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1. PA ON ATV66U41N4 to D12N4 and 8 ATV66U41M2 to U90M2 FERE 2 F le es Protective m J12 Switch GV2 O O gt OO gt O O Ol o al Olek T olo d J2 aie SO 0 0006660100 T oo H e oo 2 s 9 o o olojSelolo os eee mp E PA RA ATV66D16N4 to D79N4 and ATV66D12M2 to D46M2 ATV66C10N4 to C19N4 Figure 1 Location of PA and Terminals ATV66U41N4 to C19N4 and ATV66U41M2 to D46M2 O 1996 Schneider S A All Rights Reserved 5 VW3A66301U PCMCIA Communication Card Kit VDOC06S308 Section 1 Installation and Configuration August 1996 T o a g a g Figure 2 Location of PA and Terminals ATV66C23N41 to C31N41 O 1996 Schneider S A All Rights Reserved VDOCO06S308 V
2. Address Description Page W2048 Jog 30 Reserved Cycle complete Alternate ramp Auto Manual Frequency level attained Frequency Level 2 attained Reserved Reserved Thermal level attained Thermal Level 2 attained No Ramp Follow Run output command Bypass Rotation direction W2050 Display of fault register 36 W2051 Display of present faults 37 W2052 Output power 27 W2053 Output voltage 27 W2054 Mains voltage 27 W2055 Bus voltage 27 W2056 Motor thermal state value 27 W2057 Drive controller thermal state value 27 W2058 Elapsed time hours 32 W2059 Elapsed time minutes 32 W2060 Output speed 32 W2061 Machine frequency reference customer units 32 W2062 Machine frequency customer units 32 W2063 Value of analog input Al2 26 W2064 Value of analog input Al3 26 W2065 Value of analog input Al4 26 W2066 Reserved 32 W2067 Reserved 32 W2068 Reserved 32 W2071 Nominal motor voltage range 27 W2075 Cycles step that is in progress 30 W2076 Preset speed that is in progress 30 W2100 Assignment of Al1 26 W2101 Assignment of Al2 26 W2102 Assignment of AI3 26 W2103 Assignment of Al4 26 W2104 Assignment of analog output AO1 32 W2105 Assignment of analog output AO2 32 W2106 Assignment of analog output AO3 32 W2107 Assignment of LO1 34 W2108 Assignment of LO2 34 1996 Schneider S A All Rights Reserved 59 VW3A66301 PCMCIA Communication Card Kit Appendix A Address Descripti
3. 14 1996 Schneider S A All Rights Reserved VDOCO06S308 VW3A66301U PCMCIA Communication Card Kit August 1996 Section 1 Installation and Configuration The TSX SCA62 terminal block Figure 19 is a passive unit featuring a printed circuit board fitted with screw terminals for enabling two pieces of equipment to be connected to the bus It includes an end of line terminator which is a jumper inside the box The drive controller address is coded by setting the microswitches on the printed circuit board inside the box For more information refer to the documentation shipped with the Telemecanique equipment Cie On 00000000 00000000 Figure 19 TSX SCA62 Connector Sample Network Layout Figure 20 illustrates one possible system configuration involving multiple ALTIVAR 66 drive controllers connected to a UNI TELWAY bus TSX SCA62 VW3 A66201T VW3 A66202T ATV66 ATV66 ATV66 Figure 20 System Configuration Multiple Drives on UNI TELWAY Bus NOTE The ground connections between the TSX SCA62 box and the ALTIVAR 66 drive controller must be made for good system operation Connections should be as short as possible O 1996 Schneider S A All Rights Reserved 15 VW3A66301U PCMCIA Communication Card Kit VDOC06S308 Section 1 Installation and Configuration August 1996 Connection to MODBUS Bus with MODICON PLC G
4. 1996 Schneider S A All Rights Reserved 51 VW3A66301 PCMCIA Communication Card Kit VDOC06S308 Section 4 MODBUS Protocol August 1996 Question and Answer 02 05 0003 FFOO 7C09 Figure 40 Example Write a Value of 1 in Bit B3 of Drive Controller 2 Write One Output Word Function 6 Drive No of Word Value of Word Controller CRC16 No MS Ls MS LS 1 byte 1 byte 2 bytes 2 bytes 2 bytes Figure 41 Write One Output Word Question Format Drive No of Word Value of Word Controller CRC16 No MS Ls MS LS 1 byte 1 byte 2 bytes 2 bytes 2 bytes Figure 42 Write One Output Word Answer Format Question and Answer 9 06 OBCE 0315 2B1D Figure 43 Example Write a Value of H 0315 789 in W3022 of Drive Controller 2 ACC 78 9 s Diagnostic Function 8 Drive Controller Sub code Data CRC16 No 1 byte 1 byte 2 bytes 2 bytes 2 bytes Figure 44 Diagnostic Question and Answer Format 52 O 1996 Schneider S A All Rights Reserved VDOC06S308 VW3A66301 PCMCIA Communication Card Kit August 1996 Section 4 MODBUS Protocol Table 13 Diagnostic Question Answer Data Sub Code Question Data Answer Data Function Carried Out 00 XX YY XX YY Echo 01 00 00 00 00 Reinitialization 03 XX 00 XX 00 XX new delimiter 04 00 00 No answer Change to LOM Mode 0A 00 00 00 00 Counters reset to 0 0B 00 00 XX YY XX YY counter value 0C 00 00 XX YY XX YY counter value 0
5. Word Description Possible Values W2048 Jog W2048 0 0 Jog not in progress W2048 0 1 Jog in progress Reserved W2048 1 Cycle complete W2048 2 0 Cycle not complete W2048 2 1 Cycle complete 200 ms pulse Alternate ramp W2048 3 0 Ramp 1 W2048 3 1 Ramp 2 Auto Manual W2048 4 0 Manual activated W2048 4 1 Auto activated Frequency level attained Frequency Level 2 attained W2048 5 0 Freq level not attained W2048 5 1 Freq level attained W2048 6 0 Freq level 2 not attained W2048 6 1 Freq level 2 attained Reserved Reserved W2048 7 W2048 8 Thermal level attained Thermal Level 2 attained W2048 9 0 Thermal level not attained W2048 9 1 Thermal level attained W2048 10 0 Thermal level 2 not attained W2048 10 1 Thermal level 2 attained No Ramp Follow W2048 11 0 Not active W2048 11 1 Active Run output command Bypass W2048 12 0 Not active W2048 12 1 Active Rotation direction W2048 13 0 Running in forward W2048 13 1 Running in reverse W2075 1to8 Cycles step that is in progress W2076 0107 30 1996 Schneider S A All Rights Reserved Preset speed that is in progress VDOC06S308 August 1996 VW3A66301 PCMCIA Communication Card Kit Section 2 Register Description DISPLAY WORDS Read Only Word Range Description Remarks W2200 0to 22 Drive controller h
6. 24 from the bottom of the module 5 If the software version is not V3 0 contact your local field sales office for Figure 1 Main Control Board software upgrade information Location of Chip Cover 6 Replace the plastic cover over the software chip Ru mat 7 Reinstall the module as required see note in Step 4 8 Close the drive controller cover 1996 Square D All Rights Reserved MMMM 1 Addendum to VD0C06S308 August 1996 FUNCTIONALITY Table 1 lists the differences between the functionality described in the PCMCIA Communication Card Kit manual bulletin no VD0C06S308 and the actual operation of the card Table 1 Software V3 0 IE31 Exceptions 24 W2020 4 Suppression of communication Communication time out cannot control NTO be disabled ALTIVAR is a trademark of Telemecanique S A or its successor in interest Schneider Electric S A Electrical equipment should be serviced only by qualified electrical maintenance personnel No responsibility is as sumed by Square D for any consequences arising out of the use of this material 2 AAA 1996 Square D All Rights Reserved
7. L 9 bytes to read most significant bit of W2000 8 bytes comprising W2001 to W2004 Number of first byte most significant bit of W2000 has address 2 x 2000 1 4001 Figure 24 Reading Words W2001 to W2004 Transmission Text Block Figure 25 illustrates the reception text block associated with the Read request in Figure 24 In the example e TxTi V H 66 report e TxTi S 10 10 bytes received e Reception Table e The programming in Figure 24 enables the words to be correctly registered in the reception table W3019 most sig W3020 W3021 W3022 W3023 Figure 25 Reading Words W3020 to W3023 Reception Text Block 42 1996 Schneider S A All Rights Reserved VDOC06S308 VW3A66301 PCMCIA Communication Card Kit August 1996 Section 3 UNI TELWAY Protocol Event Data The drive controller transmits event data on its own initiative to the UNI TELWAY link master without having first received a question This data is sent via the unrequested data request and does not require an answer from the receiver Event data is sent in the following two cases e Whena fault appears or disappears change of state of W2040 bit 2 of state register When the drive controller is forced to local control by one of its logic inputs change of state of the input if an input has been assigned to this function or by a function key on the keypad if one has been assigned to this function
8. No No Not SLC Not Not Change Change Possible Stop Possible Possible No Not No Not No No Change Possible Change Possible Change Change No Not No SLC Not Not Change Possible Change Stop Possible Possible Not No No Not No No Possible Change Change Possible Change Change Not Not Not Possible Local 2 Possible Local 2 Possible Not No Not No SLC No Possible Change Possible Change Stop Change Not Not SLC Not Possible Local 1 Possible Stop Possible Not No Not No Not No Possible Change Possible Change Possible Change Local 2 Local 1 Local 2 11 Local Command mode speed and direction are copied to W2021 and W2040 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 the drive controller state When transferring to Terminal command mode the drive controller stops unless a terminal command is present direction and speed coming from the terminal strip Serial Link Fault Protection The PCMCIA communication card continuously monitors the status of the serial link messaging while in Serial Link Command mode This is in addition to the d
9. SLC 20 28 slip compensation 19 23 software type 31 version 2 31 specifications PCMCIA kit 3 timing 44 56 wiring 14 speed 19 22 23 30 32 34 35 start cycle 35 state mask 40 status 8 39 40 steady state 28 38 step locking 35 O 1996 Schneider S A All Rights Reserved stop by keypad 29 command 20 22 24 35 controlled 35 emergency 1 11 21 fast 24 25 29 freewheel 24 25 normal 25 overtravel 1 11 21 storage temperature 3 sub type 39 7 table reception 41 42 tachometer 36 38 Telemecanique also see UNI TELWAY PLCs 15 temperature overtemperature 36 38 storage 3 terminal block 15 command 11 20 34 35 terminals 5 6 terminating cable 14 test 8 38 thermal alarm 28 34 fault 29 level 30 34 state 27 time 32 44 56 time out 36 38 torque limit 34 transistor short circuit 36 38 65 VW3A66301 PCMCIA Communication Card Kit Index Bulletin No VD0C06S308 August 1996 transmission delays 1 11 21 speed 10 table 41 42 text block 41 42 TSX CSA cable 14 TSX SCA 72 converter 16 TSX SCA62 terminal block 15 U undervoltage 36 38 UNI TELWAY answer 39 40 44 network 15 protocol menu 10 question 40 register update times 44 requests 39 wiring 14 update times 44 56 V variable frames 45 version product 39 protocol 39 software 2 31 voltage boost 19 23 bus 27 drive controller 27 faults 36 38 mains 27 measur
