Atv32 Canopen Manual en S1a28699 01

Altivar 32
Variable speed drives for

synchronous and asynchronous motors
CANopen® Communication Manual

03/2010
S1A28699
www.schneider-electric.com
The information provided in this documentation contains general descriptions and/or technical characteristics
of the performance of the products contained herein. This documentation is not intended as a substitute for
and is not to be used for determining suitability or reliability of these products for specific user applications. It
is the duty of any such user or integrator to perform the appropriate and complete risk analysis, evaluation and
testing of the products with respect to the relevant specific application or use thereof. Neither Schneider
Electric nor any of its affiliates or subsidiaries shall be responsible or liable for misuse of the information
contained herein. If you have any suggestions for improvements or amendments or have found errors in this
publication, please notify us.
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 Schneider Electric.
All pertinent state, regional, and local safety regulations must be observed when installing and using this
product. For reasons of safety and to help ensure compliance with documented system data, only the
manufacturer should perform repairs to components.
When devices are used for applications with technical safety requirements, the relevant instructions must be
followed.
Failure to use Schneider Electric software or approved software with our hardware products may result in
injury, harm, or improper operating results.
Failure to observe this information can result in injury or equipment damage.
© 2010 Schneider Electric. All rights reserved.
2 S1A28699 03/2010
Table of Contents
Table of Contents
Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Chapter 1 ATV32 CANopen Features Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Hardware Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
CANopen Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Communication and Services . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Chapter 2 Profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Definition of a Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Functional Profiles Supported by the Altivar 32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Chapter 3 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
CANopen Base Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
CANopen Communication Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Electrical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Chapter 4 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Configuring the Communication Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Configuring the Control Channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Configuring Monitor Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Configuring Communication Interruption Management . . . . . . . . . . . . . . . . . . . . . . . . 27
Chapter 5 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Status LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Communication Diagnostics Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Communication Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Control-Signal Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Monitoring of Communication Channels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Chapter 6 CiA®402 - IEC61800-7 Functional Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
CiA402 State Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Description of States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Control Word (CMd) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Stop Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Assigning Control Word Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Status Word (EtA). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Starting Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Sequence for a Drive Powered by the Power Section Line Supply . . . . . . . . . . . . . . . 46
Sequence for a Drive With Separate Control Section . . . . . . . . . . . . . . . . . . . . . . . . . 48
Sequence for a Drive with Line Contactor Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Chapter 7 Software Setup (CANopen Services) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Communication Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
PDO (Process Data Objects) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
SDO (Service Data Objects). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Other Available Services . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Description of Identifiers Taken into Account . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
S1A28699 03/2010 3
Table of Contents
Chapter 8 Software Setup With Unity (M340) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Drive Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
ATV32 EDS Integration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Configuring the ATV32 in the CANopen Master Project. . . . . . . . . . . . . . . . . . . . . . . . 64
ATV32 Control Block Example According to CiA402 . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Chapter 9 Software Setup With SoMachine (M238) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Drive Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
CANopen Master Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Chapter 10 Detailed Description of Services. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Network Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Boot Up Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Node Guarding Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Heartbeat Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Emergency Object (EMCY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Synchronization Object (SYNC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
PDO1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
PDO2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
PDO3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
