database allows rapid updating of alarms setpoints and other data Each network maintains its own unique global database as the token is not passed through a bridge to another network Figure 6 shows the token sequences in two networks joined by a Bridge Plus YM Network 1 gt Token Sequence 2 5 10 12 22 2 4 Network __ Token Sequence 4 5 9 10 24 4 Figure 6 Token Sequences 1997 Schneider S A All Rights Reserved 11 Section 1 Installation amp Configuration VD0C065309 Network Overview April 1997
53. e Modbus Plus PCMCIA Kit This menu allows you to configure the Protocol address and communication settings see Figures 20 amp 21 and Table 6 This PCMCIA card and manual support ONLY Modbus Plus Selecting another protocol will result in a Serial Link Fault SLF upon the next power up of the drive controller Using the keypad enter MODBUS as the Protocol Enter the drive controller address and then configure the other parameters Menu 11 is not accessible if Serial Link mode is enabled see Taking Command over the Network on page 37 LE COMMUNICATION PROTOCOL EE ADDRESS 8 UNI TELMAY MODBUS RTU MODBUS ASC FIPIO MODBLUS INTERBUS Figure 20 Setting the Protocol 1997 Schneider S A All Rights Reserved 23 Section 1 Installation amp Configuration VD0C065309 Communication Menu April 1997 11 5 COMMUNICATION PROTOCOL MODELS ADDRESS a TIMEOUT 1 45 PEERCOPo NO GLOBAL Ta 8 ENT w PEERCOP selected PEERCOP VALIDATION NO YES COMMAND NODE 1 HUM REGISTERS 12 v A amp ENT to select Figure 21 Communication Menu Table 6 Modbus Plus Card Configuration Parameters Parameter Range Default Comments PROTOCOL Must be set to MODBUS Modbus Plus node address ADDRESS 050 KN 0 address not configured TIMEOUT HJ 0 1 60s 100 ms increments PEERCOP NODE NO YES NO Press enter when selected to reach Peercop validation screen GLOBAL TX PI l Global Data
54. e 26 Frequency Current Torque amp Speed Registers Drive Modbus Plus mx 2204 Line Frequency 0 Unknown Recognized 1 50 Hz 2 60 Hz 2205 90 200 or 400 Drive Controller U41 D79 CT 400 Hz Max Rated C10 C31 CT 200 Hz Frequency VT 90 Hz 2206 Drive Controller Function of hp line voltage Nominal Current and torque type 2207 Drive Controller Function of hp line voltage Maximum Current and torque type 2042 26478 to 26478 Output Frequency 26478 400 Hz 2043 Output Current Function of hp and line voltage 2046 0 to 200 Motor Torque Measured of nominal motor torque 2047 32767 to 32767 Speed Reference 26478 400 Hz 26478 400 Hz reverse 2070 400 to 400 Hz Speed Ramp Speed command to gating Output control 50 O 1997 Schneider S A All Rights Reserved VDOC06S309 April 1997 Section 3 Register Descriptions Display Registers Read Only NOTE Bit 0 is the right most least significant bit Bit 15 is the left most most significant bit Drive Modbus Plus Address 2041 Table 27 Description Mode in which all commands are assigned Drive controller ready RDY or SLC Fault Registers amp SLC Local Possible Values 2041 0 0 Commands assigned by link SLC mode 2041 0 1 Commands assigned by terminal or keypad local mode 2041 1 0 Drive controller not ready 2041 1 1 Drive controller ready Fault FLT Reset authorized 2
55. e 28 Drive Controller Status Registers 52 Table 29 Multi Motor or Multi Parameter Set Selected 52 Table 30 Additional Drive Controller Status Registers 53 Table 31 Motor Parameter Set Cycle Preset Speed 54 Table 32 Drive Controller Horsepower 54 Table 33 Status of Options cards modules keypad 55 Table 34 Command Node Status 55 Table 35 Token amp Message Status 55 Table 36 Elapsed Time Output Speed amp Machine Frequency 55 Table 37 Analog Output Assignment and Value aaan 56 Table 38 LeIx LOX ROX State ise ana GB BEA dx Deae OUR E e Rd 57 Table 39 LOx ROx Assignment 58 Table 40 Logic Input Assignments 59 Table 41 Fault Register Fault that Caused Drive Controller to Trip 60 Table 42 Present Faults Register Fault Present if bit 1 61 Table 43 Fault Histoty rupe re alate NG ake Aha ope AG ones 62 Table 44 Drive Controller Response to Loss of Node 64 Table 45 Other Typical Fault Conditions 64 iv 1997 Schneider S A All Rights Reserved VDOC06S309 Introduction April 1997 Modbus Plus PCMCIA Communicatio
56. ed emissions to the line from the drive controller in some installations to prevent interference with telecommunication radio and sensitive electronic equipment Such instances may require attenuating filters Consult catalog for selection and application of these filters TRUNK AND DROP CABLING WITH TAPS Nodes are connected to the cable by means of a tap device This provides through connections for the network trunk cable and drop connections for the cable to the node device The tap also contains a resistive termination connected by two internal jumpers The tap at each end of a cable section requires both jumpers to be connected to prevent signal reflections All of the taps that are in line on the cable section require their jumpers to be removed open See Figure 7 on page 12 Figure 8 illustrates a tap at an in line site Two lengths of trunk cable are installed The circled jumpers are not installed If the tap is at the end site of a cable section only one length of trunk cable is routed to the tap it can enter either side and the jumpers should be connected to the signal pins at the opposite side of the tap to provide the network termination 1997 Schneider S A All Rights Reserved _ 13 Section 1 Installation amp Configuration VD0C065309 Trunk and Drop Cabling with Taps April 1997 Network Trunk Cable Network Trunk Cable Connect drop cable drain wire at this point DO NOT connect drain wi
57. er Cop Yes Peer Cop No Drive 1 Command Node 1 Drive 2 NTO 0 NTO 0 Node 4 Node 5 Figure 27 Typical Communication Fault Example 1 1997 Schneider S A All Rights Reserved 65 Section 4 Fault Management amp Network Security VD0C065309 Typical Fault Conditions April 1997 Figure 28 shows a local network with one PLC one MMI two drive controllers and a remote network Network 2 with a PLC and an MMI A bridge separates the two networks If Node 1 on Network 2 puts Node 4 into SLC mode reserves the Command Semaphore and Drive 1 Speed E then is lost Node 4 will fault Drive i unless Node 2 on Network 2 sends a message at least every 60 s Speed xx Modicon PLC Node 1 Modicon PLC Node 1 Modbus Plus Network 2 Modbus Plus Network 1 Drive 1 Speed xx Current xx Drive 2 Jm Peer Cop Yes Drive 2 Command Node 1 NTO 0 Peer Cop No NTO 0 Drive 2 Node 3 Node 4 Figure 28 Communication Loss Example 2 no SLC Fault The loss of a single node on the Modbus Plus network does not cause a fault because the token can still rotate among the remaining nodes on the network However if a node commands the drive controller to enter serial link command mode and then loses communication with the controller a serial link fault is issued To prevent loss of a commanding node without issuing a drive controller fault
58. ernal termination jumpers connected They must be connected between the two center posts and the W and B posts at the side of the tap opposite from the trunk cable connection The tap at each in line drop site should have its two internal terminal jumpers disconnected and removed Service loops should exist on the trunk cable at each tap and on each drop cable at the node device end of the cable Each tap should have the drop cable s drain wire connected to its terminating screw The drop cable s outer shield should also be connected as described on page 8 Adequate strain reliefs should be installed on the cable at each drop All identification labels should be in place and properly marked Checking Cable Continuity Before checking continuity disconnect all network cable connectors from the node devices Leave the drop cable ground lugs connected to their site panel grounds Verify the cable s end to end electrical continuity by checking the following points At any node device connector measure the resistance between pins 2 amp 3 the signal pins see Figure 16 This should range between 60 to 800 including the cable wire resistance At each node device connector check for an open circuit between pin 2 a signal pin amp pin 1 the shield pin Then check between pin 3 a signal pin amp pin 1 see Figure 16 An open circuit should exist for both checks At each connector check the continuity between pin 1 and