10. The frame defined for the RTU mode illustrated in Figure 27 includes neither heading bytes nor end bytes The data is transmitted in binary format and CRC16 is a cyclical redundancy check The end of the frame is detected by a silence gt 3 characters Figure 27 RTU Frames The ASCII frame illustrated in Figure 28 contains all the possible frame elements Figure 28 ASCII Frames ASCII frames have the following characteristics e Heading IT3A The data is encoded in ASCII Each byte is divided into 2 four bit bytes each of which is encoded by an ASCII character 0 to F e LRC longitudinal redundancy check e End CR LF H OD and H 0A 1996 Schneider S A All Rights Reserved 45 VW3A66301 PCMCIA Communication Card Kit VDOC06S308 Section 4 MODBUS Protocol August 1996 PRINCIPLE OF COMMUNICATION MODBUS is a dialog protocol which creates a hierarchical structure between a master device and one or several slave devices The drive controller is always a slave device MODBUS protocol enables the master device to interrogate one or several of the drive controllers A multidrop link connects the master device and drive controllers to each other Two types of dialog are possible between master device and drive controller e The master device communicates to the drive controller and waits for a response The master device talks to a group of drive controllers without waiting for a response
11. on 1 of 8 past faults W2141 Past fault 1 drive controller state 0 No fault W2143 Past fault 2 drive controller state 1 Acceleration 2 Deceleration W2145 Past fault 3 drive controller state _ 3 Steady state Run W2147 Past fault 4 drive controller state 4 Dynamic braking W2149 Past fault 5 drive controller state 5 Ready W2151 Past fault 6 drive controller state Be injection 7 Current limit W2153 Past fault 7 drive controller state 8 Auto test W2155 Past fault 8 drive controller state 9 Configuration 10 No run permissive W2142 Past fault 1 name of fault 0 No fault W2144 Past fault 2 name of fault pns AO lineovervoltage 2 DC bus overvoltage W2146 Past fault 3 name of fault 3 DC bus undervoltage W2148 Past fault 4 name of fault 4 Ground fault W2150 Past fault 5 name of fault 5 Short circuit between phases Desat 6 15Vinput W2152 Past fault 6 name of fault 7 Horsepower not recognized W2154 Past fault 7 name of fault 8 Input phase loss W2156 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
12. 1 protocol menu 10 removing kit 7 specifications 3 status 8 O 1996 Schneider S A All Rights Reserved precautions 1 3 4 9 11 21 23 24 precharge failure 36 38 preset speed 22 30 35 process input 35 process time out 36 38 product type 9 39 product version 9 39 profile 19 23 protocols menu 10 MODBUS 16 17 45 56 RS 232C 13 RS 422 13 RS 485 12 UNI TELWAY 14 39 44 Q question MODBUS 50 54 UNI TELWAY 40 Bulletin No VD0C06S308 August 1996 VW3A66301 PCMCIA Communication Card Kit Index R ramps 24 29 30 35 RDY 28 reading error counter 39 MODBUS 48 requests 39 UNI TELWAY 40 42 44 ready state 34 38 receiving 3 reception table 41 42 references assigning over link 24 29 frequency 25 32 speed 22 register update times 44 56 registers 23 38 relays braking 28 R1 R4 33 34 remote 11 requests identification 39 read 41 42 read amp write objects 40 specific 43 status 40 UNI TELWAY list 39 reset 24 28 35 resettable fault 28 reverse 22 25 34 35 rotation see direction routing cable 7 RS 232C 13 RS 422 13 RS 485 12 RTU 10 RTU frames 45 run command 20 22 24 34 35 38 direction 25 output command 30 S screens also see menus drive identification 9 fault 9 segment 40 sequence input 35 sequence time out 36 38 serial link 11 18 20 22 36 38 setpoint 22 35 shielding 12 14 short circuit 36 38 shutdown 22
13. 2 Register Description pages 23 38 list drive controller parameters accessible by communication The exact function of each parameter and how it affects drive controller operation are explained in instruction bulletins VD0C06S305_ and VDOCO6T306_ Data such as fault and monitoring information can only be read Any attempt to write to this data will be refused The bits and words corresponding to the adjustment frequency reference and command of the drive controller can be written to as well as read Words are always expressed in signed 32768 to 32767 or unsigned 0 to 65535 units In the tables in Section 2 pages 23 38 the units of each word are shown For example W2002 Acceleration 1 time is in units of 0 1 seconds Therefore a value of 60 corresponds to an acceleration time of 6 s The allowable range is specified for each parameter If a value outside of the range is written the parameter will be set either to the range limit or to the factory default value Values at Power Up 18 At each power up the ALTIVAR 66 drive controller is initialized with the configuration and adjustments saved in its EEPROM W2021 and all of the bits in W2020 and W2031 are set to 0 and W2024 and W2028 are set to their factory default values Also at power up the drive controller is systematically placed in Local command terminal strip or keypad command To control via a multipoint bus you must set the drive controller to Serial Link c
14. 25 Control supply 26 Short circuit on motor LIC exceeded 27 Reserved 28 Reserved 29 Overspeed without tachometer 1996 Schneider S A All Rights Reserved VDOC06S308 VW3A66301 PCMCIA Communication Card Kit August 1996 Section 3 UNI TELWAY Protocol SECTION 3 UNI TELWAY PROTOCOL LIST OF REQUESTS Table 4 describes the UNI TELWAY requests accepted by the ALTIVAR drive controllers and their limits Detailed information on coding the requests is given in the UNI TELWAY reference manual TSX D24 004 Table 4 List of Requests Request Code Hexadecimal Format ALTIVAR 66 Drive Controller Identification H OF Yes Protocol version H 30 Yes Status H 31 Yes Mirror H FA Yes Read error counter H A2 Yes Counter reset H A4 Yes Read one Bit H 00 Yes Write one Bit H 10 Yes Read one Word H 04 Yes Write one Word H 14 Yes Read objects H 36 63 Words Max Write objects H 37 60 Words Max Event data Yes 2 Words Specific H F2 See Table 8 Identification Request Table 5 Identification Request Request Code Hexadecimal Format Answer code H 3F Product type H 14 for ALTIVAR Sub type H 66 for ATV66 Product version H xx 1 ASCII string 21 Catalog number e g ATV66U29N4 1 xx stands for software version For example enter H 30 for V3 0 2 The first byte of an ASCII string always corresponds to the length of the string 1996 Schneider S A All
15. 6 0 No command to inject DC W2020 6 1 Command to inject DC Reserved W2020 7 Freewheel stop W2020 8 See table below Fast stop W2020 9 See table below Reserved W2020 10 Reserved W2020 11 Reserved W2020 12 Reserved W2020 13 Command of external fault EFL W2020 14 0 No external fault W2020 14 1 External fault present Bl 11 Split control via DLI and FLI is not available Setting only one bit active will cause the drive controller to set both bits active Always write both bits to the same state Note for operation in Serial Link Command SLC mode both DLI and FLI must be set to 1 and LI1 must be active 21 Simultaneously writing W2020 1 W2020 2 and W2020 5 to zero while the drive controller is running in SLC mode will transfer control to Local Command mode either terminal or keypad The drive controller will respond as indicated in Table 2 on page 20 However W2020 5 will remain active 3 Allows drive controller to fault upon external fault when in SLC mode when Llx is set for customer fault If W2020 14 0 the drive controller ignores LIx even if Llx was configured in Local Command mode Keypad or Terminal strip 24 1996 Schneider S A All Rights Reserved VDOC06S308 August 1996 VW3A66301 PCMCIA Communication Card Kit Section 2 Register Description Freewheel and Fast Stop Freewheel Sto Fast Sto W20208 S W2020 9 Stop Type 0 0 Normal stop 1 1 Free
16. W2065 0 to 100 1 Value of analog input Al4 0 for O mA and 100 for 20 mA W2100 Assignment of Al1 0 Not assigned 1 Current limit 2 Voltage reduction 3 Speed Ret 1 I 4 Speed Ref 2 5 Speed Ref 3 W2101 Assignment of Al2 0 Not assigned 1 Current limit 2 Voltage reduction 3 Speed Ref 1 4 Speed Ref 2111 5 Speed Ref 3 W2102 Assignment of AI3 0 Not assigned l 1 Current limit 2 Voltage reduction 3 Speed Ref 1 4 Speed Ref 2 5 Speed Ref 3 6 Tach feedback W2103 l1 Factory setting 26 Assignment of Al4 1996 Schneider S A All Rights Reserved 0 Not assigned 1 1 Current limit 2 Voltage reduction 3 Speed Ref 1 4 Speed Ref 2 5 Speed Ref 3 VDOC06S308 August 1996 VW3A66301 PCMCIA Communication Card Kit Section 2 Register Description DISPLAY WORDS Read Only E Remarks Word Range Units Description Possible Values W2052 0 1 KW Output power Function of hp W2053 0 to Nominal motor 1 V Output voltage Function of drive voltage controller voltage range W2054 0 to Max 1 1V Mains voltage Function of drive controller voltage range W2055 0to Max 1V Bus voltage Function of drive controller voltage range W2071 0to3 Nominal motor voltage 0 208 240 V range 1 380 415 V 2 440 460 V W2202 0to3 Drive controller voltage 0 Not used range 1 208 2
17. sage TEREACE lodicon BM85 INTERFACE Bridge Mux C XOX ee i 1 4 en EX 2 3 Telemecanique 4 TSX SCA72 5 RS232 to RS485 i D A D B OV 1 TT 8 WHT gt NJ BLU 9 E BLU WHT 10 p 12 13 DRIVE SLAVE ADDRESS 5 14 D B ROUTE ADDRESS 10 4 5 15 0V WIRING G INTERFACE G 1 2 3 WIRING INTERFACE 4 1 5 2 6 3 7 4 8 5 9 WHT BLU 6 10 7 Hu 8 12 9 18 10 14 D B 1 15 0 V 12 G 13 BLU WHT G 14 D B 15 0 V WIRING INTERFACE TELEMECANIQUE ABE 6SD15F OR WAGO 810 289 W02 G CABLE BELDEN 9841 OR EQUIVALENT G NOTE GROUND SHIELD ONLY AT PIN 5 OF THE TSX SCA72 Figure 21 MODBUS Network Diagram 1996 Schneider S A All Rights Reserved 17 VW3A66301U PCMCIA Communication Card Kit VDOC06S308 Section 1 Installation and Configuration August 1996 PRINCIPLE OF COMMUNICATION Data Structures ALTIVAR 66 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 either numerical values e g 32768 to 32767 or 16 independent logic states The latter are also called registers For example W2021 saves a numerical value for frequency reference and W2040 is a register consisting of 16 state bits The notation W2040 2 designates bit 2 of register W2040 Access to Data Units Range The tables in Section
18. thermal fault 29 thermal state 27 voltage range 27 dynamic braking 29 36 38 62 E echo 49 EFL See external fault elapsed time 32 electrical interface 3 12 emergency stop 1 11 21 ERR 8 error counter 39 event counter 50 53 data 39 43 exception answers 49 54 exchange faults 48 external fault 24 F F1 function key 11 fast stop 24 25 29 faults 15 V input 36 38 control supply 36 38 customer 35 36 38 display word 28 dynamic braking 36 38 exchange 48 external 24 feedback loss 36 38 ground 36 38 history 38 horsepower 36 38 loss of follower 36 38 memory 36 38 motor overload 36 38 overspeed 36 38 overtemperature 36 38 phase loss 36 38 precharge 36 38 register 37 1996 Schneider S A All Rights Reserved faults cont d reset 35 resettable 28 Screen 9 serial link 36 38 short circuit 36 38 state 34 thermal 29 timeout 36 38 transistor 36 38 feedback loss 34 36 38 FLI 20 24 29 FLT see faults forced local 11 19 20 22 28 35 forward 22 25 34 35 frames ASCII 45 MODBUS 45 RTU 45 variable 45 freewheel stop 24 25 frequency level 30 34 mains 27 output 27 reference 25 32 functions 22 G gating state 29 grounding 15 36 38 also see shielding H high speed 19 23 horsepower 31 36 38 Bulletin No VD0C06S308 August 1996 VW3A66301 PCMCIA Communication Card Kit Index I O Extension module 1 31 identific
