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Operation 

110 

ER41, ER24 

 

 

 

Configuration of the Drive for Operation with CiA 402 Profile in Combined Mode

 

 

Description

 

 

This section describes how to configure the settings of the drive if it is controlled in CiA 402 mode. The 
example focuses on the not separate mode. Additional modes combined mode are detailed in the drive 
programming manual. 

In the 

[Complete settings] 

( 

) menu, 

[Command and Reference] 

( 

) submenu: 

 

[Ref Freq 1 Config] 

( 

): is set on according to the communication source you can choose in the 

following table: 

 

Origin of the Control 

Ref1 Channel Setting 

PROFINET 

[Ref. Freq-Com. Module] 

( 

) 

 

 

[Freq Switch Assign] 

( 

) is set to default value (

[Ref Freq 1 Config] 

( 

)). 

 

[Control Mode] 

( 

): defines if the drive operates in combined mode (reference and command 

from the same channel). 

For the current example, 

[Control Mode] 

( 

) is adjusted to 

[Not separ.] 

( 

) as reference and 

control are originated from the communication network: 

 

Profile 

Ref1 Channel setting 

CiA 402 combined mode 

[Not separ.] 

( 

   

) 

CiA 402 separate mode 

[Separate] 

( 

 

) 

 

I/O profile 

[I/O profile] 

( 

) 

   

Summary of Contents for ER41

Page 1: ...ER41 ER24 PROFINET Manual 08 2017 www blemo com ...

Page 2: ...you have any suggestions for improvements or amendments or have found errors in this publication please notifyus No part of this document may be reproduced in any form or by any means electronic or mechanical including photocopying without express written permission of BLEMO All pertinent state regional and local safety regulations must be observed when installing and using this product For reason...

Page 3: ... 27 iPar Service 27 Chapter 3 Hardware Setup 31 Hardware Presentation 32 Firmware and Description File 33 Installation of the Module 34 Electrical Installation 35 Cable Routing Practices 36 Chapter 4 Software Setup 37 4 1 Basic Settings 38 Introduction 39 DEVICE NAME 40 IP mode 41 IP Module 42 IP Mask 43 IP Gate 44 Actual IP 45 Actual mask 46 Actual gate 47 Ethernet Error Code 48 EnableWebserver 4...

Page 4: ...2 Configuring a Drive with the Telegram 101 102 106 or 107 93 Parameters Management with the Telegram 100 101 102 106 107 94 Telegram 1 95 State Diagram 96 Command Word and Operating State Word 97 Reference Frequency 100 4 5 Fieldbus Integration Tutorial 101 Fieldbus Integration Tutorial 101 Chapter 5 Operation 105 5 1 Operating States 106 Configuring Communication Error Response 106 5 2 Operating...

Page 5: ... electrical equipment and its installation and has received safety training to recognize and avoid the hazards involved Qualification Of Personnel Only appropriately trained persons who are familiar with and understand the contents of this manual and all other pertinent product documentation are authorized to work on and with this product In addition these persons must have received safety trainin...

Page 6: ...h respect to grounding of all equipment Many components of the product including the printed circuit boards operate with mains voltage Do not touch Use only electrically insulatedtools Do not touch unshielded components or terminals with voltage present Motors can generate voltage when the shaft is rotated Prior to performing any type of work on the drive system block the motor shaft to prevent ro...

Page 7: ...s provide a means to achieve a safe state during and after a path failure Examples of critical control functions are emergency stop overtravel stop power outage and restart Separate or redundant control paths must be provided for critical control functions System control paths may include communication links Consideration must be given to the implications of unanticipated transmission delays or fa...

Page 8: ...8 ER41 ER24 ...

Page 9: ...To get information on grouping similar modules use asterisks 3 If you entered a reference go to the Product Datasheets search results and click on the reference that interests you If you entered the name of a product range go to the Product Ranges search results and click on the product range that interests you 4 If more than one reference appears in the Products search results click on the refere...

Page 10: ... protection safe state safety function warning warning message and so on Among others these standards include IEC 61800 series Adjustable speed electrical power drivesystems IEC 61508 Ed 2 series Functional safety of electrical electronic programmable electronic safety related EN 954 1 safety of machinery Safety related partsof control systems EN ISO 13849 1 2 safety of machinery Safety related pa...

Page 11: ...11 ER41 ER24 Chapter 1 Presentation What Is in This Chapter This chapter contains the following topics Topic Page Hardware Overview 12 Software Overview 13 ...

Page 12: ...can be used in a PROFINET industrial fieldbus The PROFINET CARD also offers an embedded Web server in five languages which offers comfortable displaying and commissioning functions directly from a standard web browser The figure shows the hardware presentation of the PROFINET CARD dual port PROFINET fieldbus module ...

Page 13: ...plified TCP IP Model The table provides the basic software overview according to the simplified TCP IP model Application Transport Network Link PROFINET IP services TCP UDP IP Ethernet PROFINET RT Ethernet PROFINET Fieldbus Module Features Overview ...