59. et d aa 22 Communication Configuration Menu 23 Diagnostics ome te ue e db 0 a tapes veri 25 Forced Local miii eda we a di 26 1997 Schneider S A All Rights Reserved i VW3A66305U Modbus Plus PCMCIA Communication Card Kit VDOC06S309 Table of Contents April 1997 SECTION 2 MODBUS PLUS OVERVIEW 4 27 INTRODUGTION a di 27 ALTIVAR 66 REGISTERS AND DATA EXCHANGE 27 Message A eda 27 MSTROBEOGK econ bale eh Be ds eee 28 Overview of MSTR Block 28 MS TR Block Structure Sia AAA ena ee 28 IN PUES Bird En 28 OUPS viral raras rd EF wet bee ed 29 Top Node Content arta ra AA a ward acts 29 Middle Node Content 29 Bottom Node Content naan aaan naana ence een nee 29 Read and Write MSTR Operations 30 GontroliBlocks adi ode e on eorr n eme da adeo e ad ts 30 PEER COPs ie ee ERR WEE edet a 2 30 Global Data Transmission 33 Command and Adjustment Semaphores 34 Example of Modbus Plus Network Operation 34 OPTIMIZING NETWORK PERFORMANCE 35 DRIVE CONTROLLER COMMUNICATION PRINCIPLES 36 Da
60. ficient trunk cable length for a service loop to prevent pulling or twisting the cable e For each drop cable provide a service loop to allow the connector to be connected and disconnected at the network node device without any strain on the cable A service loop of 6 in 152 mm minimum radius is adequate for most installations Install cable ties or clamps on each trunk cable segment as required for strain reliefs to prevent the cable from pulling on the tap Install cable ties or clamps on each drop cable as required for strain reliefs to prevent the cable from pulling on the tap or node device connector e Use additional ties or clamps as required to secure each cable from flexing or other damage in areas of mechanical motion devices and traffic Mounting the Tap Mount each tap at a location near its node device It is recommended that the tap be mounted outside the drive controller enclosure The tap must be near enough to the node device to allow the drop cable to reach the node device with a service loop See Figure 9 for drop cable routing The location must also be accessible for installing the trunk and drop cables and for future maintenance Figure 10 shows the tap s outer and mounting dimensions E 4 4 112 gt O a O O O O O 0299206 O e Hole Diameter _ 316 80 2 Mounting Centers gl 0 2 5 4 2 2 56 Dim in mm Figure 10 Tap Layout Cover Open 1997 Schneider S A All Ri
61. g bits are ignored 2 Loss of all power to drive controller Control logic inactive green LED on front of controller Off resets this bit to factory default 3 Use the keypad to select 0 20 mA or 4 20 mA 1 Assign an analog output to a function 2 Select the desired range 3 Unassign the analog output Note If the analog output is assigned this register is ignored O 1997 Schneider S A All Rights Reserved VDOC06S309 April 1997 Section 3 Register Descriptions Display Registers Read Only DISPLAY REGISTERS Read Only Table 24 Analog Input Registers Drive Modbus Plus Range Units Description Possible Values Address 2045 Oto 100 196 Value of 0 for 0 V and 100 for 10 V Analog Input Al1 2064 Oto 100 196 Value of 0 for O mA and 100 for 20 mA Analog Input AI2 2065 100 to 1 Value of 100 for 10 V and 100 for 10 V 100 Analog Input Al3 2066 Oto 100 1 Value of 0 for 0 mA and 100 for 20 mA Analog Input Al4 2101 Assignment of Al1 0 Not assigned 2102 Assignment of Al2 1 Current Limit 2 Voltage Reduction 3 Speed Ref 1 AI factory setting 4 Speed Ref 2 Al2 factory setting 5 Speed Ref 3 8 Setpoint Input PI 9 Feedback Input PI 10 Setpoint Manual Input PI 11 Torque Limit 2103 Assignment of AI3 0 2 Not assigned 1 Current Limit 2 Voltage Reduction 3 Speed Ref 1 4 Speed Ref 2 5 Speed Ref 3 factory setting 6 Tach Feedback 8 Setpo
62. ghts Reserved 15 Section 1 Installation amp Configuration VD0C065309 Trunk and Drop Cabling with Taps April 1997 Connecting the Trunk Cables Modbus Plus Trunk Cable Cable specified for Modbus Plus trunk use is available from Square D See Table 2 on page 1 Your cable should run directly between the network device locations Each cable segment must be a continuous run between the taps at two locations Do not use splices splitters or any other configurations such as star or tree configurations The only allowed media components are the network cable and taps Plan cable runs according to the horizontal distances between sites Trunk cable is ordered in reels of fixed length Order reels of sufficient length to allow continuous runs between the network devices Cable Entry and Jumpers Taps at In Line Sites At each in line site two lengths of trunk cable are installed The cable to the right side of the previous tap must connect to the left side of this tap The cable to the left side of the next tap must connect to the right side of this tap The two internal jumpers must be removed Figure 11 shows the connections for taps at in line sites Network Network Trunk o Trunk Cable Cable I TE ee To To Right Side Left Side of of Previous Next Tap Tap Cable Jumpers Cable Tie Removed Tie Figure 11 Taps at In Line Sites Cable Entry and Jumpers Taps at End Sites At the two end sites on the cable secti
63. ging 55 preset speed 54 59 modules installed 55 S process input 59 ee Ed screens multi parameter 52 process time out 60 62 Hs vie AMBAESS also see menus rofile 43 uipu g drive identification 22 p output command 48 fault 23 output speed 55 output state 57 n sp PERS R adjustment 43 power 50 Pop description 34 ramps 44 52 53 59 present fault 61 i using 35 alternate 43 preset speed 54 display register 50 relay assignment 58 O 1997 Schneider S A All Rights Reserved 77 VW3A66305U Modbus Plus PCMCIA Communication Card Kit Index VDOC06S309 April 1997 sequence input 59 sequence time out 60 62 serial link 26 39 60 61 fault 23 63 64 fault protection 44 setpoint 59 shock 3 short circuit 60 62 shutdown 53 complete 58 SLC 39 51 SLF 23 62 64 slip compensation 43 software see firmware specifications cable 3 PCMCIA kit 3 speed 43 55 58 59 at speed 58 overspeed 62 preset 54 ramp output 50 reference 50 split control 44 start cycle 59 status 25 steady state 51 62 step locking 59 stop by keypad 52 command 39 45 59 controlled 59 emergency 2 10 fast 45 46 52 freewheel 45 46 normal 45 46 orient 45 overtravel 2 10 78 storage temperature 3 storing Peer Cop adjustment 45 7 tachometer 60 62 tap devices 12 19 connecting end sites 16 in line sites 16 dimensions 15 jumpers 13 14 16 mounting 15 terminals 17 19 temperature display 50 operating 3
64. ial link it provides a Command Semaphore to ensure that only one device has command rights at any given time A device may request reservation of the Command Semaphore and if the reservation is successful that device will be granted exclusive rights to write to the drive controller s Command registers Other devices may still read the Command registers but any write attempts will be refused The Command Semaphore can only be reserved through messaging Any node on the network can gain exclusive rights to the Adjustment registers by reserving the Adjustment Semaphore The Adjustment Semaphore can only be reserved through messaging Other devices may still Read the Adjustment registers but all Write attempts are refused The Command and Adjustment Semaphores can be reserved by different nodes NOTE Ifthe Peer Cop Command node reserves the Command OR Adjustment Semaphore this will disable its own Peer Cop capability Example of Modbus Plus Network Operation Figure 25 illustrates typical Modbus Plus network operation with two ATV 66 drive controller nodes Figure 26 shows how reserving the Command Semaphore affects the same network Specific Transfer from Node 3 Node 1 PLC MMI sends CR configured to Drive 1 messages to Read amp to ban ee by zn 2 send Peer Cop Speed xx Write data to Drive 1 MUSICA AN Current xx disabled data to registers 2021 8 2022 in Drive 1 except
65. il 1997 VW3A66305U Modbus Plus PCMCIA Communication Card Kit List of Figures LIST OF FIGURES Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Figure 13 Figure 14 Figure 15 Figure 16 Figure 17 Figure 18 Figure 19 Figure 20 Figure 21 Figure 22 Figure 23 Figure 24 Figure 25 Figure 26 Figure 27 Figure 28 Location of PA and Terminals 5 Location of PA and Terminals ATV66C23N41 C31N41 6 Mounting and Removing Modbus Plus PCMCIA Kit 7 Cable Gro nding i aaa da ee 9 Network Overview 10 Token Sequences 11 Single Cable Layout 12 Cable Tap Layout shown with cover open 14 Typical Cable Routing 14 Tap Layout Cover Open 15 Taps at In Line Sites 16 Taps at End Sites y eu vnde eA hams PR E 17 Trunk Cable Connections 18 Wire Terminal Connection 18 Drop Cable Connections cee eee eee 19 9 Pin D Shell Connector drive controller end of drop cable 21 First Power Up with VW3A66205 Option Module installed