19. 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 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 1996 Schneider S A All Rights Reserved 21 VW3A66301U PCMCIA Communication Card Kit VDOC06S308 Section 1 Installation and Configuration August 1996 Compatibility of Application Functions Some Local Command mode keypad or terminal strip functions as well as certain application functions of the ALTIVAR 66 drive controller are not active in Serial Link Command mode Table 3 shows which functions are active in Serial Link Command mode Table 3 Compatibility of Application Functions Function programmed in Local Active in Serial Link Command mode Command mode Stop Run Enable Yes Run Forward No Run Reverse No Jog No Speed Speed No Setpoint Memory No Preset Speeds No Speed Reference No Auto Manual No Controlled Stop by LI No Controlled Stop by Freq Yes Shutdown Yes Bypass Yes Brake Sequence Yes Cycles No Orient No Forced Local Yes Current Limit by Ll No Voltage Reduction by LI No 22 1996 Schneider
20. uw ux eat e e e ded 10 Transmission Speed siei cruas asa xm RESI dab ieee BA RE 10 Data Format 5222 see be oY each on Sle ee A dW ae Yd AER SL d 10 Palit ice sag se A ow RR mee ADA ERU UU ae ee ae oes 10 Forced Local ss awise be en hee uet ia a ea aed 11 WIRING 2 ia a oh Ge er ebd e e E erbe ot 11 Connection to Multidrop Bus 12 Electrical Interface eun eee dore ee ae bien ete 12 PCMCIA Card D Shell Electrical Interface RS 485 12 PCMCIA Card D Shell Electrical Interface RS 232C 13 PCMCIA Card D Shell Electrical Interface RS 422 13 Connection to UNI TELWAY Bus with Telemecanique PLC 14 General re md des dui desea cA ANT LE 14 Connection Accessories 14 Sample Network Layout 15 Connection to MODBUS Bus with MODICON PLC 16 General Sunset e ORIS na en OAT ROPA es 16 Connection Accessories 16 PRINCIPLE OF COMMUNICATION 4 2 4 18 Data Structures ai dE REX ee emet EUR Oa x po ee Vet 18 Access to Data oso a Ra Ep Rest ru eda espere ed 18 UNIS 22 nir E See Nc a ex ER C Bah ed 18 Range 2 2 4 68 A a n REX E ACER Kaew Edu ey ee va eee ei 18 Values at Power Up 422844 448 o Rr ER EGG REX AREE ne do 18 Parameter Types ssu ss nines e Rex ex eL cay een ee R
21. 1 byte 2 bytes 2 bytes 2 bytes Figure 32 Read N Bits Question Format Drive No of Bytes Value Controller Read No 1 byte 1 byte 1 byte Figure 33 Read N Bits Answer Format Question 02 01 0004 0001 BC38 Answer 02 01 01 00 51CC ifB4 0 02 01 01 01 900C ifB4 1 Figure 34 Example Read Bit B4 of Drive Controller 2 50 CRC16 2 bytes 1996 Schneider S A All Rights Reserved VDOC06S308 VW3A66301 PCMCIA Communication Card Kit August 1996 Section 4 MODBUS Protocol Read N Words Function 3 or 4 Drive No of 1st Word No of Words Controller 03 or 04 CRC16 No MS Ls MS LS 1 byte 1 byte 2 bytes 2 bytes 2 bytes Figure 35 Read N Words Question Format Value of First Value of No of Word Last Word Bytes Read 1 byte 1 byte 1 byte 2 bytes 2 bytes 2 bytes Figure 36 Read N Words Answer Format Question 02 04 OBCC 0004 33E1 moe oe T9 Le Ds nes Value of Value of W3020 W3023 Figure 37 Example Read Words W3020 to W3023 of Drive Controller 2 Write One Output Bit Function 5 Drive No of Bit Value of Bit Controller CRC16 No MS Ls 1 byte 1 byte 2 bytes 2 bytes 2 bytes Bit at 0 0000 Bit at 1 FFOO Figure 38 Write One Output Bit Question Format Drive No of Bit Value of Bit Controller 5 CRC16 No MS Ls 1 byte 1 byte 2 bytes 2 bytes 2 bytes Bit at 0 0000 Bit at 1 FFOO Figure 39 Write One Output Bit Answer Format
22. 2 IR Compensation Voltage Boost Deceleration Acceleration 2 ll Deceleration 2 1 Damping Motor Overload Profile M Only effective if Alternate Ramps has been selected via the keypad or PC software 2 Only effective if Slip Compensation has been set to Manual via the keypad or PC software Priority of Treating Data Deceleration Acceleration 2 ll Deceleration 2 ll Damping Motor Overload When several types of parameters are written in the same request they are treated in the following order 1 Writing bits W2020 1 and W2020 2 DLI and FLI to 1 2 Adjustment parameters 3 Command parameters except W2020 1 and W2020 2 Access Protection by Forced Local All writing is blocked during Forced Local 1996 Schneider S A All Rights Reserved 19 VW3A66301U PCMCIA Communication Card Kit VDOC06S308 Section 1 Installation and Configuration August 1996 Command Mode Transitions Wire the drive controller as shown in the Receiving Installation and Start Up manual VD0C065304_ When transitioning between Serial Link command Terminal strip command and Keypad command the drive controller behaves as shown in Table 2 There are two ways to transition between states by a change in state of Forced Local by logic input or keypad function key or by a change in state of the DLI FLI bits in W2020 Table 2 Transition Between Command States DLI FLI SLC Run DLI SLC Forced FLI Run Local
23. 40 V 2 380 460 V W2056 0to 199 196 Motor thermal state value w2057 0 to 125 1 Drive controller thermal For kW gt 7 5 kW state value 11 Maximum depends on mains 264 V for ATV66 M2 460 V for 50 Hz mains ATV66 N4 529 V for 60 Hz mains ATV66 NA4 21 Maximum depends on mains 374 V for ATV66 M2 651 V for 50 Hz mains ATV66 N4 748 V for 60 Hz mains ATV66 N4 MOT Remarks Word Range Unit Description Possible Values W2203 Mains frequency 0 Unknown recognized 1 50 Hz 2 60 Hz W2041 26478 to 26478 Output frequency 400 Hz 26478 W2205 0 1A Drive controller nominal Function of hp mains current voltage and torque type W2206 0 1A Drive controller maximum Function of hp mains current voltage and torque type W2042 0 1A Output current Function of hp and mains voltage 1996 Schneider S A All Rights Reserved 27 VW3A66301 PCMCIA Communication Card Kit Section 2 Register Description VDOC06S308 August 1996 DISPLAY WORDS Read Only Word Description Possible Values W2040 Mode in which all W2040 0 0 Commands assigned by link SLC mode commands are assigned W2040 0 1 Commands assigned by terminal or keypad local mode Drive controller ready W2040 1 0 Drive controller not ready RDY or SLC W2040 1 1 Drive controller ready Fault FLT W2040 2 0 No fault W2040 2 1 Drive controller faulted Res
24. 5 11 Function code 03 Values shown include query time master processing time and acknowledge ACK time 2 Function code 16 Values shown include query time master processing time and acknowledge ACK time 1996 Schneider S A All Rights Reserved VDOC06S308 VW3A66301 PCMCIA Communication Card Kit August 1996 Appendix A Address Descriptions amp Index APPENDIX A ADDRESS DESCRIPTIONS amp INDEX Address Description Page W2000 High speed 23 W2001 Low speed 23 W2002 Accel 1 23 W2003 Decel 1 23 W2004 Accel 2 23 W2005 Decel 2 23 W2006 Slip compensation 23 W2007 IR compensation 23 W2008 Profile 23 W2009 Voltage boost 23 W2010 Damping 23 W2011 Bandwidth 23 W2012 Motor overload 23 W2020 Drive reset 24 Assignment of logic commands over link DLI 24 Assignment of references over link FLI 24 Alternate ramps Ramp 2 24 Suppression of communication control NTO 24 Run Stop command 24 Braking by DC injection DCB 24 Reserved 24 Freewheel stop 24 25 Fast stop 24 25 Reserved 24 Reserved 24 Reserved 24 Reserved 24 Command of external fault EFL 24 W2021 Reference frequency 25 W2024 of current limit 25 of motor In W2028 of voltage reduction 1 steps 25 W2031 Reserved 25 Run direction Reserved 1996 Schneider S A All Rights Reserved 57 VW3A66301 PCMCIA Communication Card Kit Appendix A Address Descriptions amp I
25. 5 Frame Details ASCII Mode 55 Example Writing a value of 1 in bit B3 of drive controller 2 56 Calculation of the LRO 56 Register Update Times 56 APPENDIX A ADDRESS DESCRIPTIONS amp INDEX 57 INDEX emp PIDE 61 ii 1996 Schneider S A All Rights Reserved VDOC06S308 VW3A66301U PCMCIA Communication Card Kit August 1996 Introduction INTRODUCTION The VW3A66301U Communication Card Kit allows you to connect an ALTIVAR 66 drive controller to multipoint networks using the following protocols e UNI TELWAY e MODBUS RTU JBUS e MODBUS ASCII The VW3A66301U Communication Card Kit consists of a Type 3 Personal Computer Memory Card International Association PCMCIA card a captive 3 m 9 84 ft cable and a SUB D 15 pin connector The ALTIVAR 66 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 As anode on a network the ALTIVAR 66 drive controller can receive and respond to data messages The data exchange allows use of ALTIVAR 66 functions e Downloading of adjustment parameters e Command and control Monitoring Diagnostics SYSTEM SAFETY CONSIDERATIONS WARNING LOSS OF CONTROL The designer of any control sch
26. 6 wiring 16 writing 48 50 54 56 Modicon also see MODBUS PLCs 16 modules Communication Carrier 1 31 I O Extension 1 31 installation precautions 9 63 VW3A66301 PCMCIA Communication Card Kit Bulletin No VD0C06S308 Index August 1996 motor output phase loss 36 38 overload 19 23 36 38 current 27 PLCs running 28 frequency 27 Modicon 16 46 short circuit 36 38 logic 33 Telemecanique 15 thermal overload alarm 28 objects 47 power thermal state 27 phase loss 36 38 disconnecting 4 voltage range 27 power 27 loss 29 multidrop bus 12 17 speed 32 NLP 28 I 27 voltage output 27 outputs supply 36 38 N logic 34 wiring 14 NACK responses 49 overload S0538 power up NEMA saf dards 1 d mente safety standards 1 motor 19 23 Gliese 11 21 network MODBUS 17 46 nodes 14 16 transmission speed 10 UNI TELWAY 15 next step 35 NLP 28 no ramp follow 30 34 nodes MODBUS 16 UNI TELWAY 14 NTO 21 24 28 O objects address 40 byte 42 input 47 output 47 reading amp writing 40 type 40 word 41 open transistor 36 38 orient 22 29 34 35 64 overspeed 34 36 38 overtemperature 36 38 overtravel stop 1 11 21 overvoltage 36 38 P PA terminal 5 6 parameters adjustment 19 23 command 19 24 25 configuration 9 display 19 26 38 types 19 parity 10 PCMCIA 15 pin connector 12 card 1 7 22 31 configuration parameters 9 electrical interface 12 grounding 14 installing kit 7 kit part no
27. 6301 PCMCIA Communication Card Kit August 1996 Section 3 UNI TELWAY Protocol Example 1 Word Object Type The transmission text block in Figure 22 illustrates a Read request using the word object type H 07 In the example e TxTi C H 0736 category request e TxTi L 6 e Transmission Table Internal Word Segment Type of Word 4 words to read Number of first word Figure 22 Reading Words W2020 to W2023 Transmission Text Block Figure 23 illustrates the reception text block associated with the Read request in Figure 22 In the example e TxTi V H 66 report e TxTi S 9 9 bytes received e Reception Table The data received in the reception table is offset by one byte The application program must correct the data by successive offsets for example before it is used W2020 least sig H 07 W2021 least sig W2020 most sig W2022 least sig W2021 most sig W2023 least sig W2022 most sig Figure 23 Reading Words W2020 to W2023 Reception Text Block 1996 Schneider S A All Rights Reserved 41 VW3A66301 PCMCIA Communication Card Kit VDOC06S308 Section 3 UNI TELWAY Protocol August 1996 Example 2 Byte Object Type The transmission text block in Figure 24 illustrates a Read request using the byte object type H 06 In the example e TxTi C H 0736 category request e TxTi L 6 e Transmission Table Internal Word Segment Type of Word