Page 14: ...Presentation 14 ER41 ER24 ...

Page 15: ...015 Chapter 2 Basics What Is in This Chapter This chapter contains the following sections Section Topic Page 2 1 Introduction 16 2 2 Common Additional Features 17 2 3 PROFIdrive Parameters Channel 20 2 4 iPar Service 27 ...

Page 16: ...ection and numerous products are currently available With the simplicity of its protocol and the fast Ethernet throughput data rate of 100 Mbit s Modbus TCP IP achieves excellent performance PROFINET and Ethernet Features The product supports the following functions Automatic IP address assignment via DHCPand DCP Support of MRP Media RedundancyProtocol Automatic configuration data via iPar Server ...

Page 17: ...Basics 17 ER41 ER24 Section 2 2 Common Additional Features What Is in This Section This section contains the following topics Topic Page Identification and Maintenance Data 18 I M Record 19 ...

Page 18: ...rough PNO Supports the user during various scenarios of the device life cycle such as Configuration Commissioning Repair and update Operation and visualization NOTE These fields are read only index AFF0 hex The access to the identification maintenance data can be achieved using the PROFINET mechanisms IEC 611458 6 ...

Page 19: ... name of the drive SERIAL_NUMBER 16 bytes Serial number C1P1 C1P2 C1P3 C1P4 HARDWARE_REVISION 2 bytes 10 hex 00 hex SOFTWARE_REVISION 4 bytes V A B C A MSB of software version B LSB of software version C MSB of software revision REVISION_COUNTER 2 bytes xx hex yy hex Rev xy PROFILE_ID 2 bytes Defined by the PNO 3A00 3AFF PROFIdrive PROFILE_SPECIFIC_TYPE 2 bytes Profile specific number IM_VERSION 2...

Page 20: ... Section 2 3 PROFIdrive Parameters Channel What Is in This Section This section contains the following topics Topic Page PROFIdrive Profile 21 Parameter Structure 22 PROFIdrive Parameters 24 PROFIdrive Parameter Access 25 ...

Page 21: ...zed they are described below All others PNUs are manufacturer specific In the case of this drive parameters can be separated in two groups Standardized PNUs 900 999 Drive parameters which are gathered in a single PNU entry point PNU1000 It is also possible to access the parameters using the Modbus address as PNU for each parameter 1001 59999 and Modbus address as subindex PROFIdrive Based on PROFI...

Page 22: ...U number from 1 65535 Each parameter consists of 3 main areas PWE the value PBE describes the parameter attributes Text area The access to the 3 different areas of a parameter is specified by the attribute field of the parameter request The following diagram summarizes the parameter model For more information refer to the profile drive technology V4 standard The parameters and their sub parts are ...

Page 23: ...000 or can be accessed using the Modbus address as PNU number The table provides the possible values of a parameter according to the PNU properties Parameter Property Drive Implementation Example PNU number 1000 Sub index Modbus address CMD address 8501 PWE Value of the parameter 0 65535 PBE Describes an array of 65535 words Constant Text Drive parameter ...

Page 24: ... PNU944 is incremented each time an error is detected 1 for each new detected error 947 Error number UINT R This parameter contains the error code value error code error number of an error detected by the drive 963 Actual baud rate UNIT R Current baud rate 964 Drive unit identification 0 Manufacturer ID R Defined by PNO PROFINET organization 1 Drive unit String R This UNIT contains the value xx co...

Page 25: ...Number of parameters 01 Parameter number Attribute 10 hex Number of elements 01 PNU number 3E8 hex Sub index 2329 hex 9001 ACC Modbus address Parameter value Format 42 hex Amount values 01 Value 50 ACC is set to 5 s refers to field value PWE 20 hex refers to the description field PBE and 30 hex to the text field Response Byte n 1 Byte n Response header Request reference 01 Request ID 02 Axis 01 he...

Page 26: ...change description subindex 0x09 No description 0x0B No operation priority 0x0F No text array available 0x11 Cannot execute the request Reason not specified 0x14 Value impermissible 0x15 Response too long 0x16 Parameter address impermissible 0x17 Illegal format 0x18 Number of values inconsistent 0x19 Axis DO nonexistent 0x20 Cannot change text 0x65 Invalid request reference 0x66 Invalid request ID...

Page 27: ...e universal Parameter Server principle Per upload request the function block reads the data record with the iParameter out of the drive creates a data block and stores the data record therein Per download request the function block uses the data block and writes down a data record to the drive The FB is instantiated once per component It must be started within OB1 and additionally in OB 100 the st...

Page 28: ...or the embedded Web server Unit ID 251 Fieldbus module unit ID 248 Variable speeddrive Function Name Code Description Comments Dec Hex Read Multiple Register 03 03 hex Read multiple register Maximum PDU length 63 words Write Single Register 06 06 hex Write single register Diagnostic 08 08 hex Diagnostic Write multiple register 16 10 hex Write multiple register Maximum PDU length 63 words Read devi...