66. int Input PI 9 Feedback Input PI 10 Setpoint Manual Input PI 11 Torque Limit 2104 Assignment of Al4 0 2 Not assigned factory setting O 1997 Schneider S A All Rights Reserved 1 Current Limit 2 Voltage Reduction 3 Speed Ref 1 4 Speed Ref 2 5 Speed Ref 3 8 Setpoint Input PI 9 Feedback Input PI 10 Setpoint Manual Input PI 11 Torque Limit 49 Section 3 Register Descriptions VD0C065309 Display Registers Read Only April 1997 Table 25 Power Voltage Thermal State Registers Prive Modbus Plus Range Units Description Possible Values Address 2053 0 1 kW Output Power Function of hp 2054 Oto Nominal 1 V Output Voltage Function of drive voltage Motor Voltage range 2055 0 to Max 1V Line Voltage Function of drive voltage range 2056 O to Max P iv Bus Voltage Function of drive voltage range 2072 0 to 2 Nominal Motor Voltage 0 208 240V range 12380 415V 2 440 460V 2203 0 to 2 Drive Controller Voltage 0 Not used range 1 208 240 V 2 380 460 V 2057 0 to 199 1 Motor Thermal State value 2058 0 to 125 1 Drive controller for D16 to C31N4 8 D12 Thermal State value to D46M2 drives 111 Maximum depends on line 264 V for ATV66 M2 460 V for 50 Hz line ATV66 NA 529 V for 60 Hz line ATV66 NA 2 Maximum depends on line 374 V for ATV66 M2 651 V for 50 Hz line ATV66 NA 748 V for 60 Hz line ATV66 N4 Tabl
67. into the network s global data base Other nodes can access drive controllers on the local network or on remote networks through bridge devices The network also provides distributed input output DIO communications in which PLCs communicate directly with input output I O subsystems The network must use a single cable layout Modbus devices or networks of Modbus devices may join Modbus Plus networks through bridge multiplexers A multiplexer provides four serial ports that are separately configurable to support Modbus or custom RS 232 RS 485 devices Modbus devices can communicate with Modbus Plus networked devices as well as with devices at the other serial ports 1997 Schneider S A All Rights Reserved 9 Section 1 Installation amp Configuration VD0C065309 Network Overview April 1997 A 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 Failure to follow these instructions can result in death serious injur
68. ion Possible Values Address 2032 0 0 or 1 Command of Current Limit 0 Factory default value of register 2025 valid only if Current Limit by 1 Value in register 2025 LI is enabled via keypad Factory default 0 2025 400 Current Limit Level 400 40 1500 150 to of motor nominal current Factory default P 150 CT 60 Hz or 1500 0 1 steps M 135 CT 50 Hz 110 VT 2032 3 0 or 1 Command of Torque Limit 0 Factory default value of registers 2026 amp 2027 motoring amp regenerating 1 Value in registers 2026 amp 2027 valid only if Torque Limit by LI Factory default O is enabled via keypad 2026 0 Motoring Torque Limit Level 0 0 200 200 to of motor nominal torque Available only in CT High Torque Mode 200 1 steps M Factory default 200 21 2027 0 Regenerating torque limit level O 0 200 200 to of motor nominal torque Available only in CT High Torque Mode 200 1 steps M Factory default 200 2 2021 10 Oor 1 Command of Voltage Reduction 0 Factory default value of register 2029 valid only if Voltage Reduction 1 Value in register 2029 by Ll is enabled Factory default 0 2029 20 Voltage Reduction Level 20 20 100 100 to of motor nominal voltage Factory default 100 2 100 1 steps M ll Drive controller must be in Serial Link Command SLC mode for this register to be active If this function is programmed via keypad as Default Limit or By An
69. its access to writing the Command registers by all other devices The Command Semaphore is freed by setting 2236 to 0 It must be freed by the device that reserved it The Command Semaphore is also freed if e There is a communication fault or No message is sent for 60 seconds by the device which reserved it to the device controller The Command Semaphore is automatically reserved by Forced Local In this case the device that previously reserved the Command Semaphore loses it NOTE It is possible to command the drive controller without reserving the semaphore However to improve network security you should set reserve the semaphore when commanding the drive controller via messaging Protection of Adjustment Access The Adjustment Semaphore ensures access protection when writing to the Adjustment registers The device that sets Register 199 to 1 reserves the Adjustment Semaphore and prevents other devices from writing to the Adjustment registers To free the Adjustment Semaphore set Register 199 to 0 it must be freed by the device that reserved it The Adjustment Semaphore is also freed if e There is a communication fault or No message is sent for 60 seconds by the device that reserved the semaphore Forced Local automatically reserves the Adjustment Semaphore and the device that reserved the Adjustment Semaphore loses it NOTE You can adjust the drive controller without reserving the Adjustment semaphore However to imp
70. ive for assistance DO NOT program the controller in split control of DLI and FLI mode using only the information in this manual Failure to follow these instructions can result in death serious injury or equipment damage Table 15 Transition Between Command States DLI FLI 0 0 0 0 1 1 1 1 11 1 1 SLC Run 0 0 1 0 0 1 1 DLI FLI SLC Run Forced Local 0 1 0 0 1 0 1 No No Not SLC Not Change Possible Stop Possible SLC Run No No Not Not Change Possible Possible Change Possible Change No Not SLC Not Not Change Possible Stop Possible SLC Run Possible Not No No Not No Not No Possible Change Change Possible Change Possible Change Not Not Not Possible bahala Possible togal 2 obe Hum Possible Not No Not No Not No Possible Change Possible Change Possible Change Not Local 1 Not Not Possible a Possible Possible No Not No Not No Possible Change Possible Change Possible Change Local 2 Local 1 Local 2 M Local Command mode speed and direction are copied to 2022 and 2041 9 respectively SLC Serial Link Command Local 1 When transferring to Keypad command mode the drive controller stops When transferring to Terminal command mode the drive controller stops unless a terminal command is present direction and speed coming from the terminal strip Local 2 When transferring to Keypad command mode there is no change in drive controller state When tran
71. n the appropriate Run command You can monitor bit 2048 15 to lock out the controller when the keypad Stop button is pressed Table 29 Multi Motor or Multi Parameter Set Selected PIA ae Selection 2048 10 2048 11 0 0 Motor 1 or 1st parameter set selected 1 1 0 Motor 2 or 2nd parameter set selected 1 0 1 Motor 3 or 3rd parameter set selected 1 1 1 Unchanged 1 Function of Motor Select Switch setting Menu 7 2 gt Application Functions 52 O 1997 Schneider S A All Rights Reserved VDOC06S309 Section 3 Register Descriptions April 1997 Display Registers Read Only Table 30 Additional Drive Controller Status Registers Drive Modbus Plus Description Possible Values Address 2049 Jog 2049 0 0 Jog not in progress 2049 0 1 Jog in progress Shutdown complete 2049 1 20 Shutdown not complete 2049 1 1 Shutdown complete Cycle complete 2049 2 0 Cycle not complete 2049 2 1 Cycle complete 200 ms pulse Alternate ramp 2049 3 0 Ramp1 2049 3 1 Ramp2 Auto Manual 2049 4 0 Manual activated 2049 4 1 Auto activated Frequency level 1 attained 2049 5 0 Freq level 1 not attained 2049 5 1 Freq level 1 attained Frequency level 2 attained 2049 6 0 Freq level 2 not attained 2049 6 1 Freq level 2 attained Current level 1 attained 2049 7 0 Current level 1 not attained 2049 7 1 Current level 1 attained Current level 2 attained 2049 8 0 Current level 2 not attained 2049 8 1 Current level
72. n Card Kit INTRODUCTION The VW3A66305U Modbus Plus PCMCIA Communication Card Kit allows you to connect an ALTIVAR 66 drive controller with firmware Version 3 2 or later to Modbus Plus networks The Modbus Plus PCMCIA Kit includes Type 3 PCMCIA Personal Computer Memory Card International Association card with SUB D 9 pin female connector Plastic boot e Ground clip The user must supply the following items available from Square D e Drop cable 8 or 20 feet see Table 1 Table 1 Modbus Plus Drop Cables Length of Cable on Reel Catalog No 8 ft 2 4 m 990NAD211 10 20 ft 6 m 990NAD211 30 e Modbus Plus tap 990NAD230 00 e Modbus Plus trunk cable see Table 2 length depends on your installation Table 2 Modbus Plus Trunk Cable Catalog Numbers Length of Cable on Reel 100 ft 30 5 m 500 ft 152 5 m 1 000 ft 305 m 1 500 ft 457 m 5 000 ft 1 525 m Catalog No 490NAA271 01 490NAA271 02 490NAA271 03 490NAA271 04 490NAA271 05 To use the Modbus Plus PCMCIA Card your ALTIVAR 66 ATV66 drive controller must be equipped with one of the following option modules e I O Extension Module VW3A66201T or VW3A66202T or Communication Carrier Module VW3A66205 NOTE Ensure the date code on option modules listed above is 9630 or later As a node on a network the ATV66 drive controller can receive and respond to data messages This data exchange allows your network to access ATV66 functi