SDO Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Chapter 11 Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Communication Profile Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
SDO Server Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Receive PDOs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Receive PDO1, PDO2, and PDO3 Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Transmit PDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Transmit PDO1, PDO2 and PDO3 Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Manufacturer Specific Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Application Profile Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Chapter 12 Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
4 S1A28702 03/10
Safety Information
Safety Information
Important Information
NOTICE
Read these instructions carefully, and look at the equipment to become familiar with the device before trying
to install, operate, or maintain it. The following special messages may appear throughout this documentation
or on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifies a
procedure.
The addition of this symbol to a Danger or Warning safety label indicates that an electrical hazard
exists, which will result in personal injury if the instructions are not followed.
This is the safety alert symbol. It is used to alert you to potential personal injury hazards. Obey all
safety message that follow this symbol to avoid possible injury or death.
DANGER
DANGER indicates an imminently hazardous situation, which, if not avoided, will result in death or serious
injury.
WARNING
WARNING indicates a potentially hazardous situation, which, if not avoided, can result in death, serious
injury or equipment damage.
CAUTION
CAUTION indicates a potentially hazardous situation, which, if not avoided, can result in injury or equipment
damage.
CAUTION
CAUTION, used without the safety alert symbol, indicates a potentially hazardous situation which, if not
avoided, can result in equipment damage.
PLEASE NOTE
The word “drive” as used in this manual refers to the controller portion of the adjustable speed drive as defined
by NEC.
Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel. No
responsibility is assumed by Schneider Electric for any consequences arising out of the use of this material.
S1A28699 03/2010 5
About the Book
About the Book
At a Glance
Document Scope
The purpose of this document is to:
• show you how to install the CANopen fieldbus on your Altivar 32,
• show you how to configure the Altivar 32 to use CANopen for monitoring and control,
• provide examples of setup using SoMachine and Unity.
NOTE: Read and understand this document and all related documents (see below) before installing,
operating, or maintaining your ATV32.
Validity Note
This documentation is valid for the Altivar 32 CANopen fieldbus.
Related Documents
Title of Documentation Reference Number
ATV32 Quick Start S1A41715
ATV32 Installation manual S1A28686
ATV32 Programming manual S1A28692
ATV32 Modbus manual S1A28698
ATV32 Communication Parameters S1A44568
ATV32 Atex manual S1A45605
ATV32 Safety manual S1A45606
ATV32 other option manuals: see www.schneider-electric.com
You can download the latest versions of these technical publications and other technical information from our
website at www.schneider-electric.com.
Product Related Information
DANGER
UNINTENDED EQUIPMENT OPERATION
• Read and understand this manual before installing or operating the Altivar 32 drive.
• Any changes made to the parameter settings must be performed by qualified personnel.
Failure to follow these instructions will result in death or serious injury.
6 S1A28699 03/2010
About the Book
DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
• Read and understand this manual before installing or operating the Altivar 32 drive. Installation,
adjustment, repair, and maintenance must be performed by qualified personnel.
• The user is responsible for compliance with all international and national electrical code requirements with
respect to grounding of all equipment.
• Many parts of this drive, including the printed circuit boards, operate at the line voltage. DO NOT TOUCH.
Use only electrically insulated tools.
• DO NOT touch unshielded components or terminal strip screw connections with voltage present.
• DO NOT short across terminals PA/+ and PC/– or across the DC bus capacitors.
• Before servicing the drive:
- Disconnect all power, including external control power that may be present.
- Place a “DO NOT TURN ON” label on all power disconnects.
- Lock all power disconnects in the open position.
- WAIT 15 MINUTES to allow the DC bus capacitors to discharge.
- Measure the voltage of the DC bus between the PA/+ and PC/– terminals to ensure that the voltage is
less than 42 Vdc.
- If the DC bus capacitors do not discharge completely, contact your local Schneider Electric
representative. Do not repair or operate the drive
• Install and close all covers before applying power or starting and stopping the drive.
WARNING
DAMAGE DRIVE EQUIPMENT
Do not operate or install any drive or drive accessory that appears damaged.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
WARNING
LOSS OF CONTROL
• The designer of any control scheme must
- consider the potential failure modes of control paths and,
- for certain critical control functions, provide a means to achieve a safe state during and after a path
failure.
Examples of critical control functions are emergency stop and overtravel stop.
• Separate or redundant control paths must be provided for critical control functions.
• System control paths may include communication links. Consideration must be given to the implications
of unanticipated transmission delays or failures of the link.(1)
(1) For additional information, refer to NEMA ICS 1.1 (latest edition), “Safety Guidelines for the Application, Installation, and
Maintenance of Solid State Control” and to NEMA ICS 7.1 (latest edition), “Safety Standards for Construction and Guide
for Selection, Installation and Operation of Adjustable-Speed Drive Systems.”
S1A28699 03/2010 7
ATV32 CANopen Features Overview
What's in this Chapter?