Page 29: ...B 11 for the following example only 24 23 B Value of object 2 B ASCII characters 1 Example ATVxxxxxxxx 24 B Object 3 ID 02 hex Major Minor revision 25 B Length of object 3 C 4 26 B 29 B Value of object 3 C ASCII characters Example 0201 for version 2 1 30 B Object 4 ID 06 hex Application name 2 For regular and extended 31 B Length of object 4 D 8 for the following example only 32 B 31 B D Value of ...

Page 30: ...Basics 30 ER41 ER24 ...

Page 31: ...are Setup What Is in This Chapter This chapter contains the following topics Topic Page Hardware Presentation 32 Firmware and Description File 33 Installation of the Module 34 Electrical Installation 35 Cable Routing Practices 36 ...

Page 32: ...re Setup 32 ER41 ER24 Hardware Presentation PROFINET Fieldbus Module The figure shows a PROFINET fieldbus module with 2 RJ45 connectors Item Description Comment A Port A RJ45 connector B Port B RJ45 connector ...

Page 33: ...ile Compatibility The PROFINET CARD option module version 1 2 and higher is compliant with all ER41 ER24 product range The associated GSDML is named as the following example GSDML V2 3 Schneider ATV6xx 20140612 xml The files are available on www blemo com ...

Page 34: ...tion of the PROFINET option module in the drive Step Action 1 Ensure that the power is off 2 Locate the fieldbus module slot A on the bottom of the control part 3 Add the corresponding sticker on the LED front panel of the drive 4 Insert the module 5 Check that the module is correctly inserted and locked mechanically in the drive 1 Slot A Removal of the Fieldbus Module The table provides the proce...

Page 35: ...e 2 Tx Ethernet transmit line 3 Rx Ethernet receive line 4 5 6 Rx Ethernet receive line 7 8 Cable Specification Cable specifications are as follows Minimum Cat 5e Use equipotential bonding conductors 100 BASE TX category 5e or industrial Ethernet fast connect Connector RJ45 no crossover cable Shield both ends grounded Twisted pair cable Verify that wiring cables and connected interfaces meet the P...

Page 36: ...s 2 RJ45 connector enables several wiring solutions Daisy chain and or Star topology The ring topology can only be used with a media redundancy protocol MRP capable managed device The bus watchdog shall be increased when using MRP function in order to avoid triggering untimely Fieldbus Com Interrupt Ring topology ...

Page 37: ...etup What Is in This Chapter This chapter contains the following sections Section Topic Page 4 1 Basic Settings 38 4 2 Additional Settings 53 4 3 Embedded Web Server 62 4 4 Communication Profile 70 4 5 Fieldbus Integration Tutorial 101 ...

Page 38: ...ection This section contains the following topics Topic Page Introduction 39 DEVICE NAME 40 IP mode 41 IP Module 42 IP Mask 43 IP Gate 44 Actual IP 45 Actual mask 46 Actual gate 47 Ethernet Error Code 48 EnableWebserver 49 PPO profile used 50 MAC 51 IP Parameter Settings 52 ...

Page 39: ...parameters are described according to the graphic display terminal These settings are also possible from commissioning software or from the PROFINET embedded Web server Access The parameters are accessible in the Communication Comm Parameters Profinet menu ...

Page 40: ...s Parameter This parameter defines the name of the device Access This is a read write parameter The parameter numbers are from 3340 3347 Possible Settings The table presents the parameter settings Settings Code Value Description Maximum 16 characters ...

Page 41: ...od Access This is a read write parameter The parameter number is 64250 Possible Settings The table presents the parameter settings Settings Code Value Description Fixed 0 Manually type the IP address DHCP 2 Automatically gets the IP address from the DHCP server DCP 3 Automatically gets the IP address from the DCP server ...

Page 42: ...er for IPC1 is 64212 The parameter number for IPC2 is 64213 The parameter number for IPC3 is 64214 The parameter number for IPC4 is 64215 Possible Settings The table presents the parameter settings Settings Code Value Description 0 0 0 0 0 255 First byte of IP address 0 255 Second byte of IP address 0 255 Third byte of IP address 0 255 Fourth byte of IP address Factory setting 0 0 0 0 ...

Page 43: ...mber for IPM1 is 64216 The parameter number for IPM2 is 64217 The parameter number for IPM3 is 64218 The parameter number for IPM4 is 64219 Possible Settings The table presents the parameter settings Settings Code Value Description 255 255 254 0 0 255 First byte of IP mask 0 255 Second byte of IP mask 0 255 Third byte of IP mask 0 255 Fourth byte of IP mask Factory setting 0 0 0 0 ...

Page 44: ...r for IPG1 is 64220 The parameter number for IPG2 is 64221 The parameter number for IPG3 is 64222 The parameter number for IPG4 is 64223 Possible Settings The table presents the parameter settings Settings Code Value Description 0 0 0 0 0 255 First byte of IP gateway 0 255 Second byte of IP gateway 0 255 Third byte of IP gateway 0 255 Fourth byte of IP gateway Factory setting 0 0 0 0 ...