73. nds the Peer Cop data once per token rotation with the token pass Each command node can send up to 32 words of Peer Cop data per node to specific nodes on the network as long as the total does not exceed 500 words Peer Cop is a fast efficient way to send data from the command node to the drive controller It does not require ladder logic to be written NOTE Peer Cop data cannot be passed through bridges The drive controller cannot transmit peer cop data Peer Cop must be enabled through drive controller Menu 11 gt Communication see page 24 and in Modsoft The factory setting for peer cop communication is No To enable Peer Cop reception 1 Select PEERCOP and press ENT The PEERCOP VALIDATION menu is displayed 2 Scroll down and select YES 3 Specify the command node from which the peer cop data is to be received in the COMMAND NODE field 4 Enter the number of registers to be received in the NUM REGISTERS field O 1997 Schneider S A All Rights Reserved VDOC06S309 Section 2 Modbus Plus Overview April 1997 Peer Cop The received peer cop data is mapped either to the first n Command registers of the drive controller or to all of the Command registers 12 total plus the first n minus 12 Adjustment registers If a Write message is received for peer copped registers the message is refused and a negative acknowledgment is returned If no peer cop data is received from the command node within the s
74. ng 70 O 1997 Schneider S A All Rights Reserved VDOC06S309 April 1997 VW3A66305U Modbus Plus PCMCIA Communication Card Kit Appendix A Address Descriptions amp Index Address Bit Description 2203 2204 2205 2206 2207 2212 2213 2214 2215 2217 2222 2223 2224 2225 2236 Drive controller voltage range Line frequency recognized Drive controller maximum rated frequency Drive controller nominal current Drive controller maximum current Memory card option Communication carrier option Presence of keypad _ I O Extension option card PCMCIA communication card State of command node Token rotation time Token count Messages received Command Semaphore O 1997 Schneider S A All Rights Reserved Page 50 55 55 46 71 VW3A66305U Modbus Plus PCMCIA Communication Card Kit VDOC06S309 Appendix A Address Descriptions amp Index April 1997 72 1997 Schneider S A All Rights Reserved VDOC06S309 April 1997 VW3A66305U Modbus Plus PCMCIA Communication Card Kit Index INDEX A AC line frequency 50 overvoltage 60 62 acceleration 43 52 62 also see ramps addressing 11 adjustment registers 27 42 43 semaphore 34 35 43 parameters 37 alarms PI 58 thermal 51 58 alternate ramps 43 44 53 altitude 3 analog input registers 49 inputs
75. nnect each wire to its proper terminal Insert the cable into the tap and secure it with a cable tie Viewing the tap as shown in Figure 15 connect the wires The terminals are marked as illustrated in Table 5 Table 5 Drop Cable Terminals Terminal Location Wire Color O Left ORANGE W Left Center WHITE GND Center Shields both sets of wires W Right Center WHITE BLU Right BLUE SX Connect drop cable drain wire at this point DO NOT connect drain wire to ground Drain is connected to ground only at drive controller Cable Tie tS Drop Cable Drain Wire Figure 15 Drop Cable Connections 1997 Schneider S A All Rights Reserved _ 19 Section 1 Installation amp Configuration VD0C065309 Trunk and Drop Cabling with Taps April 1997 To connect each wire 1 Remove the plastic cap from the terminal 2 Place the wire into the terminal slot 3 Using a Phillips screwdriver press the cap into the terminal to force the wire down into the slot Figure 14 on page 18 shows the connection sequence A special tool is available for making these connections AMP part number 552714 3 Connecting the Drop Cable Drain Wire Install a lug on the drain wire Tightly crimp or solder the lug to the wire Connect the lug to the tap s screw as shown in Figure 15 on page 19 Grounding At drive controller end of the drop cable terminate outer shield as described on page 8 You must maintain this connection
76. ntered in the top node is the first of nine contiguous holding registers that comprise the control block see Table 10 Table 10 Control Block Holding Registers General Content Register Content Displayed Identifies one of the nine MSTR operations 1st implied Displays error status 2nd implied Displays length 3rdimplied Displays MSTR operation dependent information hice Routing 1 register used to designate the address of the 4th implied Mn f destination node for a network message transaction 5th implied Routing 2 register 6th implied Routing 3 register 7th implied Routing 4 register 8th implied Routing 4 register NOTE You must understand Modbus Plus routing path procedures before programming an MSTR instruction For a complete overview refer to the Modicon Modbus Plus Network Planning amp Installation Guide Middle Node Content The 4x register entered in the middle node is the first in a group of contiguous holding registers that comprise the data area For operations that provide the communication processor with data such as Write operation the data area is the source of the data For operations that acquire data from the communication processor such as Read operation the data area is the destination for the data Bottom Node Content The integer value entered in the bottom node specifies the length the maximum number of registers in the data area Although the typical Modbus Plus length
77. o the slot Figure 14 shows the connection sequence A special tool is available for making these connections AMP part number 552714 3 Terminal Figure 14 Wire Terminal Connection Connecting the Drop Cable Modbus Plus Drop Cable A drop cable is used at each site to connect between the tap and a network node device The cable is preassembled with a 9 pin D connector on one end for connection to the node device The other end is open for connection to the taps Cables are available in two lengths see Table 1 on page 1 Ordera sufficient quantity of drop cables and taps to allow extra ones for service access and spares 18 O 1997 Schneider S A All Rights Reserved Section 1 Installation amp Configuration Trunk and Drop Cabling with Taps VDOC06S309 April 1997 Connecting the Signal Wires Detailed instructions for stripping the wires and making connections are enclosed in each tap package Below is a general description of the connections The drop cable contains two sets of twisted pair signal wires with separate shield wires It also has an outer shield drain wire This is a total of seven wires e One set of wires is color coded WHITE and ORANGE with a bare shield wire e The other set is WHITE and BLUE with a bare shield wire Before connecting the wires make sure you have identified the two sets of twisted pair wires The two white wires are not interchangeable When you connect the wires you must co
78. on one length of trunk cable is installed It can be connected to either side of the tap The two internal jumpers must be installed between the center posts and the lower two posts at the side of the tap opposite from the cable Figure 12 on page 17 shows the connections for taps at end sites 16 1997 Schneider S A All Rights Reserved VDOC06S309 Section 1 Installation amp Configuration April 1997 Trunk and Drop Cabling with Taps Network Trunk Cable Jumpers Installed Network Trunk Cable Jumpers Installed Figure 12 Taps at End Sites Connecting the Wires Detailed instructions for stripping the wires and making the connections are enclosed in each tap package Below is a general description of the connections Trunk cable is connected as shown in Figure 13 on page 18 The terminals are marked as shown in Table 4 Table 4 Trunk Cable Terminals Terminal Meaning Location Wire Color GND Network Bus Ground Shield W Network Bus White Middle White BLK Network Bus Blue or Black Blue or Black 1997 Schneider S A All Rights Reserved 17 Section 1 Installation amp Configuration VD0C065309 Trunk and Drop Cabling with Taps April 1997 Figure 13 Trunk Cable Connections To connect each wire 1 Remove the plastic cap from the terminal 2 Place the wire into the terminal slot 3 Using a Phillips screwdriver press the cap into the terminal to force the wire down int