28. D 00 00 XX YY XX YY counter value 0E 00 00 XX YY XX YY counter value Read Event Counter Function 11 H 0B Drive Controller 0B CRC16 No 1 byte 1 byte 2 bytes Figure 45 Read Event Counter Question Format Drive Counter Value oe CRC16 1 1 byte 2 2 IL 2 bytes Figure 46 Read Event Counter Answer Format Write N Output Words Function 16 H 10 coner No of First Word No of No of Value of 1st Word TIT Ms Words Bytes MS 1 m 1 byte 2 E 2bytes 1 byte 2 os 2 bytes Figure 47 Write N Output Words Question Format 1996 Schneider S A All Rights Reserved 53 VW3A66301 PCMCIA Communication Card Kit VDOC06S308 Section 4 MODBUS Protocol August 1996 Drive No of First Word No of Words Controller No MS LS MS LS 1 byte 1 byte 2 bytes 2 bytes 2 bytes Figure 48 Write N Output Words Answer Format Question OBCE 0002 04 0002 0003 EsC6 Answer 02 10 OBCE 0002 2220 Figure 49 Example Write Values of 2 and 3 in Words W3022 and 3023 of Drive Controller 2 Exception Answers 54 An exception answer is given by a drive controller when it is unable to carry out the request which has been given to it Drive Controller No 1 byte 1 byte 1byte 2 bytes Figure 50 Exception Answer Format The answer code consists of the function code of the request plus H 80 the most significant bit is set at 1 The error codes are as follows e 1 Func
29. Display of LI3 activation W2043 3 0 Input not active W2043 3 1 Input active Display of LI4 activation Display of LI5 activation W2043 4 0 Input not active W2043 4 1 Input active W2043 5 0 Input not active W2043 5 1 Input active Display of LI6 activation W2043 6 0 Input not active W2043 6 1 Input active Display of LI7 activation W2043 7 0 Input not active W2043 7 1 Input active Display of LI8 activation W2043 8 0 Input not active W2043 8 1 Input active Display of LO1 activation W2043 9 0 Output not active W2043 9 1 Output active Display of LO2 activation Display of R1 activation W2043 10 0 Output not active W2043 10 1 Output active W2043 11 0 Output not active W2043 11 1 Output active Display of R2 activation W2043 12 0 Output not active W2043 12 1 Output active Display of R3 activation W2043 13 0 Output not active W2043 13 1 Output active Display of R4 activation W2043 14 0 Output not active W2043 14 1 Output active 1996 Schneider S A All Rights Reserved 33 VW3A66301 PCMCIA Communication Card Kit Section 2 Register Description VDOC06S308 August 1996 DISPLAY WORDS Read Only 34 Word Description W2107 Assignment of LO1 Factory setting At speed W2108 Assignment of LO2 Factory setting Current limit W2111 Assignment of R1 Factory setting Fault W2112 Assignme
30. Event data consists of 2 words of 16 bits transmitted in the following order e STR state register W2040 e FLT fault register W2051 Using event data with the TSX programmable controller requires the following e Correct configuration of the master coupler for the UNI TELWAY link Regular monitoring of the indicators which display changes in the value of the data e Assignment of the data via the Read request of the event data Specific Control Requests Specific control requests enable the drive controller command to be carried out and to obtain in return information required to control the drive controller Table8 Specific Control Request Format Request code byte H F2 Category byte 0 7 Specific request code byte 0 Reserved byte 0 Command word COM Reference word FRH Acceleration word ACC Deceleration word DEC 1996 Schneider S A All Rights Reserved 43 VW3A66301 PCMCIA Communication Card Kit VDOC06S308 Section 3 UNI TELWAY Protocol August 1996 Table 9 Specific Control Report Format Answer code byte H F2 Specific answer code byte H 30 Reserved byte 0 Reference word FRH State register word STR Fault register word FLT Motor current word LCR Table 10 Negative Answer Answer code byte H FD Cause Incorrect number of parameters REGISTER UPDATE TIMES The maximum register update times for a single ALTIVAR drive controller using UNI TELWAY are listed i
31. Instruction Bulletin VDOC06S308 August 1996 PCMCIA Communication Card Kit UNI TELWAY MODBUS JBUS Protocols VW3A66301U User s Manual 8 telemecanique D SQUARE D A DANGER HAZARDOUS VOLTAGE Read and understand this bulletin in its entirety before installing PCMCIA card or operating ALTIVAR 66 drive controller with PCMCIA card installed 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 Place a DO NOT TURN ON label on drive controller disconnect Lock disconnect in open position Failure to follow these ins
32. ODBUS functions are of two types e Functions which enable data exchange and Complementary functions for exchange diagnostics Table 12 lists the functions controlled by the communication option for the ATV 66 and specifies its limits Answer messages are never returned Table 12 MODBUS Functions Code Nature of Function Drive Controller 01 Read N output bits Allows reading of output bits bits in the drive Max 1 controller that can be written or read by the master 02 Read N input bits Allows reading of input bits bits that the master Max 1 can only read 03 Read N output words Allows reading of output words words in Max 63 the drive controller that can be written or read by the master 04 Read N input words Allows reading of input words words that the Max 63 master can only read 05 M write one output bit Used to set an output bit to 0 or 1 Yes 06 MM write one output word Used to write a 16 bit output word Yes 11 Used in broadcast messages and therefore must specify drive controller number as 0 in the message transmitted by the master device 48 1996 Schneider S A All Rights Reserved VDOC06S308 August 1996 VW3A66301 PCMCIA Communication Card Kit Section 4 MODBUS Protocol Table 12 MODBUS Functions Continued Code 08 Nature of Function Diagnostic Function always accompanied by a sub code 08 00 Echo Tells drive controller to return full message sen
33. OSS OF CONTROL The designer of any control scheme must consider the potential failure modes of control paths ana 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 The control paths of a system 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 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 1996 Schneider S A All Rights Reserved 11 VW3A66301U PCMCIA Communication Card Kit VDOC06S308 Section 1 Installation and Configuration August 1996 Connection to Multidrop Bus Electrical Interface The electrical interface of the VW3A66301U PCMCIA Communication Card Kit is selectable as either RS 485 RS 422 or RS 232C External View of PCMCIA Communication Card Kit Connector TX Send Validation Figure 14 Electrical Interface The electrical i
34. R pen ee Obs 19 Priority of Treating Data 2 I 19 Access Protection by Forced Local 19 Command Mode Transitions 20 Serial Link Fault Protection 20 Compatibility of Application Functions 22 1996 Schneider S A All Rights Reserved i VW3A66301U PCMCIA Communication Card Kit Bulletin No VD0C06S308 Table of Contents August 1996 SECTION 2 REGISTER DESCRIPTION 23 ADJUSTMENT WORDS READ AND WRITE 23 COMMAND WORDS READ AND WRITE 24 Freewheel and Fast Stop 25 Additional Command Register 25 Display of Logic Input Assignments 35 Display of Fault Register Fault that Caused Drive Controller to Trip 36 Display of Present Faults Register Fault Present if bit 1 37 Fault History 42 ciere Rye RR oo a suas a RERO 38 SECTION 3 UNI TELWAY PROTOCOL 39 LIST OF REQUESTS frear ar reg REVERSUS e qoi e EAE DRE 39 Identification Request 0 ccc cee III 39 Status Request coe ei eave ib ad M aie eh a SES 40 Read and Write Objects Requests 40 Ex
35. Rights Reserved 39 VW3A66301 PCMCIA Communication Card Kit VDOC06S308 Section 3 UNI TELWAY Protocol August 1996 Status Request Table 6 Status Request Code Request Hexadecimal Format Answer code H 61 Current state H xx Bit 0 Internal fault Bit 1 Correctable fault Bit 2 Uncorrectable fault Bit 3 Not used Bit 4 Not used Bit 5 Not used Bit 6 Drive controller at standstill RDY SLC or fault Bit 7 Drive controller in Local control State mask H C7 indicates the significant bits for the current state Read and Write Objects Requests Read and Write requests allow access to several words within the limits described in Table 4 They may be coded as set out in Table 7 Table 7 Read and Write Objects Requests Request Code Hexadecimal Format Question Code TxTi C H 36 Read or H 37 Write Category 0to7 Segment H 68 internal word Object type H 06 for reading a byte 8 bits or H 07 for reading or writing a Word 16 bits Object address H xxxx The answer to the Write Objects request is accepted if at least one word is written The following examples give typical Read requests for the TSX7 programmable controller using text block The examples read words W2020 to W2023 of the drive controller memory first using word object types Example 1 then using byte object types Example 2 40 1996 Schneider S A All Rights Reserved VDOC06S308 VW3A6
36. S A All Rights Reserved VDOC06S308 VW3A66301 PCMCIA Communication Card Kit August 1996 Section 2 Register Description SECTION 2 REGISTER DESCRIPTION A WARNING UNINTENDED EQUIPMENT ACTION 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 ADJ USTMENT WORDS Read and Write These parameters can be adjusted when the motor is stopped or running Word Range Units Description Factory Setting W2000 W2001 to Max Freq 0 1 Hz High speed 50 Hz for 50 Hz input power set via keypad in Menu 60 Hz for 60 Hz input power 7 12 or PC software W2001 0 to W2000 0 1 Hz Low speed 0 Hz W2002 1 to 9999 0 1s Accel 1 3s W2003 1 to 9999 0 1s Decel 1 3s W2004 1 to 9999 0 1s Accel 2111 5s W2005 1 to 9999 0 1s Decel 211 5s W2006 1 to 100 0 1 Hz Slip compensation P 3 Hz w2007 0 to 800 l 1 IR compensation 100 W2008 0 to 100 1 Profile 20 W2009 0 to 100 1 Voltage boost 20 W2010 0 to 800 P 1 Damping 2096 W2011 0 to 100 0 1 Bandwidth 20 W2012 45 In to 115 In 0 1A Motor overload 0 9 x In 1 These registers are only effective if Alternate R
37. W3A66301U PCMCIA Communication Card Kit August 1996 Section 1 Installation and Configuration Installing the PCMCIA Communication Card Kit To install the PCMCIA Communication Card Kit into drive controller 1 Open the drive controller door 2 On models ATV66U41N4 to D23N4 and ATV66U41M2 to U90M2 remove plastic knockout from top of drive controller cover NOTE The drive controller enclosure Type rating will change from Type 1 to Open when the knockout is removed 3 Insert the PCMCIA card 68 pin connector into the PCMCIA slot on top of option card with the Insert arrows facing towards the front of drive controller see Figure 3 4 For models ATV66U41N4 to D12N4 and ATV66U41M2 to U90M2 the PCMCIA captive cable must be routed through the knockout and outside the drive controller enclosure For all other models route the captive cable inside the drive controller enclosure along with the control conductors connected to J12 and J13 of the drive controller main control board NOTE The 15 pin D shell connector of the PCMCIA captive cable has exposed metal parts The cable must be routed and anchored so that the connector avoids contact with live conductors within the drive controller 5 For models ATV66D16N4 to D79N4 and ATV66D12M2 to D46M2 provisions in the bottom plastic plate allow the PCMCIA captive cable connector to exit through the bottom of the drive controller enclosure NOTE If the captive cable and connector of the PCMCIA c