Page 45: ...nly parameter The parameter number for IPA1 is 64252 The parameter number for IPA2 is 64253 The parameter number for IPA3 is 64254 The parameter number for IPA4 is 64255 Possible Settings The table presents the parameter settings Settings Code Value Description 0 0 0 0 0 255 First byte of IP address 0 255 Second byte of IP address 0 255 Third byte of IP address 0 255 Fourth byte of IP address Fact...

Page 46: ... read only parameter The parameter number for IPS1 is 64256 The parameter number for IPS2 is 64257 The parameter number for IPS3 is 64258 The parameter number for IPS4 is 64259 Possible Settings The table presents the parameter settings Settings Code Value Description 0 0 0 0 0 255 First byte of IP mask 0 255 Second byte of IP mask 0 255 Third byte of IP mask 0 255 Fourth byte of IP mask Factory s...

Page 47: ...only parameter The parameter number for IPT1 is 64260 The parameter number for IPT2 is 64261 The parameter number for IPT3 is 64262 The parameter number for IPT4 is 64263 Possible Settings The table presents the parameter settings Settings Code Value Description 0 0 0 0 0 255 First byte of IP gateway 0 255 Second byte of IP gateway 0 255 Third byte of IP gateway 0 255 Fourth byte of IP gateway Fac...

Page 48: ...Access This is a read only parameter The parameter number is 64270 Possible Settings The table presents the parameter settings Settings Code Value Description 0 No error detected 1 PROFINET I O timeout 2 Network overload 3 Loss of Ethernet carrier 9 Duplicated IP address 10 No valid IP 12 IPAR unconfigured state 13 IPAR unrecoverable error detected 17 Application I O configuration error detected ...

Page 49: ...r This parameter is used to enable Web services Access This is a read write parameter The parameter number is 64264 Possible Settings The table presents the parameter settings Settings Code Value Description 0 No Web services 1 Web server enabled Factory setting 1 ...

Page 50: ... device Access This is a read parameter The parameter number is 6665 Possible Settings The table presents the parameter settings Settings Code Value Description UnCG 0 UNCFG 1 1 Profidrive 100 100 Device specific 101 101 Device specific 102 102 Device specific 106 106 Device specific 107 107 Device specific Factory setting 0 ...

Page 51: ...meter displays the MAC address of the device Access This is a read only parameter Possible Settings The table presents the parameter settings Settings Code Value Description xx xx xx XX XX XX xx xx xx XX XX XX Left port MAC address is 1 Right port MAC address is 2 ...

Page 52: ...e power supply is being used The new configuration is applied the device is waiting for IP settings from the PROFINET controller When switching IP mode to Fixed IP settings become editable Set IP settings with valid values Turn off the drive and then back on again including the control voltage if a separate power supply is being used The new configuration is applied NOTE If the IP settings are not...

Page 53: ...ional Settings What Is in This Section This section contains the following topics Topic Page Introduction 54 iPar Activation 55 iPar Autosave Act 56 iPar Autosave Timer 57 iPar Error Response 58 iPar Local Conf 59 iPar Status 60 iPar Error Code 61 ...

Page 54: ...parameters are described according to the graphic display terminal These settings are also possible from commissioning software or from the PROFINET embedded Web server Access The parameters are accessible in the Communication Comm Parameters Profinet menu ...

Page 55: ...ed to enable the iPar service Access This is a read write parameter The parameter number is 64274 Possible Settings The table presents the parameter settings Settings Code Value Description No Yes 0 1 Indicates that the iPar service is disabled Indicates that the iPar service is enabled ...

Page 56: ...autosave service Access This is a read write parameter The parameter number is 64275 Possible Settings The table presents the parameter settings Settings Code Value Description No 0 Indicates that the iPar autosave service is disabled Yes 1 Indicates that the iPar autosave service is enabled Factory setting 0 ...

Page 57: ...erval for periodic saving of the iPar service Access This is a read write parameter The parameter number is 64278 Possible Settings The table presents the parameter settings Settings Code Value Description 0 1 9999 min No autosave iPar service is saved after specified interval of time Factory setting 10 min ...

Page 58: ...Par error handling Access This is a read write parameter The parameter number is 64277 Possible Settings The table presents the parameter settings Settings Code Value Description No 0 Indicates that the iPar error handling is disabled Yes 1 Indicates that the iPar error handling is enabled Factory setting 1 ...

Page 59: ...a read write parameter The parameter number is 64276 Possible Settings The table presents the parameter settings Settings Code Value Description No 0 Indicates that the drive configuration is downloaded from the iPar server at Yes 1 power on of the drive Indicates that the drive configuration is available locally in the drive Factory setting 0 ...

Page 60: ...ROFINET DIAG menu Access This is a read only parameter The parameter number is 64279 Possible Settings The table presents the parameter settings Settings Code Value Description Idle State 0 Idle state Init 1 Initialization Configuration 2 Configuration Ready 3 Ready Operational 4 Operational Not Configured 5 Not configured Unrecoverable Error 6 Unrecoverable error state ...