79. on is designated by a code see Table 9 Table 9 MSTR Operation Codes MSTR Operation Write Data Read Data Get Local Statistics Write Global Database Read Global Database MSTR Operation Code Get Remote Statistics 7 Clear Remote Statistics 8 Peer Cop Health 9 This section discusses Read and Write MSTR instruction blocks For additional information on Modbus instructions refer to the Modicon Ladder Logic Block Library User Guide MSTR Block Structure Enables selected Control MSTR operation Block Operation active Terminates active Data Operation terminated MSTR operation Area unsuccessfully MSTR o i tul Length peration successfu Figure 24 MSTR Block Structure Inputs MSTR has two control points see Figure 24 Top node input enables the instruction when it is ON Middle node input terminates the active operation when it is ON 28 O 1997 Schneider S A All Rights Reserved VDOC06S309 Section 2 Modbus Plus Overview April 1997 MSTR Block Outputs MSTR can produce three possible outputs see Figure 24 Top node output echoes the state of the top input goes ON while the instruction is active e Middle node output echoes the state of the middle input and goes ON if the MSTR operation is terminated prior to completion e Bottom node output goes ON when an MSTR operation is completed successfully Top Node Content The 4x register e
80. ons such as Downloading of adjustment parameters e Command and control Monitoring Diagnostics 1997 Schneider S A All Rights Reserved 1 Introduction VDOC06S309 Using This Manual April 1997 SYSTEM SAFETY CONSIDERATIONS A 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 Failure to follow these instructions can result in death serious injury or equipment damage 1 For additional information refer to NEMA ICS 1 1 1984 R 1990 Safety Guidelines for the application Installation and Maintenance of Solid State Control and to NEMA ICS7 1 1995 Safety Standards for Construction and Guide for Selection Installation and Operation of Adjustable Speed Drive Systems USING THIS MANUAL This manual applies to ATV66 drive controllers equipped with firmware Version 3 2 or later This manual has five sections e Section 1 Installation and Configuration page 3 e Section 2 Modbus Plus Over
81. or models ATV66D16N4 to C19N4 and ATV66D12M2 to D46M2 provisions in the bottom plate allow the PCMCIA cable to exit through the bottom of the drive controller enclosure For models ATV66C23N4 to C31N4 the PCMCIA cable may exit the drive controller enclosure either through the top conduit plate or through the bottom closing plate below the main fan intake NOTE When the PCMCIA cable exits the controller enclosure additional mechanical and environmental protection of the cable may be required 7 Ground the shield on the cable a For models ATV66U41N4 to D12N4 and ATV66U41M2 to U90M2 secure the tab on the grounding clip supplied with the drop cable to the metal mounting surface to which the drive controller is attached Keep the connection close to the top left mounting foot of the drive controller b For models ATV66D16N4 to C31N4 and ATV66D12M2 to D46M2 hardware is supplied in the PCMCIA card kit for grounding i Thread the screw washer L bracket second washer and nut through the tab on the grounding clip supplied with the drop cable as shown in Figure 4 Tighten to specified torque ii Completely unthread the bottom left screw on the control basket Loosen but do not completely unthread the other three screws on the control basket see Figure 4 iii Slide the L bracket under the screw in the lower left corner between the control basket and its mounting surface iv Thread the lower left screw through the hole in the L b
82. ower wiring Avoid sources of electrical interference that can induce noise into the cable Use the maximum practicable separation from such sources O 1997 Schneider S A All Rights Reserved VDOC06S309 Section 1 Installation amp Configuration April 1997 Trunk and Drop Cabling with Taps When planning cable routing within a building follow these guidelines e Maintain a minimum separation of 3 3 ft 1 m from the following equipment air conditioners elevators escalators large blowers radios televisions intercom and security systems fluorescent incandescent and neon lighting fixtures Maintain a minimum separation of 10 ft 3 m from the following equipment power wiring transformers generators and alternators When wiring in electrical equipment rooms or large electrical equipment line ups observe the following guidelines for cable segregation and separation of circuits e Use metallic conduit for a drive controller wiring Do not run control network and power wiring in the same conduit e Separate non metallic conduits or cable trays used to carry power wiring from metallic conduit carrying low level control network wiring by at least 12 in 305 mm e Separate metallic conduits carrying power wiring or low level control network wiring by at least 3 in 80 mm Cross the metallic conduits and non metallic conduits at right angles whenever power and control network wiring cross e Attenuate conduct
83. pecified time out period then the drive controller will allow other nodes to write to the peer copped registers through messaging Tables 12 and 13 list the Command and Adjustment registers that can be mapped through peer cop transfers They are listed in the order in which they are peer copped For example e If6is entered in the NUM REGISTERS field of Menu 11 gt Communication see Figure 21 on page 24 and in the LENGTH field of the Peer Cop screen in Modsoft Command registers 2021 2026 receive the peer cop data e If 14 is entered is entered in the NUM REGISTERS field of the Communication menu and in the LENGTH field of the Peer Cop screen in Modsoft Command registers 2021 2032 receive the first 12 words of peer cop data and Adjustment registers 2001 2002 receive words 13 14 Table 12 Command Registers Mapped with Peer Cop Peer Cop Drive Modbus Plus Descriptor Default Order Address P Settings 1 2021 o 2 2022 Reference frequency 0 4 2024 AO1 value 0 6 2026 Motoring torque limit 200 8 2028 Reserved 0 10 2030 AO2 value 0 11 2031 AO3 value 0 12 2032 Auxiliary Command register 0 111 These values must be entered unless the application requires a customized setting Entering a value of zero into registers 2025 2027 and 2029 may stall the motor 1997 Schneider S A All Rights Reserved 31 Section 2 Modbus Plus Overview VDOC06S309 Peer Cop April 1997 Table 13 Adjustment Regis
84. r bridge 1 No connection to other network 1 No 0 Yes SLF after 60 s Same as above but node or bridge connection has 0 Yes SLF after Time Out set in Menu 11 expires reserved Command 1 No Command Semaphore freed after 60 s Semaphore 1 No Command Semaphore freed after 60 s 0 No Loss of Remote Node 0 No Command Semaphore NOT 1 N reserved gt 1 No 0 Yes SLF after 60 s if no other node on same remote network sends message to drive controller 0 Yes SLF after 60 s if no other node on same remote Loss of Remote Node that reserved Command Semaphore network sends message to drive controller No Command Semaphore freed after 60 s if no other node on same remote network sends message to drive controller No Command Semaphore freed after 60 s if no other node on same remote network sends message to drive controller 11 A local node is on the same network as the drive controller A remote nodes is on a different network and is connected to the drive controller s network via a bridge See Figure 28 on page 66 Table 45 Other Typical Fault Conditions Network Condition Loss of token Loss of communication between PCMCIA card and drive controller Drive in State of SLC 2021 4 Fault Drive Controller Response mode NTO No 0 No Yes 0 Yes SLF after Time Out set in Menu 11 expires No 1 No Yes 1 No No 0 Yes SLF as
85. racket Tighten all control basket screws to specified torque see Figure 4 NOTE The cable and PCMCIA card have exposed metal parts They must be routed and anchored so the exposed metal avoids contact with live conductors in the drive controller 8 O 1997 Schneider S A All Rights Reserved VDOC06S309 Section 1 Installation amp Configuration April 1997 Network Overview Plastic Boot supplied with Modbus Plus PCMCIA kit Hardware Supplied with PCMCIA Kit M4 x 0 7 x 10 mm long Screw Assembly M4 Lockwasher M4 Hex Nut Wire Clip supplied with connecting cable Typical 4 Screws L Bracket ee supplied with Modbus Plus 3 PCMCIA kit A Torque 17 7 Ib in 2 0 Nem A VIEW A A SIDE VIEW FRONT VIEW Figure 4 Cable Grounding ATV66D16N4 to C31N4 8 ATV66D12M2 to D46M2 models only NETWORK OVERVIEW Modbus Plus is a Local Area Network system designed for industrial control applications Up to 32 node devices can connect directly to the network bus cable over a length of up to 1 500 ft 450 m Repeater devices are used to extend the cable distance to its maximum of 6 000 ft 1 800 m and the node count to a maximum of 64 Modbus Plus provides host level peer to peer communication for networked PLCs As a node on a Modbus Plus network the Altivar 66 drive controller can receive and respond to data messages transmitted from a PLC and place information