38. am ce 2 o Q re o c 1 Drive Controller K i i Figure 30 Input and Output Data Objects Exchanges The master device always initiates data exchanges The master device addresses a drive controller by supplying it with four types of data e The drive controller s address The function required of the drive controller The data area as a function of the request The exchange check The master device waits for the drive controller s answer before transmitting the next message thus avoiding any conflict on the line Operation in half duplex is therefore authorized 1996 Schneider S A All Rights Reserved 47 VW3A66301 PCMCIA Communication Card Kit VDOC06S308 Section 4 MODBUS Protocol August 1996 Checking and Supervision All control of exchanges between two entities communicating via asynchronous serial link naturally includes exception messages when exchange faults occur When a drive controller receives an incoherent message it reports an exchange fault to the master device which in turn determines whether or not to repeat the exchange The master device has access to a certain amount of data stored and controlled by the drive controller The master device gains access to this data by special function codes Master Controller I I I I i i i ATV66 i I I I I i i i Figure 31 Communicating Exchange Faults MODBUS FUNCTIONS M
39. ample 1 Word Object Type 41 Example 2 Byte Object Type 42 Event Data cte eter teer ee ee ead as tete u dies 43 Specific Control Requests 43 REGISTER UPDATE TIMES 44 SECTION 4 MODBUS PROTOCOL 45 MODBUS FRAMES ss sue a a UE LAGU OR EP CR d 45 PRINCIPLE OF COMMUNICATION 46 Accessible Data era atom Ap e DH d eene A tle I Geel e ES Gn nn 47 EXcharg6S oet rt tales dene e a ch p TA CEU pee ene n 47 Checking and Supervision 48 MODBUS F NGTIONS xxu Reve eR X ea eet ee er REX dant 48 Frame Details RTU Mode 50 Read N Bits Function 1 or2 50 Read N Words Function 3 or 4 51 Write One Output Bit Function 5 51 Write One Output Word Function 6 52 Diagnostic Function 8 s cessa 444444444888 Rr e eor e au a 52 Read Event Counter Function 11 H 0B 53 Write N Output Words Function 16 H 10 53 Exception Answers 0 ce ee rr 54 CRC16 Calculation 5
40. amps has been selected via the keypad or PC software 21 This register is only effective if Slip Compensation has been set to Manual via the keypad or PC software BI Depends on torque type High torque 150 Special 800 Other 100 1996 Schneider S A All Rights Reserved 23 VW3A66301 PCMCIA Communication Card Kit VDOC06S308 Section 2 Register Description August 1996 COMMAND WORDS Read and Write Word Description Possible Values W2020 Drive reset W2020 0 0 No reset W2020 0 1 Reset must be in Serial Link Command SLC mode for reset to take effect Assignment of logic commands W2020 1 0 No logic commands over link over link DLI M W2020 1 1 Logic commands over link Assignment of references over link W2020 2 0 No references over link FL M W2020 2 1 References over link Alternate ramps Ramp 2 W2020 3 0 Ramp 1 W2020 3 1 Ramp 2 A WARNING LOSS OF CONTROL Setting W2020 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 Suppression of communication W2020 4 0 Monitor communication fault control NTO W2020 4 1 Do not monitor communication fault no time out Run Stop command 7 W2020 5 0 Stop W2020 5 1 Run Braking by DC injection DCB W2020
41. ard exit the drive controller enclosure additional mechanical and environmental protection of the cable and connector may be required Plastic Knockout To remove the Communication Card Kit push eject button on option card Figure 3 Mounting and Removing PCMCIA Communication Card Kit 1996 Schneider S A All Rights Reserved 7 VW3A66301U PCMCIA Communication Card Kit Section 1 Installation and Configuration VDO0CO06S308 August 1996 Diagnostics There are two LEDs on top of the PCMCIA interface card a green COM LED and a red ERR LED Status is indicated when the LEDs flash the patterns described in Figure 4 Green Red ERR z COMLED LED Probable Causes Corrective Action Illuminated Off Normal operation Flashing Off Incorrect Check configuration communication configuration Check software compatibility ALTIVAR 66 communication fault Off Illuminated Communication fault on Check the switch positions on the the bus TSX SCA62 connector if present Check for presence of master device and its proper link configuration and operation Off Off PCMCIA card or drive Check the drive controller by Figure 4 controller fault PCMCIA LEDs LED Status Indication removing the PCMCIA card Replace the drive controller or the card CONFIGURING THE COMMUNICATION FUNCTIONS Fir
42. ation 9 39 input objects 47 input phase loss 36 38 inputs analog 26 logic 33 35 process 35 sequence 35 installation 3 7 interface electrical 3 12 RS 232C 13 RS 422 13 RS 485 12 IR compensation 19 23 isolation 3 J jog 22 30 34 35 K keypad command 11 20 34 35 presence of 31 stopping with 29 knockout 7 L LEDs COM 8 DC bus 4 6 ERR 8 level current 34 frequency 30 thermal 30 limit current 22 25 28 34 35 38 torque 34 line see AC line see mains link assigning commands over 24 29 assigning references over 24 29 serial see serial link local 11 18 20 22 29 35 logic commands assigning over link 24 29 inputs LI1 LI8 33 35 outputs LO1 LO2 33 34 LOM mode 49 loss feedback 34 36 38 follower 34 36 38 phase 37 low speed 19 23 LRC 56 M mains frequency 27 no power 28 voltage 27 manual 30 mask 40 1996 Schneider S A All Rights Reserved memory card 31 failure 36 38 menus also see screens communication 9 data formats 10 forced local 11 parity 10 power up 8 protocol 10 transmission speed 10 mirror 39 MODBUS answer 50 54 ASCII frame 55 communication principle 46 connection accessories 16 data exchanges 47 diagnostics 49 52 53 exception answers 54 exchange faults 48 frames 45 network 46 network diagram 17 protocol 45 56 protocol menu 10 question 50 54 reading 48 50 54 56 register update times 5
43. broadcast messages The drive controller number can be between 1 and 31 The number 0 is reserved for a broadcast message In either case the master device initiates and controls all exchanges with the drive controllers If an erroneous exchange occurs the master device reiterates the exchange and declares the drive controller absent if no answer is received after a given time has elapsed Only one group may transmit on line at any time No drive controller may initiate an exchange and lateral communication drive controller to drive controller is not possible The master device s programming must therefore be designed to interrogate a drive controller and send the data received to another drive controller Master Controller Drive Controller Drive Controller J Controller I K Figure 29 MODBUS Protocol 46 1996 Schneider S A All Rights Reserved VDOC06S308 VW3A66301 PCMCIA Communication Card Kit August 1996 Section 4 MODBUS Protocol Accessible Data MODBUS protocol enables data bits and words to be exchanged between master device and drive controller In each drive controller there are two types of data objects input objects bits and words and output objects bits and words Input objects may be read only whereas output objects may be read or written Drive Controller I A A nn ne Master Drive Controller J Controller Transmission Table User Progr
44. cription page 23 describes in detail the ALTIVAR 66 registers including information such as range units and factory settings e Section 3 UNI TELWAY Protocol page 39 contains communication conventions for UNI TELWAY protocol Section 4 MODBUS Protocol page 45 contains communication conventions for MODBUS protocol Appendix A page 57 contains a list of registers in numerical order with page references back to the descriptions in Section 2 For more information about specific parameters refer to the following ALTIVAR 66 documentation e Level 1 and 2 Configuration manual VD0C065305 I O Extension Module and Level 3 Configuration manual VDOCO06T306 Other documentation available e Receiving Installation amp Start Up manual VD0C06S304_ e Communication Carrier Module manual VDOCO6N915 e Catalog VD0C06S201_ Additional documentation is provided with the optional peripherals REVISION LEVEL This is anew document It is intended for use with ALTIVAR 66 drive controllers equipped with software version 3 0 or later 2 1996 Schneider S A All Rights Reserved VDOCO06S308 VW3A66301U PCMCIA Communication Card Kit August 1996 Section 1 Installation and Configuration SECTION 1 INSTALLATION AND CONFIGURATION RECEIVING Remove the Communication Card Kit from its packaging and visually inspect the exterior for shipping damage If any damage is found notify the carrier and your local repr
45. current 27 W2207 Software version 31 W2209 Software type 31 W2210 Reserved 31 W2211 Memory card option 31 W2212 Communication carrier option 31 W2213 Presence of keypad 31 W2214 I O Extension option card 31 W2216 PCMCIA communication card 31 1996 Schneider S A All Rights Reserved Bulletin No VD0C06S308 August 1996 VW3A66301 PCMCIA Communication Card Kit Index A AC line also see mains overvoltage 36 38 acceleration 19 23 29 38 also see ramps adjustment parameters 19 23 alarms thermal 28 34 alternate ramps 24 30 analog inputs Al1 Al4 26 outputs AO1 A03 32 answer MODBUS 50 54 UNI TELWAY 39 40 44 ASCII delimiters 49 55 frames 45 55 protocol menu 10 string 39 assigning analog inputs 26 analog outputs 32 logic commands 24 logic inputs 35 logic outputs 34 references 24 relays 34 ATV66 adjustment parameters 19 current 27 documentation 2 fault registers 36 38 horsepower 31 identification 9 on network 15 17 46 reset 24 terminals 5 6 thermal state 27 34 voltage range 27 auto run 35 auto test 38 auto manual 22 30 34 35 B bandwidth 19 23 baud rate 10 BM85 bridge mux 16 braking DC injection 24 28 38 dynamic 29 38 relay state 28 release 34 Sequence 22 bus faults 36 38 LED 4 6 measuring voltage 4 6 multidrop 12 UNI TELWAY 15 voltage 27 bypass 22 30 34 36 38 C cable maximum length 14 routing 7 specificati
46. eme 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 The control paths of a system 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 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 1996 Schneider S A All Rights Reserved 1 VW3A66301U PCMCIA Communication Card Kit VDOC06S308 Using This Manual August 1996 USING THIS MANUAL This manual applies to ALTIVAR 66 drive controllers equipped with software version 3 0 or later It consists of four sections Section 1 Installation and Configuration page 3 describes how to install the PCMCIA Communication Card Kit and contains wiring information and procedures for connecting the drive controller to a UNI TELWAY or MODBUS bus e Section 2 Register Des
47. eneral You must follow these rules when constructing a MODBUS multidrop network e Limit the number of nodes on the network to 32 e Daisy chain the multidrop cable as illustrated in Figure 21 Do not use stub connections Connection Accessories Many Modicon PLCs cannot initiate messages from a MODBUS port because they were intended to be used as slave devices only Therefore when using a Modicon PLC the Modicon BM85 Bridge Mux must be connected to the MODBUS Plus port For multiple drives a Telemecanique TSX SCA 72 RS 232C to RS 485 converter must be used Figure 21 shows system configuration involving multiple ALTIVAR 66 drive controllers connected toa MODBUS bus using a Modicon PLC NOTE Your MODBUS device or PLC may be capable of initiating a message directly from a MODBUS port it must be a master port Consult Modicon for more information if this is the case 16 1996 Schneider S A All Rights Reserved VDOCO06S308 VW3A66301U PCMCIA Communication Card Kit August 1996 Section 1 Installation and Configuration MODICON PLC MB SLAVE PORT MB SLAVE PORT MB PORT RS 485 ModBus lt gt GA lt gt GaP _ MB ADDRESS 10 dicon BM8