Page 61: ... The parameter number is 64280 Possible Settings The table presents the parameter settings Settings Code Value Description 0 0 No error 1 1 Stored configuration is not ok 2 2 No configuration file on the IPAR server or configuration is not compatible Served configuration is not ok 3 3 Connection error to the IPAR configuration file on the server 4 4 Writing error the configuration file to the serv...

Page 62: ...e Setup 62 ER41 ER24 Section 4 3 Embedded Web Server What Is in This Section This section contains the following topics Topic Page Embedded Web Server 63 Home Page 64 Display 65 Network Setup 68 Diagnostics 69 ...

Page 63: ...Password The factory setting for the user name is USER and the password is also USER Once connected the Web server home page is displayed Access Rights Password and User Names Web read password Access to the different pages requires a user access level This is the first level of password you can display and access to all the pages of the Web server but not modify data User name USER factory settin...

Page 64: ...bus services on port 502 establishing one or more connections between the computer and the drive Until an applet has been fully transmitted from the drive to the browser a gray rectangle appears in the place reserved for it in the page The applet associated with the web pages displays the communication with the drive When the drive no longer responds to requests to update the data the message Link...

Page 65: ...ween the displays on the Web server and the display terminal This delay depends on the performance of the computer used to display the pages using a web browser and the communication system performance The motor speed displayed on the Motor Speed RPM gauge is calibrated according to the drive and motor settings The LI Gives the state of the drive terminal DI1 DI6 DI11 DI16 Logical inputs R1 R6 Rel...

Page 66: ...ues are displayed as such To display the values click the Start animation button To modify the parameter value click the Write value if selected row button then select the parameter to modify It is only possible to modify the parameter values after entering the Write password for details refer to Access Rights Password and User Name see page 63 Click the Password button to enter this password An e...

Page 67: ... figure shows the Save and restore configuration page This page is used to save on the local computer save Backup cfg file and restore from the local computer the drive parameters by using the embedded Web server Restore operation is possible when the motor is stopped ...

Page 68: ... Parameters page IPar Client Settings Page This page displays the main parameters used by the PROFINET CARD PROFINET module iPar function and is used to configure these parameters The figure shows iPar Client Settings page Administration Page This page is used to modify the Web read and the Web write password for details refer to Access Rights Password and User Name see page 63 The figure shows th...

Page 69: ...ms TCP IP Statistics Modbus Statistics TCP IP Statistics Page This page gives detailed information about the Ethernet status and settings The figure shows the TCP IP Statistics page Modbus Statistics This page gives detailed information about the Modbus server The figure shows the Modbus Statistics page ...

Page 70: ...ontrol Word Bits 80 CIA402 State Reg 81 Starting Sequence 82 Sequence for a Drive Powered by the Power Stage Supply 83 Sequence for a Drive with Separate Control Stage 84 Sequence for a Drive with Mains Contactor Control 86 Telegram 100 101 102 106 107 87 Configuring Drive with a Siemens S7 300 91 Configuration of Drive with the Telegram 100 92 Configuring a Drive with the Telegram 101 102 106 or ...

Page 71: ...ional profile is common to all members of a device family such as variable speed drives encoders I O modules displays and so on They can feature common or similar parts The standardized IEC 61800 7 functional profiles of variable speed drives are CiA402 PROFIDRIVE CIP DRIVECOM has been available since 1991 CiA402 device profile for drives and motion control represents the next stage of this standa...

Page 72: ... Modbus TCP embedded The fieldbus module control word The I O profile is supported by the drive itself and therefore in turn by all the communication ports integrated Modbus CANopen Ethernet PROFIBUS DP PROFINET and DeviceNet fieldbus modules CiA402 Profile The drive only starts up following a command sequence The control word is standardized 5 bits of the control word bits 11 15 can be assigned t...

Page 73: ...eir CiA402 name and their CiA402 Drivecom index the values in brackets are the CANopen addresses of the parameter The following figure shows the control diagram for drive operation Simplified diagram for speed control in Velocitymode These diagrams translate as follows for the ER41 und ER24 drive The following figure shows the control diagram for drive operation Simplified diagram for speed contro...

Page 74: ...ode is started the product goes through a number of operating states The state diagram state machine shows the relationships between the operating states and the state transitions The operating states are internally monitored and influenced by monitoring functions The following figure shows the CIA402 state diagram ...

Page 75: ...contactor the contactor is closed The drive is locked no power is supplied to the motor The power stage of the drive is ready to operate but voltage has not yet been applied to the output The adjustment parameters can be modified If a configuration parameter is modified the drive returns to the state 2 Switch on disable 5 Operation enabled Power stage is enabled The drive is in running state For a...

Page 76: ...uick stop mode QStd If the Quick stop mode parameter has the value FST2 the drive stops according to the fast stop ramp and then changes to state 2 Switch on disabled If the Quick stop mode parameter has the value FST6 the drive stops according to the fast stop ramp and then remains in state 6 Quick stop active until A Disable voltagecommand is received or The STOP key is pressed or A freewheel st...