86. re to ground Drain is connected to ground CENTER only at drive controller End Sites Connected to pins at opposite side from trunk cable entry Drop Cable Right cable trunk entry shown Drain Wire Inline Sites Open Drop Cable to Node Figure 8 Cable Tap Layout shown with cover open Routing Cables Figure 9 shows typical cable routing of the network trunk cable between tap locations The figure also shows cable drops to several node devices and service access points NOTE The tap s internal termination jumpers are connected at the two end sites of a cable section and disconnected and removed at each in line site on the cable section Termination Jumpers Termination Jumpers connected in removed from each End Tap each Inline Tap Trunk Cable Secured in lt Drop Cable Raceway or Strain Conduit Reliefs Service Access Node Node Point Node Device Device Device End Inline Inline End Location Location Location Location Node Device Connector Service Part of Drop Cable Loop Figure 9 Typical Cable Routing 14 O 1997 Schneider S A All Rights Reserved VDOC06S309 Section 1 Installation amp Configuration April 1997 Trunk and Drop Cabling with Taps Referring to Figure 9 route the cable between the site locations of the node devices Guidelines for cable routing are described below e Usea continuous length of trunk cable between locations Do not use any splices e Ateach tap location allow suf
87. registers 2021 amp 2022 Specific Transfer from Node 3 to Node 4 is ignored by Drive 1 since its designated Command Node 1 Modicon PLC Modicon PLC becomes the Node 3 Node is Node 1 Node 1 Command MMI Node 3 can send messages to Node Node 5 using MSTR blocks Node 6 on Modbus Plus Global Data Network 1 Modbus Plus Network 1 Modbus Plus Network 2 Node 1 Nodes may communicate with drives via messaging Peer Cop Yes only except registers Command Node 1 Peer Cop No 2021 amp 2022 in Drive 1 Num Registers 2 Node 4 Node 5 Node 2 Figure 25 Typical Modbus Plus Network with ATV66 Drive Controller Nodes O 1997 Schneider S A All Rights Reserved VDOC06S309 April 1997 Section 2 Modbus Plus Overview Optimizing Network Performance Modicon PLC Node 1 Peer Cop Yes Command Node 1 Num Registers 2 Drive 1 Node 4 Peer Cop Yes with semaphore reserved by Drive 1 if reserve is returned Modbus Plus Network 1 Node 2 causes Drive 1 to ignore peer cop data and to take its commands from Node 2 exclusively other nodes attempting to control Drive 1 via a msg are refused Drive Writes its status using Global Data Xter when sending the token other nodes may monitor reservation of Command Semaphore inluding the Command Node Command Semaphore reserved by Node 2 If SLC Mode is commanded by Node 2 and then communica
88. ri T 1 7 Current limit active 215 ast fault 7 drive controller state 8 Auto test 2156 Past fault 8 drive controller state 9 Reserved 10 2 No run permissive 11 Faulted 12 No line power control power supplied separately 2143 Past fault 1 name of fault 0 No fault 2145 Past fault 2 name of fault he We Hs us overvoltage 2147 Past fault 3 name of fault 3 DC bus undervoltage 2149 Past fault 4 name of fault 4 Ground fault 2151 Past fault 5 name of fault 5 Short circuit between phases Desat 2153 Past fault 6 name of fault 6 15 V control basket power supply internal fault 7 Horsepower not recognized internal fault 2155 Past fault 7 name of fault 8 Input phase loss 2157 Past fault 8 name of fault 9 Motor overload 10 Customer fault 11 Drive Overtemperature 12 Overspeed with tachometer 13 Feedback loss 14 Serial link fault 15 Loss of follower 16 Memory failure 17 Precharge failure 18 Sequence time out fault Bypass 19 Process time out fault Bypass 20 Dynamic brake fault 21 DB resistor thermal fault 22 Transistor short circuit 23 Open transistor 24 Output phase loss 25 Control supply 26 Short circuit on motor LIC exceeded 27 Reserved 28 Reserved 29 Overspeed without tachometer 62 1997 Schneider S A All Rights Reserved VD0CO06S309 Section 4 Fault Management amp Network Security April 1997 Introduction SECTION 4 FAULT MANAGEM
89. rove network security you should reserve set the Adjustment semaphore when commanding the drive controller via messaging Data Priority When several types of parameters are written in the same request they are treated in the following order 1 Writing bits 2021 1 DLI 2021 2 FLI to 1 2 Adjustment parameters 3 Command parameters except 2021 1 amp 2021 2 Access Protection by Forced Local Writing of Command registers is blocked during Forced Local Forced Local automatically reserves the Command and Adjustment Semaphores even if they are already reserved 38 1997 Schneider S A All Rights Reserved VDO0CO06S309 Section 2 Modbus Plus Overview April 1997 Drive Communication Principles Command Mode Transitions Wire the drive controller as shown in the Receiving Installation amp Start Up manual VD0C06S304_ When transitioning between Serial Link command Terminal Strip command and Keypad command the drive controller operates as shown in Table 15 There are two ways to transition between states e By a change in state of Forced Local by logic input or keypad Function key or e By a change in state of the DLI FLI bits in 2021 A WARNING UNINTENDED EQUIPMENT ACTION This manual does not support split control of the DLI and FLI bits i e DLI 1 and FLI 0 or DLI 0 and FLI 1 If split control of DLI and FLI is required for your application contact your Square D representat
90. sferring to Terminal command mode drive controller stops unless a terminal command is present direction and speed coming from the terminal strip 1997 Schneider S A All Rights Reserved 39 Section 2 Modbus Plus Overview VD0C065309 Drive Communication Principles April 1997 Compatibility of Application Functions Table 16 shows the compatibility of ATV66 application functions with Serial Link Command Mode both DLI z FLI are set See footnotes for compatibility index You must program these applications first with the keypad Table 16 Compatibility of Application Functions Compatibility Compatibility Speed Speed 8 7 Alternate Ramps by LI Multi Parameters Selection Alternate Ramps by Freq Level Auto Run PI Regulator Automatic Restart Preset Speeds Brake Sequence Bypass Catch on the Fly Controlled Stop by Freq Level Controlled Stop by LI Controlled Stop by Freq Level amp LI Default Current Limit Current Limit by Al Current Limit by Freq Level Current Limit by Ll Customer Fault Cycles Factory Reset Forced Local Run Forward 2 wire control Run Permissive LI1 2 wire control Run Reverse 2 wire control Setpoint Memory Shutdown Skip Frequencies Speed Reference Tachometer Feedback Terminal Keypad Selection Default Torque Limit Torque Limit by Al Torque Limit by Freq Threshold Torque Limit by Ll Default Voltage Reduction B AL AR
91. soon as detected Yes 0 Yes SLF as soon as detected No 1 Yes SLF as soon as detected Yes 1 Yes SLF as soon as detected SLC Serial Link Communication NTO No Time Out SLF Serial Link Fault 64 O 1997 Schneider S A All Rights Reserved VD0CO06S309 Section 4 Fault Management amp Network Security April 1997 Typical Fault Conditions Figure 27 illustrates the basic network security features of a local network with two PLCs Programmable Logic Controllers one MMI Man Machine Interface and two drive controllers in SLC Serial Link Command mode If Node 1 Peer Cop Node 2 communicates with Other nodes may monitor Command node has put drive controllers via messages Drive 1 and Drive 2 via Global Node 4 in SLC mode and If Node 2 is lost there is no Database if fault occurs or if then is lost Node 4 reports effect on drives unless it put global data is not received a serial link fault after time the drive controller into SLC other nodes can sense this out value set in Menu 11 mode or reserved the and take corrective action expires Command Semaphore Drive 1 Speed xx Current xx Drive 2 Modicon PLC Node 3 Modicon PLC Node 1 Modbus Plus Network If Drive 2 loses network If Drive 1 loses network nen WINE SEC R ers mode it will go to an SLC ee CL C tw Fault within the specified ne vi MBP Time out value Fault within the specified MBP unless NTO 1 Time out value Pe