48. er number 06 will be coded by the two ASCII characters 0 and 6 i e by H 30 and H 36 LRC longitudinal redundancy check is calculated by summing up modulo 256 the values of the bytes of the contents of the frame without the delimiters then calculating the hexadecimal representation of the 2 s complement negation of the sum This value is then coded as two ASCII characters as described above 1996 Schneider S A All Rights Reserved 55 VW3A66301 PCMCIA Communication Card Kit Section 4 MODBUS Protocol VDOC06S308 August 1996 Example Writing a value of 1 in bit B3 of drive controller 2 Question and answer in Hexadecimal 3A 30 32 3035 30303033 46463030 4637 OD 0A in ASCII 2 os rro Pz Jostr Calculation of the LRC Sum of the frame bytes H 02 H 05 H O0 H 03 H FF H 00 H 109 265 Modulo 256 Sum H 09 9 2 s complement of the modulo 256 Sum H 100 H O9 256 9 247 H F7 Register Update Times The maximum register update times for a single ALTIVAR drive controller using MODBUS protocol are listed in Table 14 These times assume a baud rate of 9600 and no communication errors Table 14 Maximum Register Update Times Number of MODBUS ASCII MODBUS RTU Registers Read Time Write Time P Read Time write Time Pl Transferred msec msec msec msec 1 68 59 61 52 10 106 97 82 73 20 148 138 105 96 50 273 263 174 16
49. esentative Do not install a damaged card If the communication card is to be stored after receipt replace it in its original packing material and store at 40 to 185 F 40 to 85 C The following specifications apply to the communication interface of the Communication Card Kit Isolation network to drive controller Galvanically isolated for 30 V RMS 50 V peak Isolation cable jacket to ground 300 V RMS e Captive cable termination 15 pin male D shell Electrical interface RS 232 RS 422 RS 485 selectable by connection INSTALLATION A WARNING UNINTENDED EQUIPMENT ACTION Read and understand this document VD0C06S304 VDOCO6S305_ and the applicable option card manual before operating the drive controller Failure to follow these instructions can result in death serious injury or equipment damage Before installing removing or replacing the PCMCIA Communication Card Kit remove all power from the drive controller including external control power which may be present on the option module and perform the bus voltage measurement procedure on page 4 1996 Schneider S A All Rights Reserved 3 VW3A66301U PCMCIA Communication Card Kit VDOC06S308 Section 1 Installation and Configuration August 1996 Bus Voltage Measurement Procedure DANGER HAZARDOUS VOLTAGE This product contains energy storage devices Read and understand the Bus Voltage Measurement Procedure before installing
50. et authorized W2040 3 0 Reset not authorized W2040 3 1 Reset authorized Brake engage relay state W2040 4 0 Brake set relay deenergized W2040 4 1 Brake released relay energized Forced local W2040 5 0 Drive controller not forced to local W2040 5 1 Drive controller forced to local NTO W2040 6 0 Time out fault W2040 6 1 No time out fault Resettable fault W2040 7 0 Non resettable fault W2040 7 1 Resettable fault Motor running W2040 8 0 Motor stopped W2040 8 1 Motor running Actual rotation direction W2040 9 0 Forward W2040 9 1 Reverse DC injection braking W2040 10 0 No current injected W2040 10 1 DC being injected Steady state W2040 11 0 Drive controller not in steady state W2040 11 1 Drive controller in steady state Motor thermal overload W2040 12 0 Drive controller not in motor overload alarm W2040 12 1 Drive controller in motor overload Reserved W2040 13 Current limit W2040 14 0 Drive controller not in current limit W2040 14 1 Drive controller in current limit No line power NLP W2040 15 0 Drive controller not faulted on mains phase loss W2040 15 1 Drive controller faulted on mains phase loss 28 1996 Schneider S A All Rights Reserved VDOC06S308 August 1996 VW3A66301 PCMCIA Communication Card Kit Section 2 Register Description DISPLAY WORDS Read Only Word W2047 Description Local command mode T K Possible Values W2047 0 0 Terminal command W2047 0 1 Keypad c
51. failure 18 Sequence time out fault Bypass 19 Process time out fault Bypass 20 Dynamic brake fault 21 DBresistor 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 36 1996 Schneider S A All Rights Reserved VDOC06S308 VW3A66301 PCMCIA Communication Card Kit August 1996 Section 2 Register Description DISPLAY WORDS Read Only Display of Present Faults Register Fault Present if bit 1 Word Possible Values W2051 W2051 0 Internal fault or other ALTIVAR 66 drive controller fault not listed W2051 1 Serial link fault W2051 2 Reserved W2051 3 Reserved W2051 4 DC bus undervoltage W2051 5 AC line overvoltage W2051 6 Input phase loss W2051 7 Drive Overtemperature W2051 8 No feedback overspeed W2051 9 Short circuit between phases or to ground W2051 10 DC bus overvoltage W2051 11 Non resettable bus overvoltage W2051 12 Motor overload W2051 13 Output phase loss W2051 14 Reserved W2051 15 Precharge failure 1996 Schneider S A All Rights Reserved 37 VW3A66301 PCMCIA Communication Card Kit Section 2 Register Description VDOC06S308 August 1996 DISPLAY WORDS Read Only 38 Fault History Word Description Possible Values W2140 Indicates the position of marker
52. iagnostic checks described on page 8 The PCMCIA card must see a communication to the drive controller at least every 10 seconds or a communication fault will result 20 1996 Schneider S A All Rights Reserved VDOCO06S308 VW3A66301U PCMCIA Communication Card Kit August 1996 Section 1 Installation and Configuration WARNING LOSS OF CONTROL Setting W2020 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 If W2020 4 is set to 1 the PCMCIA communication card will not monitor the frequency of the messaging on the serial link Operation with 2020 4 set to 1 is useful during certain diagnostic and commissioning procedures W2020 4 should be set to 0 for normal Serial Link Command mode operation 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 The control paths of a system may include communication links Consideration must be given to the implications of
53. ing 4 6 motor 27 output 27 overvoltage 36 38 reduction 22 25 35 undervoltage 36 38 66 VW3A66201T module 1 VW3A66202 module 1 VW3A66205 module 1 VW3A66301 module 1 W wiring MODBUS 17 practices 14 precautions 11 RS 232C 13 RS422 13 RS 485 12 specifications 14 UNI TELWAY 14 words adjustment 23 also see Appendix A command 24 25 display 26 38 reading 41 42 structure 18 writing access protection 19 MODBUS 48 requests 39 reserved registers 23 UNI TELWAY 40 44 Symbols speed speed 22 35 15 V input 36 38 terminal 5 6 O 1996 Schneider S A All Rights Reserved GROUPE SCHNEIDER W Merlin Gerin BI Square D M Telemecanique VD0C06S308 August 1996 Printed in USA FPC 8 96 1996 Schneider S A All Rights Reserved SQUARE D Addendum No VD0C06S308 August 1996 Addendum Raleigh NC USA Addendum to Instruction Bulletin VDOCO6S308 INTRODUCTION This document is an addendum to bulletin VD0C06S308 dated August 1996 The VW3A66301U UNI TELWAY MODBUS JBUS PCMCIA Communication Card Kit is only compatible with V3 0 drive controller software If you are not sure which version of software is in your drive controller use the procedure below If the drive controller contains a version of software other than V3 0 contact your local field sales office for software upgrade information IDENTIFYING THE SOFTWARE VERSION DANGER HAZARDOUS VOLTAGE This product contains energy storage device
54. l of the broadcast messages addressed to the drive controller 08 10 Reading the number of NACK responses The value read is always 0 08 11 Reading the number of responses from a drive controller that is not ready The value read is always 0 08 12 Reading the number of erroneous characters Drive Controller Yes 11 Used in broadcast messages and therefore must specify drive controller number as 0 in the message transmitted by the master device 1996 Schneider S A All Rights Reserved 49 VW3A66301 PCMCIA Communication Card Kit Section 4 MODBUS Protocol VDOC06S308 August 1996 Table 12 MODBUS Functions Continued Drive Code Nature of Function Controller 11 Read event counter Yes A status always zero A counter that is incremented each time a correct message is received by the drive controller except for the exception responses 16 1 Max 60 Write N output words This function enables the master device to write output words to the drive controller 11 Used in broadcast messages and therefore must specify drive controller number as 0 in the message transmitted by the master device Frame Details RTU Mode Figure 32 through Figure 49 illustrate example frames for the MODBUS functions listed in Table 12 Read N Bits Function 1 or 2 LS Least Significant Drive No of 1st Bit No of Bits 7 ore Controller 1 or 2 CRC16 MS Most Significant No MS LS MS LS 1 byte
55. n Table 11 These times assume a baud rate of 9600 and no communication errors Table 11 Maximum Register Update Times Number of Registers Read Time 11 Write Time I Transferred msec msec 1 44 7 43 5 10 65 3 64 2 20 88 2 87 1 50 157 0 155 8 1 Read is by Read Object 36H request Values shown include query time master processing time and acknowledge ACK time 21 write is by Write Object 37H request Values shown include query time master processing time and acknowledge ACK time 44 1996 Schneider S A All Rights Reserved VDOC06S308 VW3A66301 PCMCIA Communication Card Kit August 1996 Section 4 MODBUS Protocol SECTION 4 MODBUS PROTOCOL The exchange of data between computer systems programmable controllers and other intelligent systems must be carried out in a common language This language must be simple and easily understood however it must be possible to check each exchange in order to verify the correctness of transferred data The variables exchanged are therefore carried in a frame composed of the following elements Figure 26 Variable Frames This frame structure allows definition of the beginning and length of messages the system to which the messages are addressed the type of function requested the variables themselves a control parameter and an end code which validates the entire message MODBUS FRAMES MODBUS frames consist of two transmission modes RTU and ASCII
56. ndex VDOC06S308 August 1996 Address W2040 Description 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 Motor running Actual rotation direction DC injection braking Steady state Motor thermal overload alarm Reserved Current limit No line power NLP Page 28 W2041 Output frequency 27 W2042 Output current 27 W2043 Display of LI1 activation 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 33 W2044 Value of analog input Al1 26 W2047 58 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 Deceleration DEC Acceleration ACC Reserved Reserved Reserved Drive controller thermal fault Reserved Stopping by the keypad 1996 Schneider S A All Rights Reserved 29 VDOC06S308 August 1996 VW3A66301 PCMCIA Communication Card Kit Appendix A Address Descriptions amp Index