Page 77: ...tch on Not required No Yes 2 Switch on disabled Not required No Yes 3 Ready to switch on Not required No Yes 4 Switched on Required No Yes return to 2 Switch on disabledoperating state 5 Operation enabled Required Yes No 6 Quick stop active Required Yes during fast stop No 7 Fault reaction active Depends on error response configuration Depends on error response configuration 8 Fault Not required N...

Page 78: ...gnable Manufacturer specific Reserved 0 Reserved 0 Halt 0 Forward direction asked 1 Reverse direction asked Halt Command State Transition Final Operating State Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Example Value Fault Reset Enable Operation Quick Stop Enable Voltage Switch On Shutdown 2 6 8 3 Ready to switch on X X 1 1 0 0006 hex Switch on 3 4 Switched on X X 1 1 1 0007 hex Enable operation 4 5 Operation ...

Page 79: ...d Regardless of the assignment of the Type of stop parameter Fast stop Assign Ramp stop Freewheel Stop or DC Injection Assign the drive remains in the 5 Operation enabledstate Fast Stop Command A Fast Stop command at the terminals or using a bit of the control word assigned to Fast Stop causes a change to the 4 Switched on Freewheel Command A Freewheel Stop command using a digital input of the ter...

Page 80: ... Bit Fieldbus Module for PROFINET PROFIBUS Ethernet option DeviceNet Bit 11 C311 Bit 12 C312 Bit 13 C313 Bit 14 C314 Bit 15 C315 For example to assign the DC injection braking to bit13 of the fieldbus module simply configure the DC Injection Assign parameter with the C313 value Bit 11 is assigned by default to the operating direction command Reverse Assign ...

Page 81: ...STOP key Reference value outside Reference value Command or reference limits reached value via fieldbus Operating State Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 ETA Masked by 006F H 1 Switch On Disabled Quick Stop Voltage Enabled Fault Operation Enabled Switched On Ready to Switch On 1 Not ready to switch on 0 X X 0 0 0 0 2 Switch on disabled 1 X X 0 0 0 0 0040 hex 3 Ready to switch on 0 1 X 0 0 ...

Page 82: ... the state diagram depends on how power is being supplied to the drive There are 3 possible scenarios Power stage supply Direct Direct Mains contactor controlled by the drive Control stage supply Not separate 1 Separate Separate 1 The power stage supplies the control stage ...

Page 83: ...d Step 1 Step 2 Apply the 2 Shut down command Check that the drive is in the operating state 3 Ready to switch on Then apply the 4 Enable operation command The motor can be controlled send a reference value not equal to zero NOTE It is possible but not necessary to apply the 3 Switch on command followed by the 4 Enable Operation command to switch successively into the operating states 3 Ready to S...

Page 84: ... to the power stage as well The following sequence must be applied Step 1 The power stage supply is not necessarilypresent Apply the 2 Shut down command Step 2 Check that the drive is in the operating state 3 Ready to switch on Check that the power stage supply is present Voltage enabled of the status word Power Stage Supply Terminal Display Status Word Absent 21 hex Present 31 hex Apply the 3 Swi...

Page 85: ...Switched on Then apply the 4 Enable operation command The motor can be controlled send a reference value not equal to zero If the power stage supply is still not present in the operating state 4 Switched on after a time delay Mains V time out the drive triggers an error Input Contactor ...

Page 86: ...upplied to the power stage as well The drive controls the mains contactor The following sequence must be applied Step 1 The power stage supply is not present as the mains contactor is not being controlled Apply the 2 Shutdown command Step 2 Check that the drive is in the operating state 3 Ready to switch on Apply the 3 Switch on command which closes the mains contactor and switch on the power stag...

Page 87: ... of the PROFINET PROFINET CARD is used when telegram 100 is used The PKW area of telegram 100 which is used for a simple parameter management is compliant with the PKW mechanism used with the PROFINET option module of the ER51 ER40 NOTE After switching from one telegram to another the drive shall be restarted to validate the new configuration ...

Page 88: ...Software Setup 88 The following diagram shows the native modes for telegram 101 106 107 The following diagram shows the native modes for telegram 102 ...

Page 89: ...egram 106 Telegram 107 PLC VSD VSD PLC PLC VSD VSD PLC PKW 1 PKE PKE PKE PKE PKW 2 R W R W R W R W PKW 3 PWE PWE PWE PWE PKW 4 PWE PWE PWE PWE Cyclic data 1 OCA1 address of CMD 8501 OMA1 address of ETA 3201 OCA1 address of CMD 8501 OMA1 address of ETA 3201 Cyclic data 2 OCA2 address of LFRD 8602 OMA2 address of RFRD 8604 OCA2 address of LFRD 8602 OMA2 address of RFRD 8604 Cyclic data 3 OCA3 defaul...

Page 90: ...e HW configuration software Input cyclic data 1 2 and output cyclic data 1 2 are already preconfigured to 8501 and 8602 3201 and 8604 If a null address Modbus is entered no link between the related cyclic data and the drive is established In any case the 6 cyclic data are not disabled and the 6 cyclic data takes place in the I O memory image of the controller 1 Modbus address is entered in this fi...