92. ssignments to factory default settings Before installing an option module record all existing drive controller settings After installing the option module reset drive controller back to recorded values Failure to follow these instructions can result in death serious injury or equipment damage In the Drive Identification menu you can check the catalog number of the ATV66 option module by pressing the A or W key DRIUE IDENTIFICATION ATWE6U4IiNd CT U3 2 POWER 2 2kW 3HP Inz3 88 Imaxs1 5In SUPPLY 488 413U ENT to continue Figure 18 Drive Identification 22 O 1997 Schneider S A All Rights Reserved VDOC06S309 Section 1 Installation amp Configuration April 1997 Communication Menu The Modbus Plus PCMCIA Card cannot be used unless an option module VW3A66201T 202T or 205 is installed in the drive controller If the option module is removed after the drive controller is configured a fault screen is displayed when the drive controller is powered up Reinstall the module or reset the drive controller settings to their factory preset values FAULT OPT WWSA66285 IS NOT RECOGNIZED OR HAS BEEN REMOWET ENT to continue ENT TO RESET FAULT YOU NEED TO REINSTALL OPT UW3ABEZAS OR INITIALIZE DRIVE TO FACTORY SETTINGS ENT to initialize Figure 19 Fault Screen Communication Configuration Menu Select menu 11 gt Communication to access the configuration parameters of th
93. ta SIr cl lt S pario e ptor acr n aba Roatan ees al aaa ace hd ee a si hoe a ga 36 Access to Dalta ik ss es ie ed rare elis P EE 36 Units parrene st orate ahs mt e o is e vate p Pell sus A e ded tois te 36 Hagen caes A dra est AN dal de dress 36 Values at Power Up anse Banna NG eg Rat desee het e Rp KA ate 37 Taking Command over the Network 37 Parameter Types ss ge eue DOE ER ERR DRE ene PE du 37 Protection of Command Access 38 Protection of Adjustment Access 38 Data Priority gars anar a bres eet a ae ead 38 Access Protection by Forced Local 38 Command Mode Transitions 39 Compatibility of Application Functions 40 SECTION 3 REGISTER DESCRIPTIONS 41 INTRODUCTION So iii Fact mal tur gota ORDER M pes aoi A Le 41 ADJUSTMENT REGISTERS READ 8 WRITE 42 COMMAND REGISTERS READ 8 WRIT 44 DISPLAY REGISTERS READ ONLY 49 SECTION 4 FAULT MANAGEMENT amp NETWORK SECURITY 63 APPENDIX A ADDRESS DESCRIPTIONS amp INDEX 67 Li gt cT 73 ii 1997 Schneider S A All Rights Reserved VDOC06S309 Apr
94. ters Mapped with Peer Cop 2 Peer Cop Description Default Order Address Settings F1 13 High speed 600 a 2002 Low speed 0 15 2003 Accel 1 30 16 2004 Decel 1 30 17 2005 Accel 2 50 18 2006 Decel 2 50 19 2007 Slip compensation 30 20 2008 IR compensation 100 21 2009 Profile 20 22 Voltage boost 20 23 2011 Damping 20 24 2012 Bandwidth 20 25 2013 Motor overload 43 M 26 2014 Reserved 5 27 2015 Reserved 5 28 2016 Reserved 5 29 2017 Reserved 5 30 2018 Reserved 5 31 2019 Reserved 5 32 Reserved 5 1 Adjustments Peer Copped to these registers are only written to the drive controller s non volatile memory when bit 2021 15 is set to 1 The factory setting is 0 and it is recommended that you leave it at 0 If you Peer Cop a change to an Adjustment register and want to save the change after Peer Copping cycle 2021 15 set to 1 then back to 0 Adjustments Peer Copped to these registers since the last time the bit was cycled are lost if all power to the controller is removed Adjustments made through messaging are automatically stored in the controller s non volatile memory 2 if multi motor operation is selected the values in these registers affect the motor currently active For more information on 2021 11 amp 12 see Tables 18 amp 20 on pages 45 amp 46 3 You must enter these values unless your application requires a customized setting 4 In an ATV66U41N4 drive controller the setting
95. the same local network Minimize and eliminate the need for drive controller commands to cross network bridges Always use the Command Semaphore when messaging Command registers This ensures single point command control on complex networks and prevents accidental messaging from incorrectly programmed devices Always use the Adjustment Semaphore when messaging Adjustment registers This ensures single point adjustment control on complex networks and prevents accidental messaging from incorrectly programmed devices 1997 Schneider S A All Rights Reserved _ _ 35 Section 2 Modbus Plus Overview VD0C065309 Drive Communication Principles April 1997 5 The NTO No Time Out function is for use during troubleshooting and commissioning Do not use NTO during normal network operation 6 Use distributed control where possible The ATV66 drive controller has a large number of applications functions that can be used in conjunction with network communications Where possible use these functions to allow local control by the drive controller while using the network for communicating supervisory information This minimizes the information exchange burden on the network and unburdens the controlling device 7 Understand the failure possibilities of the network designed Provide control redundancies and contingencies appropriate for the intended application 8 Follow the wiring practices described in Section 1 Improperly installed ne
96. tion is lost Drive will go to SLC Fault MMI sends Modbus Plus Commands to reserve Command Semaphore in accepted no error is Drive 2 Node 5 Modicon PLC Node 3 Msg to command Drive 1 is refused since Node 2 has reserved Drive 1 s Command Semaphore Drive Writes its status using Global Data Xfer when sending the token Drive 2 allows command parameters to be written by any node including across bridges since its Command Semaphore is Free and Peer Cop No Figure 26 Using the Command Semaphore OPTIMIZING NETWORK PERFORMANCE Best network performance can be achieved by considering the following points during network design and implementation 1 When structuring the information exchange requirements for a network consider the speed of communications required to properly implement the application Use the communication method that best matches the speed requirements of the information exchange requirements Communicate information only when required by the application Minimize network traffic by design For instance when controlling a simple process requiring only the command functions contained in the first several Command registers available via Peer Cop set up Peer Cop to send only those registers This minimizes network traffic and maintains best overall network speed For best network security keep drive controllers and their associated controlling device on
97. ts Reserved iii VW3A66305U Modbus Plus PCMCIA Communication Card Kit VDOC06S309 List of Tables April 1997 Table 11 Control Block Registers Read amp Write Operations 30 Table 12 Command Registers Mapped with Peer Cop 31 Table 13 Adjustment Registers Mapped with Peer Cop 1 2 32 Table 14 Display Parameters Mapping with Global Data 33 Table 15 Transition Between Command States 39 Table 16 Compatibility of Application Functions 40 Table 17 Adjustment Registers 43 Table 18 Command Registers 44 Table 19 Freewheel 8 Fast Stop Selection 46 Table 20 Multi Motor or Multi Parameter Selection 46 Table 21 Additional Command Registers 46 Table 22 Limit Command Registers 47 Table 23 Logic Relay Analog Output Command Registers 48 Table 24 Analog Input Registers 49 Table 25 Power Voltage amp Thermal State Registers 50 Table 26 Frequency Current Torque amp Speed Registers 50 Table 27 Fault Registers amp SLC Local 51 Tabl
98. twork wiring can cause noisy or intermittent data transmission with resulting loss of network speed and security DRIVE CONTROLLER COMMUNICATION PRINCIPLES Data Structures ATV66 drive controllers are adjusted controlled and monitored through data stored in drive controller memory The data consists of bits and words Words consist of 16 bits and are designated Wx where x indicates word number Words are used for saving numerical values for example 32768 to 432767 or 16 independent logic states bits For example 2022 saves a numerical value for frequency reference and 2041 is a register consisting of 16 state bits The notation 2041 2 designates bit 2 of register 2041 Access to Data Units Range 36 The tables in Section 3 pages 41 62 list drive controller parameters accessible by communication Details of each parameter and how it affects drive controller operation are explained in bulletins VD0C06S305_ and VDOC06T306_ Data such as fault and monitoring information can only be Read the drive controller refuses attempts to Write to this data You can Read from and Write to words corresponding to the drive controller adjustment frequency reference and command parameters Words are always in signed 32768 to 32767 or unsigned 0 to 65535 units For example 2003 Acceleration 1 time is in units of 0 1 s Therefore a value of 60 corresponds to an acceleration time of 6 s Each parameter has an allowable range