57. nt of R2 Factory setting Running state W2113 Assignment of R3 Factory setting Thermal level W2114 Assignment of R4 Factory setting Ready state Possible Values 0 1 o 28 zd 5 6 7 8 9 Ed 11 12 13 214 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 1996 Schneider S A All Rights Reserved No assignment Ready state Running state At speed Forward direction Reverse direction Terminal Keypad Auto Manual Current limit Torque limit Fault State Drive controller thermal alarm Loss of follower No ramp follow Feedback loss Overspeed Frequency level Frequency level 2 Current level Current level 2 Thermal level Thermal level 2 Reserved Brake release Shutdown complete Orient complete Cycle complete Cycle fault Run output command Bypass Jog enabled VDOC06S308 August 1996 VW3A66301 PCMCIA Communication Card Kit Section 2 Register Description DISPLAY WORDS Read Only Display of Logic Input Assignments Word W2115 Description Assignment of LI1 Stop 3 wire control or Run Enable 2 wire control not reconfigurable W2116 Assignment of LI2 Forward not reconfigurable W2117 Assignment of LI3 Reverse factory setting W2118 Assignment of LI4 Jog factory setting W2119 Assignment of LI5 Preset speed a W2120 Assignment of LI6 Preset speed b W2121 Assignment of LI7 Pre
58. nterface is isolated from the drive controller It is supplied on a Sub D 15 pin connector Figure 15 illustrates the RS 485 interface seen from the external contact side Figure 16 illustrates the RS 232C interface and Figure 17 illustrates the RS 422 interface PCMCIA Card D Shell Electrical Interface RS 485 Figure 15 RS 485 Interface 12 1996 Schneider S A All Rights Reserved VDOCO06S308 VW3A66301U PCMCIA Communication Card Kit August 1996 Section 1 Installation and Configuration PCMCIA Card D Shell Electrical Interface RS 232C NOTE Shield connected to ground at other end Figure 16 RS 232C Interface PCMCIA Card D Shell Electrical Interface RS 422 RD B RD A d Figure 17 RS 422 Interface 1996 Schneider S A All Rights Reserved 13 VW3A66301U PCMCIA Communication Card Kit VDOC06S308 Section 1 Installation and Configuration August 1996 When wiring ALTIVAR 66 drive controllers equipped with PCMCIA communication cards to a multidrop bus follow the wiring practices required by national and local electrical codes in addition to the following Use metallic conduit for all drive controller wiring Do not run multidrop cable and power wiring in the same conduit Metallic conduit carrying power wiring must be separated from metallic conduit containing the multidrop cable by at least 8 cm 3 in e Non metallic c
59. ommand Logic commands over link DLI W2047 1 0 Not activated W2047 1 1 Activated Reference commands over link FLI W2047 2 0 Not activated W2047 2 1 Activated Dynamic braking Fast stop W2047 3 0 Dynamic braking not active W2047 3 1 Dynamic braking in progress W2047 4 0 Fast stop not active W2047 4 1 Fast stop in progress Power loss ramp stop W2047 5 0 Not active W2047 5 1 Ramp stop in progress Gating state W2047 6 0 Drive controller gating W2047 6 1 Drive controller not gating Orient complete W2047 7 0 Orient stop not active W2047 7 1 Orient stop complete 200 ms pulse Deceleration DEC W2047 8 0 Drive controller not in deceleration W2047 8 1 Drive controller in deceleration Acceleration ACC W2047 9 0 Drive controller not in acceleration W2047 9 1 Drive controller in acceleration Reserved W2047 10 Reserved W2047 11 Reserved W2047 12 Drive controller thermal fault W2047 13 0 Drive controller not in thermal overload fault W2047 13 1 Drive controller in thermal overload fault Reserved W2047 14 Stopping by the keypad W2047 15 0 Not active W2047 15 1 Drive controller stopped by keypad latched until next start 1996 Schneider S A All Rights Reserved 29 VW3A66301 PCMCIA Communication Card Kit Section 2 Register Description VDOC06S308 August 1996 DISPLAY WORDS Read Only
60. ommand by setting W2020 1 DLI and W2020 2 FLI to 1 See pages 24 and 25 for more information on these registers 1996 Schneider S A All Rights Reserved VDOC06S308 August 1996 VW3A66301U PCMCIA Communication Card Kit Section 1 Installation and Configuration Parameter Types There are several different types of parameters e Adjustment parameters can be written and read while the drive controller is running or stopped Command parameters used to enable and disable Serial Link Command mode start and stop the drive controller and command the general operation of the drive controller e Display parameters read only parameters for monitoring Table 1 shows which adjustment parameters are available as a function of Control Type Table 1 Adjustment Parameter Setting Menu Constant Torque Variable Torque or Variable Torque Low Noise Normal High Torque Special Normal NOLD Low Speed Low Speed Low Speed Low Speed Low Speed High Speed High Speed High Speed High Speed High Speed Acceleration Acceleration Acceleration Acceleration Acceleration Deceleration Acceleration 2 ll Deceleration 2 1 Damping Motor Overload Slip Compensation L IR Compensation Deceleration Acceleration 2 ll Deceleration 2 1 Damping Motor Overload Slip Compensation 1 IR Compensation Voltage Boost Bandwidth Deceleration Acceleration 2 ll Deceleration 2 ll Damping Motor Overload Slip Compensation
61. onduit or cable trays used to carry power wiring must be separated from metallic conduit containing multidrop cable by at least 30 5 cm 12 in Whenever power wiring and multidrop cable cross the metallic conduit and non metallic conduit or trays must cross at right angles e For the multidrop cable use shielded cable with one or two pairs of twisted conductors Use the cable recommended for each multidrop bus system shown Connect the multidrop cable shield as shown in Figure 15 16 or 17 in order to equalize the voltage potential at each PCMCIA Communication Card Ground the shield only at one point The maximum total cable length allowed is 1 000 m 3 281 ft Connection to UNI TELWAY Bus with Telemecanique PLC General You must follow these rules when constructing a UNI TELWAY multidrop network Limit the number of nodes on the network to 28 e Limit the stub cable length at each junction to 20 m 66 ft e Terminate each end of each twisted pair of the multidrop cable as shown in Figure 18 1200 mm 1nF E Figure 18 Zt Termination Device Connection Accessories To facilitate connection of the drive controller to the multidrop bus the following accessories are available from the Telemecanique catalog Cable for connections to the bus is supplied in 3 different lengths e TSX CSA 100 length 100 m 328 ft e TSX CSA 200 length 200 m 656 ft e TSX CSA 500 length 500 m 1 640 ft
62. ons amp Index VDOC06S308 August 1996 60 Address Description Page W2111 Assignment of R1 34 W2112 Assignment of R2 34 W2113 Assignment of R3 34 W2114 Assignment of R4 34 W2115 Assignment of LI1 35 W2116 Assignment of LI2 35 W2117 Assignment of LI3 35 W2118 Assignment of Ll4 35 W2119 Assignment of LI5 35 W2120 Assignment of LI6 35 W2121 Assignment of LI7 35 W2122 Assignment of LI8 35 W2140 Indicates the position of marker on 1 of 8 past faults 38 W2141 Past fault 1 drive controller state 38 W2142 Past fault 1 name of fault 38 W2143 Past fault 2 drive controller state 38 W2144 Past fault 2 name of fault 38 W2145 Past fault 3 drive controller state 38 W2146 Past fault 3 name of fault 38 W2147 Past fault 4 drive controller state 38 W2148 Past fault 4 name of fault 38 W2149 Past fault 5 drive controller state 38 W2150 Past fault 5 name of fault 38 W2151 Past fault 6 drive controller state 38 W2152 Past fault 6 name of fault 38 W2153 Past fault 7 drive controller state 38 W2154 Past fault 7 name of fault 38 W2155 Past fault 8 drive controller state 38 W2156 Past fault 8 name of fault 38 W2200 Drive controller horsepower 31 W2201 Drive controller horsepower 31 W2202 Drive controller voltage range 27 W2203 Mains frequency recognized 27 W2205 Drive controller nominal current 27 W2206 Drive controller maximum
63. ons 3 Telemecanique 14 wiring practices 14 capacitors measuring voltage 4 cards also see modules memory 31 PCMCIA 1 7 22 31 category 40 channel reinitialization 49 checksum 49 1996 Schneider S A All Rights Reserved COM 8 commands keypad 20 local 11 18 29 parameters 19 24 25 remote 11 run 20 24 serial link 18 20 22 stop 20 24 terminal strip 20 words 24 25 communication address 10 card see PCMCIA card carrier module 1 31 links 1 11 21 menu 9 monitoring 24 conduit 14 configuration 8 11 38 parameters 9 connectors 15 pin 3 7 12 68 pin 7 J127 J137 TSX SCA62 15 control supply 36 38 controller see ATV66 see drive controller counter reset 49 CRC16 55 current drive controller 27 level 34 limit 22 25 28 34 35 38 output 27 current state 40 customer fault 35 36 38 cycles 22 30 34 35 61 VW3A66301 PCMCIA Communication Card Kit Index Bulletin No VD0C06S308 August 1996 D damping 19 23 data event 39 43 exchanges 47 formats 10 MODBUS 47 order 19 precautions 23 structures 18 UNI TELWAY 39 DC bus 36 38 DC injection braking DCB 24 28 38 deceleration 19 23 29 38 also see ramps desat 36 38 diagnostics 8 49 52 53 direction 25 28 30 34 display parameters 19 26 38 DLI 20 24 29 documentation 2 drive controller current 27 fault registers 36 38 horsepower 31 identification 9 parameters 19 ready 28 reset 24
64. orsepower 0 Notused 1 Reserved 2 Reserved 3 2 2kW 3hp 4 3kW 5 4kW 5hp 6 5 5kW 7 5 hp 7 7 5 kW 10 hp 8 11kW 15hp 9 15kW 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 W2201 0 to 22 Drive controller horsepower Same as above with 1 0 75 kW 1 hp 2 1 5 kW 2 hp 10 18 5 kW 20 hp Word Range Units Description Possible Values W2207 Software version In BCD code W2209 0to 1 Software type 0 Not used 1 Standard software W2210 Reserved W2211 0to1 Memory card option 0 Memory card not installed 1 Memory card installed W2212 0to 1 Communication 0 Communication carrier module not installed carrier option 1 Communication carrier module installed W2213 0 to 1 Presence of keypad 0 Keypad not present 1 Keypad installed W2214 0to 1 I O Extension option 0 I O Extension module not installed module 1 24 V I O Extension installed 2 115 V I O Extension installed W2216 Oto 1 PCMCIA 0 No PCMCIA communication card installed communication card O 1996 Schneider S A All Rights Reserved 1 UNI TELWAY MODBUS Jbus PCMCIA communication card installed 31 VW3A66301 PCMCIA Communication Card Kit Section 2 Register Description VDOC06S308 August 1996 DISPLAY WORDS Read Only Word Range Units Description Pos
65. ransmission Speed B 3 Network transmission speed is selectable from B 6 300 to 19 200 baud The factory preset 1 2 transmission speed is 9 600 baud 2 4 4 8 13 2 Figure 10 Transmission Speed Menu Data Format Depending on protocol selected one or both of Tb 1 stor the following data formats are available fh 2 stor 7 bits with 1 or 2 stop bits MODBUS ASCII only cbt 8 bits with 1 or 2 stop bits Sb 2 stor Factory setting is 8 bits with 1 stop bit Figure 11 Data Format Menu Parity Set parity as none even or odd Factory setting is odd NON EVEN Figure 12 Parity Menu 10 1996 Schneider S A All Rights Reserved VDOCO06S308 VW3A66301U PCMCIA Communication Card Kit August 1996 Section 1 Installation and Configuration Forced Local FORCED LOCAL A forced local logic input can be defined in the 7 2 Application Functions menu This logic NO input returns control to the terminal strip or WES LOGIC IN keypad if in Serial Link Command Mode W2020 1 DLI and W2020 2 FLI set to 1 see v amp ENT to modify page24 ESC to uit Figure 13 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 WIRING A WARNING L