Page 91: ...wnload and install the GSDML file of the drive in the hardware configuration tool of the SIMATIC STEP7 software You can find the GSDML file and its associated picture on www schneider electric com From the menu Options Install GSD File Once installed you can see the drive in the library as follow ...

Page 92: ...he PLC and its PROFINET network Then select and place the drive from the library to the bus Define the addresses of the cyclic data and PKW data in the PLC periphery m By default the process data are linked to and native CiA 402 profile of the drive You can check that the exchanges are working properly with the Monitor Modify function of the configuration tool ...

Page 93: ...nd The 4 next read or write parameters are not configured To add new parameters or modify the default configuration of the communication scanner open the properties dialog box of the slave device and configure the OCA OMA values in the parameter assignment tab 1 Internal Modbus address 2 Data type is entered in this field New parameters are added or modified by entering the drive Modbus address Fo...

Page 94: ...mpatible with BLEMO method In recent versions parameters are managed with acyclic messages and the PNO PKW method is obsolete The PKW area is made of four input words and four output words The table lists the controller to drive parameters in the input PKW area PKW Number PKE Name Description PKW1 PKE The Modbus address of the parameter is detailed here PKW2 R W Request code 0 no request 1 read 2 ...

Page 95: ...ind in the examples see Configuring the Drive With a Siemens S7 300 see page 91 how to configure the module for the Schneider PLCs and for the SIMATIC S7PLCs Periodic Exchanges The periodic exchanges with PROFIdrive application class 1 profile consists of 16 bit command word STW1 and 16 bit reference word NSOLL_A 16 bit operating state word ZSW1 and 16 bit actual velocity word NIST_A The mapping o...

Page 96: ...are Setup 96 ER41 ER24 State Diagram Description The following state diagram shows the PROFIdrive state machine for the application class 1 The diagram also describes the command word and operating stateword ...

Page 97: ... 11 Bit 10 Bit 9 Bit 8 Control and reference by PLC The table lists the status from PROFIdrive application profile class 1 ZSW1 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Warning Switching inhibited Quick stop not activated Coast stop not activated Error detected Operation enabled Ready to operate Ready to switch ON Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Reserved Reserved Reser...

Page 98: ...the d c Link at n f 0 if the rectifier pulses are disabled the power voltage is disabled the contact is opened and the drive goes into the Switching On Inhibitedoperating state A Quick Stopcommand is not interruptible Bit 3 Enable operation 1 Enable electronics and pulses The drive then runs up to the reference frequency Disable operation 0 The drive coasts down to a standstill ramp function gener...

Page 99: ...urns to operation is a state No error detected 0 Bit 4 Coast stop not activated 1 Coast stop activated 0 Coast stop OFF 2 command is present Bit 5 Quick stop not activated 1 Quick stop activated 0 Quick Stop OFF 3 command is present Bit 6 Switching inhibited 1 The drive is in Switching on inhibited operating state Switching not inhibited 0 Bit 7 Warning present 1 Warning information present in the...

Page 100: ...ency in Hz NSOLL_A x Max Frequency 4000 HEX Reference Frequency Range The table lists the different values for the reference frequency and the correspondence for the drive Value Reference Frequency Used by the Drive 0x0000 0 0x4000 100 of Max Frequency 0xC000 100 of Max Frequency PROFIdrive Acyclic Messaging For more information see PROFIdrive Parameters Channel see page 20 ...

Page 101: ...4 Section 4 5 Fieldbus Integration Tutorial Fieldbus Integration Tutorial Simple LAD Language FC Controlling the Drive in CiA 402 Mode The following example shows a simple LAD language FC for controlling the drive in CiA402 mode ...

Page 102: ...Software Setup 102 ER41 ER24 ...

Page 103: ...Software Setup 103 ER41 ER24 ...

Page 104: ...Software Setup 104 ER41 ER24 ...

Page 105: ...105 ER41 ER24 Chapter 5 Operation What Is in This Chapter This chapter contains the following sections Section Topic Page 5 1 Operating States 106 5 2 Operating Modes 107 ...

Page 106: ...of stop Fallback Speed Change to fallback speed maintained as long as the detected error persists and the run command has not been removed Speed maintained The drive maintains the speed at the time the detected error occurred as long as the detected error persists and the run command has not been removed The fallback speed can be configured in the Completesettings Error Warning handling menu Fallb...

Page 107: ...ns the following topics Topic Page Configuring the Control Channel 108 Configuration of the Drive for Operation in I O Profile 109 Configuration of the Drive for Operation with CiA 402 Profile in Combined Mode 110 Configuration of the Drive for Operation with CiA 402 Profile in Separate Mode 111 ...

Page 108: ...e a simple command word based on forward reverse and reset binary commands Combined mode with native profile CiA 402 Both reference value and command word come from the communication network Separate with native profile CiA 402 reference value and command word come from separate sources for example the command word in CiA 402 comes from the communication network and the reference value from the HM...