99. u 11 Communication see Figure 21 on page 24 Entering 0 in this field disables global data transmission Table 14 lists the display registers transmitted as global data their addresses in the drive controller and the order in which the registers are transmitted in global data transfers For example if 8 is entered in the Global Tx field of Menu 11 gt Communication the first eight display registers words 2041 2048 will be broadcast as global data each time the drive controller passes the token Table 14 Display Parameters Mapping with Global Data Drive Drive Order ios Register Description Order kais Register Description Address Address 1 17 2057 Motor thermal state 2 18 2058 Drive thermal state 3 19 2059 Elapsed time hours 4 20 2060 Elapsed time minutes 5 21 2061 Motor RPM 6 22 2062 Machine speed ref customer units 7 23 2063 Machine speed customer units 8 24 2064 Value of Al2 9 25 2065 Value of AIS 10 26 2066 Value of Ald 11 27 2067 Value of AO1 12 28 2068 Value of AO2 13 29 2069 Value of AO3 14 30 2070 Speed April output 15 31 2071 Reserved 16 32 2072 Motor nominal voltage 1997 Schneider S A All Rights Reserved _ 33 Section 2 Modbus Plus Overview VDOC06S309 Command Semaphore April 1997 Command and Adjustment Semaphores Since the drive controller can be commanded from many different devices for example the keypad or devices connected through the ser
100. ve Modbus Plus Possible Values Address 2052 1 2052 0 Internal fault or other ATV66 drive controller fault not listed 2052 1 2052 2 2052 3 2052 4 2052 5 2052 6 2052 7 2052 8 2052 9 2052 10 2052 11 2052 12 2052 13 2052 14 2052 15 Serial link fault Reserved Reserved DC bus undervoltage AC line overvoltage Input phase loss Drive Overtemperature No feedback overspeed Short circuit between phases or to ground DC bus overvoltage Reserved Motor overload Output phase loss Reserved Precharge failure 1 While one fault takes priority and causes the drive controller to trip register 2051 register 2052 can list other conditions detected at the most recent controller fault 1997 Schneider S A All Rights Reserved 61 Section 3 Register Descriptions VD0C065309 Display Registers Read Only April 1997 Table 43 Fault History Drive nga Description Possible Values us Address 2141 Indicates the position of marker 1 1st fault marked on 1 of 8 past faults 8 Last fault marked 2142 Past fault 1 drive controller state 2144 Past fault 2 drive controller state A mE Decelerating 2146 Past fault 3 drive controller state 3 Drive running at speed 2148 Past fault 4 drive controller state 4 Braking dynamic Or regenerative 2150 Past fault 5 drive controller state 5 Drive stopped amp ready 2152 Past fault 6 drive controller state 8 DC injection braking 154 Past fault 7 d
101. view page 27 e Section 3 Register Description page 41 e Section 4 Fault Management and Network Security page 63 Appendix A Register List Index page 67 For more information about specific parameters refer to the following ATV66 documentation e Level 1 amp 2 Configuration Manual VD0C06S305_ e I O Extension Module amp Level 3 Configuration Manual VD0C06T306 Other documentation available Receiving Installation amp Start Up Manual VD0C065304_ e Communication Carrier Module Manual VDOCO6N915 e Catalog VD0C06S201_ e Modicon Modbus Plus Network Planning amp Installation Guide 890 USE 100 00 e Modicon Modbus Protocol Reference Guide PI MBUS 300 REVISION LEVEL This is anew document It is written for ALTIVAR 66 drive controllers equipped with firmware Version 3 2 or later 2 O 1997 Schneider S A All Rights Reserved VDOC06S309 April 1997 Section 1 Installation amp Configuration Receiving amp Installing the PCMCIA Kit SECTION 1 INSTALLATION CONFIGURATION RECEIVING THE PCMCIA KIT Remove the Modbus Plus PCMCIA Kit from its packaging and visually inspect it for shipping damage If any damage is found notify the carrier and your local Square D representative Do not install a damaged card To store the PCMCIA card replace it in its original packing material and store at 40 to 185 F 40 to 85 C COMMUNICATION INTERFACE SPECIFICATIONS Table 3 Modbus Plus PCMCI
102. volatile memory regardless of the setting of 2021 15 O 1997 Schneider S A All RighisReseved 45 Section 3 Register Descriptions VD0C065309 Command Registers Read amp Write April 1997 Table 19 Freewheel amp Fast Stop Selection era E Stop Type 0 0 Normal stop 1 1 Freewheel stop 1 0 Freewheel stop 0 1 Fast stop Table 20 Multi Motor or Multi Parameter Selection Pit A BILE Selection 2021 11 2021 12 0 0 Use Motor 1 or 1st parameter set 1 1 0 Use Motor 2 or 2nd parameter set 1 0 1 Use Motor 3 or 3rd parameter set M 1 1 Unchanged uses existing drive parameters M Function of Motor Select Switch setting Menu 7 2 gt Application Functions Table 21 Additional Command Registers Drive Modbus Plus Address Description Possible Values Reference Frequency 26478 400 Hz to 26478 400 Hz reverse 32767 Factory default 0 0 Hz 2032 1 Oor1 Run Direction 0 Forward 1 Reverse Factory default 0 2032 8 Oor1 Elapsed Timer Reset O No Reset 1 Reset Elapsed Timer Factory default 0 2032 bits 2 4 7 9 15 2236 Reserved Command Semaphore 0 Free see page 34 1 Reserved Factory default 0 46 1997 Schneider S A All Rights Reserved VDOC06S309 Section 3 Register Descriptions April 1997 Command Registers Read amp Write Table 22 Limit Command Registers Drive et Range Descript
103. xchanged between the drive controller registers and other nodes on the network For a complete description of Modbus Plus networks and protocol or to reference Modbus Plus terms and concepts please refer to the following documents e Modicon Modbus Plus Network Planning amp Installation Guide 890 USE 100 00 e Modicon Modbus Protocol Reference Guide PI MBUS 300 e Modicon Ladder Logic Block Library User Guide 840 USE 10 100 ALTIVAR 66 REGISTERS AND DATA EXCHANGE When an ATV66 drive controller is a node on a Modbus Plus network the data in its adjustment Read amp Write command Read amp Write and display Read only registers can be accessed by other devices on the network There are three ways to access the drive controller registers with the Modbus Plus PCMCIA card Messagin Peer Co Global data sing p The following sections are an overview of Modbus Plus networks and communication methods For details on the drive controller registers and their Modbus Plus addresses refer to Section 3 Register Descriptions on page 41 Messaging Messaging is a method of peer to peer communication between networked devices It follows a query response sequence The initiating device sends a query to a specific node and receives a response When messages are issued over a Modbus Plus network the solicited node must send an immediate acknowledgment When the solicited node holds the token it may then send all requested
104. y or equipment damage 1 For additional information refer to NEMA ICS 1 1 1984 R 1990 Safety Guidelines for the application Installation and Maintenance of Solid State Control and to NEMA ICS7 1 1995 Safety Standards for Construction and Guide for Selection Installation and Operation of Adjustable Speed Drive Systems Figure 5 shows an example of two Modbus Plus networks Networks A and B are host level networks joined by a Bridge Plus For more information consult Modicon Modbus Plus Network Planning and Installation Guide RR85 Repeater Up to 64 Nodes Total Network A BM85 Bridge Multiplexer Modbus or Custom Serial Devices DIO Network B Interfaces Up to 64 Nodes Total Maximum of 32 nodes on one side of a repeater Figure 5 Network Overview 10 1997 Schneider S A All Rights Reserved VDOC06S309 Section 1 Installation amp Configuration April 1997 Network Overview Logical Network Network nodes are identified by user assigned addresses Each node s address is independent of its physical site location Addresses must be within the range of 1 to 64 decimal although they do not have to be sequential Duplicate addresses are not allowed A device with a duplicate address will not be allowed to join the network If it attempts to join the network it will display an LED pattern for duplicate address The token is a grouping of bits that is passed in rotating a

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