66. s Read understand and perform Bus Voltage Measurement Procedure in Section 1 of VD0C06S308 before identifying the software version Measurement of DC bus capacitor voltage must be performed by qualified personnel The 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 death or serious injury 1 Disconnect and verify that all power is removed from the drive controller including any power present on J22 J23 amp J24 terminals of the I O extension module if installed 2 Wait 1 minute to allow the DC bus to discharge 3 Perform the Bus Voltage Measurement Procedure refer to Section 1 of the PCMCIA Communication Card Kit manual VD0C06S308 4 Insert a small electrically insulated screw driver in the notch of the software chip cover Apply slight upward pressure and pull out to remove the cover See Figure 1 Note If the drive controller is already equipped with an I O extension module or mi communication carrier module first remove the module by loosening the two m ll mounting screws On the I O extension module also unplug the separable connectors J22 J23 amp
67. set speed c W2122 Assignment of LI8 Reset fault 1996 Schneider S A All Rights Reserved Possible Values 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 Not assigned Stop 3 wire control Run Enable 2 wire control Forward Reverse Current limit Voltage reduction Alternate ramps Jog Speed Speed Controlled stop Start cycle Cycles Reset cycle Cycles Step locking Cycles Next step Cycles Setpoint memory Preset speed a Preset speed b Preset speed c Orient command Orient pulses Forced local Auto Manual Terminal Keypad Process input Bypass Sequence input Bypass Reserved Reserved Customer fault Reset fault Auto run 35 VW3A66301 PCMCIA Communication Card Kit VDOC06S308 Section 2 Register Description August 1996 DISPLAY WORDS Read Only Display of Fault Register Fault that Caused Drive Controller to Trip Word Possible Values W2050 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 input 7 Horsepower not recognized 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
68. sible Values W2058 H Elapsed time hours Total time W2058 W2059 W2059 min Elapsed time minutes W2060 RPM Output speed W2061 User Machine frequency Frequency times scaling factor defined reference customer units W2062 User Machine frequency Frequency times scaling factor defined customer units Word Range Description Possible Values W2066 Reserved W2067 Reserved W2068 Reserved W2104 Assignment of analog output AO1 0 Not assigned 1 Motor current 2 Motor frequency 1 3 Output power 4 Motor torque 5 Output voltage 6 Motor thermal state 7 Ramp output 8 Reserved W2105 Assignment of analog output AO2 0 Not assigned 1 Motor current 1 2 Motor frequency 3 Output power 4 Motor torque 5 Output voltage 6 Motor thermal state 7 Ramp output 8 Reserved W2106 Assignment of analog output AO3 0 Not assigned 1 M Factory setting 32 O 1996 Schneider S A All Rights Reserved 1 Motor current 2 Motor frequency 3 Output power 4 Motor torque 5 Output voltage 6 Motor thermal state 7 Ramp output 8 Reserved VDOC06S308 August 1996 VW3A66301 PCMCIA Communication Card Kit Section 2 Register Description DISPLAY WORDS Read Only Word W2043 Description Display of LI1 activation Possible Values W2043 1 0 Input not active W2043 1 1 Input active Display of LI2 activation W2043 2 0 Input not active W2043 2 1 Input active
69. st Power Up For a good understanding of access to the different menus see the Level 1 amp 2 Configuration manual VD0C06S305_ and if an I O Extension Module is installed the I O Extension Module amp Level 3 Configuration manual VDO0CO06T306 OFT UMSBe6285 INSTRLLED REMEMBER YOU NEED TO CONFIGURE THE OPTION ENT to continue Figure 5 First Power Up 1996 Schneider S A All Rights Reserved At first power up a message appears on the keypad display to allow identification of the option After OPT the catalog number of the selected card is shown Press ENT This will reconfigure the drive controller to factory settings VDOCO06S308 VW3A66301U PCMCIA Communication Card Kit August 1996 Section 1 Installation and Configuration WARNING UNINTENDED EQUIPMENT OPERATION Installation of an option module will reset all drive controller parameters including 1 0 assignments to factory default settings Before installing an option module record all existing settings of the drive controller After installing the option module reset drive controller back to recorded values Failure to follow these instructions can result in death or serious injury DRIVE IDENTIFICATION In the Drive Identification menu you can check BTUBEUAIN4 CT UZ B the catalog number of the option installed by POWER 2 Sk bl SHP pressing the AV keys Inz5 8H Imaxzi 51n SUPPLY 1466 4158 ENT to contin
70. t by master device 08 01 Channel reinitialization Reinitializes drive controller s communication so that it leaves Listen Only Mode LOM by sending the data H 0000 or H FFOO 08 03 Change of ASCII delimiter In ASCII mode messages are delimited by the line feed character LF H 0A This function allows this character to be changed 08 04 Change to LOM mode Used to set drive controller to Listen Only Mode LOM In LOM the drive controller does not process the messages addressed to it and never transmits an answer except when the channel is reinitialized 08 0A Counter Reset Resets to zero all counters monitoring the exchanges of a drive controller 08 0B Number of messages detected on the line without CRC or checksum error Reads 16 bits incremented from 0 to H FFFF to a counter that totals the messages detected on the line and processed by the drive controller 08 0C Number of messages received with checksum error reading a 16 bit counter 08 0D Number of exception answers Reading a 16 bit counter which totals the number of exception messages transmitted to the master device by a drive controller following an incorrect frame 08 0E Number of messages addressed to a drive controller except broadcast messages Reading a 16 bit counter that totals all the messages addressed to the drive controller except broadcast messages 08 0F Number of broadcast messages received Reading a 16 bit counter that totals al
71. the 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 Pwn re 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 representative Do do not operate the drive controller 4 1996 Schneider S A All Rights Reserved VDOCO06S308 VW3A66301U PCMCIA Communication Card Kit August 1996 Section 1 Installation and Configuration
72. tion requested is not recognized by the drive controller e 2 Addresses of bits and words indicated in request are not valid in the drive controller e 3 Values of bits and words indicated in request are not valid in the drive controller e 4 Drive controller has started carrying out request but cannot process it completely 1996 Schneider S A All Rights Reserved VDOC06S308 VW3A66301 PCMCIA Communication Card Kit August 1996 Section 4 MODBUS Protocol CRC16 Calculation The CRC16 is calculated based on all the message bytes by applying the following method 1 Initialize the CRC 16 bit register to H FFFF 2 Enter the first to the last byte of the message CRC XOR lt byte gt gt CRC Enter 8 times Move the CRC one bit to the right If the output bit 1 enter CRC XOR H A001 gt CRC End Enter End Enter The CRC obtained will be transmitted least significant first most significant next Note XOR exclusive OR Frame Details ASCII Mode In ASCII mode the MODBUS frame has the following structure Drive Controller No Data identical to RTU mode E but coded differently Figure 51 MODBUS ASCII Frame The delimiters are as follows e H3A e CR H 0D LF H 0A The data field is similar to that of the RTU frames but coded in ASCII characters Each byte is divided into two four bit bytes each of which is coded by its ASCII equivalent For example the byte containing the drive controll
73. tructions will result in death or serious injury ALTIVAR is a trademark of Telemecanique S A or its successor in interest Schneider Electric S A 1996 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 Bulletin No VD0C06S308 VW3A66301U PCMCIA Communication Card Kit August 1996 Table of Contents INTRODUCTION Een cinta m aca 1 SYSTEM SAFETY CONSIDERATIONS 1 USING THIS MANUAL 4 44 444444 dede deu 2 REVISION EEVEE S ries Sauna da tdo e eR iat ti etat 2 SECTION 1 INSTALLATION AND CONFIGURATION 3 RECEIVING St cen sas ge tas t dent date e e us Os nef ele nat et ema at 3 INSTALLATION ken renta t alten rame CET RAE nr od ONE ame Back ee 3 Bus Voltage Measurement Procedure 4 Installing the PCMCIA Communication Card Kit 7 Diagnostics e at ave nee sia tpa d ae ne y UR or p ds 8 CONFIGURING THE COMMUNICATION FUNCTIONS 8 First Power Up ara taies ce et RR eret ea Ra RARE eons 8 Address or gv A ew gu S RA E eh ue 10 Protocol ewe s Ern as Eu RE Epi
74. ue Figure 6 Drive Identification FAULT When the drive controller is powered up if the OPT UNZAGE205 option has been removed after being configured 15 NOT RECOGNIZED the fault screen appears The option must be OF reinstalled or the drive controller settings must HAS BEEN REMOVED be reset to factory preset values ENT to continue ESC ENT or 20 s TO RESET FAULT YOU NEED TO REINSTALL OPT UNSAGEZAS OR INITIALIZE DRIVE TO FACTORY SETTINGS ENT to initialize Figure 7 Fault Screen 11 COMMUNICATION Select the 11 gt Communication menu to access the configuration parameters of the PCMCIA Communication Card Kit This menu contains four submenus for configuring protocol transmission speed network format and parity Drive address is entered directly on the Communication menu from the keypad Figure 8 Communication Menu 1996 Schneider S A All Rights Reserved 9 VW3A66301U PCMCIA Communication Card Kit VDOC06S308 Section 1 Installation and Configuration August 1996 Address The address varies with the protocol selected and is configurable Factory setting is 0 Maximum value is 31 Protocol The VW3A66301U PCMCIA Communication ane Card Kit supports three protocols UNT TELHAY Modbus RTU O Modus Asc MODBUS RTU MODBUS ASCII Figure 9 Protocol Menu Factory setting is no protocol selected Select the protocol appropriate for your network T
75. wheel stop 1 0 Freewheel stop 0 1 Fast stop COMMAND WORDS Read and Write Additional Command Register Word W2031 Word W2021 Description Reserved Possible Values W2031 0 Run direction W2031 1 0 Forward W2031 1 1 Reverse Reserved Range Description 32767 to Reference frequency 32767 W2031 2 Remarks 26478 400 Hz 26478 400 Hz Loss of all power to drive controller resets W2021 to factory default of O 0 Hz W2024 40 to of current limit 150 of motor In 1 steps Value is valid only when in SLC mode Loss of all power to drive controller resets W2024 to factory default of 150 CT 60 Hz 135 CT 50 Hz or 110 VT W2028 20 to of voltage 100 reduction 1 steps Value is valid only when in SLC mode Loss of all power to drive controller 1 resets W2028 to factory default of 100 M Control logic inactive green LED on front of drive controller Off 1996 Schneider S A All Rights Reserved 25 VW3A66301 PCMCIA Communication Card Kit Section 2 Register Description DISPLAY WORDS Read Only Word W2044 Range 0 to 100 Units 1 Description Value of analog input Al Possible Values 0 for 0 V and 100 for 10 V W2063 0 to 100 1 Value of analog input Al2 0 for O mA and 100 for 20 mA W2064 0 to 100 1 Value of analog input Al3 0 for 0 V and 100 for 10 V

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