Page 109: ...orward bit 0 of CMd run reverse bit 1 of CMd and the function fault reset bit 7 of CMd The settings are the following Ref Freq 1 Config HMI Control Mode I O profile Command switching Default Cmd channel 1 Com Module The bits of the command word can now be configured In the Command and Reference menu configure In the Error Warning handling menu Fault reset submenu configure Fault Reset Assign CD07 ...

Page 110: ...bmenu Ref Freq 1 Config is set on according to the communication source you can choose in the following table Origin of the Control Ref1 Channel Setting PROFINET Ref Freq Com Module Freq Switch Assign is set to default value Ref Freq 1 Config Control Mode defines if the drive operates in combined mode reference and command from the same channel For the current example Control Mode is adjusted to N...

Page 111: ... for the list of possible settings For example The drive is controlled from the fieldbus PROFINET but the reference is adjusted on the controller terminal The control word comes from the controller and is written according to CiA 402 profile The settings are as shown in the table Ref Freq 1 Config AI1 Control Mode Separate Cmd channel 1 Com Module Freq Switch Assign Factory setting ...

Page 112: ...Operation 112 ER41 ER24 ...

Page 113: ... Is in This Chapter This chapter contains the following topics Topic Page Fieldbus Status LEDs 114 Connection for Fieldbus Mode 116 Fieldbus Function Test 117 Communication Interruption 118 Monitoring of Communication Channel 120 Control Signal Diagnostics 122 ...

Page 114: ... LED indicates the module status Color Status Description OFF The device is powered off Red ON The device has detected an ILF error Green ON The device is ready and operational Red flickering The device has detected a communication interruption wrong configuration or a PROFINET controller at Stopstate Green flickering In combination with other LEDs DCP manual identification phase DCP flash mode Gr...

Page 115: ...reen Red blinking Power up testing Green flashing 3 times All ports are unplugged but the module has an IP address Green flashing 4 times Error detected duplicate IP address Green flashing 5 times The module is performing a DHCP sequence NOTE If the fieldbus module operates as a Modbus TCP server only LED 1 and 2 have another behavior LED 1 and 4 These LEDs indicate the status of the Ethernet port...

Page 116: ...ct cannot be addressed via the fieldbus first check the connections The product manual contains the technical data of the device and information on network and device installation Check the following Power connections to the device Fieldbus cable and fieldbus wiring Network connection to the device ...

Page 117: ...ages Switch off or on the supply voltage of the drivesystem Observe the network messages shortly after switching on the drive system A bus monitor can be used to record the elapsed time between telegrams and the relevant information in the telegram Possible Errors Addressing Parameterization Configuration If it is impossible to connect to a device check the following Addressing The address of the ...

Page 118: ...Com Error1 parameter 0 No error detected 1 Internal communication interruption with the drive 2 Hardware error detected 3 Error found in the EEPROM checksum 4 EEPROM 5 Flash memory 6 RAM memory 7 NVRAM memory 101 Unknown module 102 Communication interruption on the drive internal bus 103 Time out on the drive internal bus 500 ms Diagnostic PROFINET Service PROFINET diagnostic is associated with sp...

Page 119: ...119 ER41 ER24 Diagnostic and Troubleshooting Enabling Diagnostics By default alarm diagnostics function is enabled It can be modified during the configuration phase as shown below ...

Page 120: ...speed rpm Reference frequency 0 1 Hz Reference value supplied by PI controller Reference value supplied byanalog multiplier function Network Monitoring Criteria The table provides the details of the detected errors Protocol Criteria Error Code PROFINET module 10 No valid IP Fieldbus Error 9 Duplicated IP address 12 iPar unconfigured 13 iPar unrecoverable error detected 0 No error detected Fieldbus...

Page 121: ...on coefficient of the reference values Multiplying coeff 3 assignedto Ref Freq 3 Multiply As soon as one of these parameters has been written once to a communication channel it activates monitoring for that channel If a communication warning is sent in accordance with the protocol criteria by a monitored port or fieldbus module the drive triggersa communication interruption The drive reacts accord...

Page 122: ...drive The Command word image submenu COM Module cmd parameter is used to display the hexadecimal value of the control word from the fieldbus module Reference Frequency Display The Ref Freq Channel parameter indicates the active channel for reference frequency The Ref Frequency parameter indicates the value in 0 1 Hz units of the reference frequency used to control the drive The Freq ref word map s...

Page 123: ...his operating state is triggered depending on the error class A Fault reset is required to exit this operating state after the cause of the detected error has been removed Further information can be found in the pertinent standards such as IEC 61800 7 ODVA Common Industrial Protocol CIP A function used to restore the drive to an operational state after a detected error is cleared by removing the c...

Page 124: ... controlling the motor Q Quick Stop The quick Stop function can be used for fast deceleration of a movement as a response to a detected error or via a command W Warning If the term is used outside the context of safety instructions a warning alerts to a potential problem that was detected by a monitoring function A warning does not cause a transition of the operating s ...

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