This chapter contains the following topics:
Topic Page
Hardware Presentation 9
CANopen Profile 9
Communication and Services 10
8 S1A28699 03/2010
Hardware Presentation
The ATV32 can be connected to a CANopen network by several ways:

• The first solution is to use a CANopen communication adapter (VW3 A3 608,VW3 A3 618, VW3 A3 628)
that can be locked in the option slot of the drive (see 1 below).
• The second solution is to use the communication base port in the front of the drive (see 2 below).
NOTE: The CANopen base port will become inactive when an option card is inserted.
CANopen Profile
The ATV32 supports CiA®301 and CiA®402 V3 drive profile.
S1A28699 03/2010 9
Communication and Services
Cyclical Communication
• PDO1 is dedicated to the control of the drive, according to CiA402.
• PDO2 extends the communication capabilities.
• PDO3 is intended for use with the Communication scanner.
PDO1 and PDO3 provides scan cycle optimization (synchronized with drive task) which allows short reaction
time application (<10ms). See “Optimizing the Response Time” on page 57.
The configuration means are:

• CANopen configuration tool, then the configuration is downloaded by the master,
• SoMove, DTM ATV32.
Acyclic Services
The ATV32 manages a SDO server, characterized by two identifiers:
• One for requests
• One for responses
Segmented transfer is supported.
Other CANopen Supported Services

Assignment by default of address-based identifiers.
• NMT commands
• Boot up
• Heartbeat producer and consumer
• Node Guarding
• Emergency (EMCY)
• SYNC, for all PDOs on the Altivar
• General broadcast support on identifier 0
EDS File
The EDS file for the ATV32 can be downloaded on www.schneider-electric.com
10 S1A28699 03/2010
Profiles
Profiles

Topic Page
Definition of a Profile 12
Functional Profiles Supported by the Altivar 32 13
S1A28699 03/2010 11
Profiles
Definition of a Profile
There are three types of profile:

• Communication profiles
• Functional profiles
• Application profiles
Communication Profiles
A communication profile describes the characteristics of the bus or network:
• Cables
• Connectors
• Electrical characteristics
• Access protocol
• Addressing system
• Periodic exchange service
• Messaging service
• ...
A communication profile is unique to a type of network (Modbus CIP, Profibus DP, etc.) and is used by various
different types of device.
Functional Profiles
A functional profile describes the behavior of a type of device. It defines:
• Functions
• Parameters (name, format, unit, type, etc.)
• Periodic I/O variables
• State chart(s)
• ...
A functional profile is common to all members of a device family (variable speed drives, encoders, I/O
modules, displays, etc.).
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 standard’s development
and is now part of the IEC 61800-7 standard.
Some protocols also support the ODVA (Open DeviceNet Vendor Association) profile.
Application Profiles
Application profiles define in their entirety the services to be provided by the devices on a machine. For
example, “CiA DSP 417-2 V 1.01 part 2: CANopen application profile for lift control systems - virtual device
definitions”.
Interchangeability
The aim of communication and functional profiles is to achieve interchangeability of the devices connected via
the network.
12 S1A28699 03/2010
Profiles
Functional Profiles Supported by the Altivar 32
I/O Profile
Using the I/O profile simplifies PLC programming.
The I/O profile mirrors the use of the terminal strip for control by utilizing 1 bit to control a function.
With an Altivar 32, the I/O profile can also be used when controlling via a network.
The drive starts up as soon as the run command is sent.
15 bits of the control word (bits 1 to 15) can be assigned to a specific function.
This profile can be developed for simultaneous control of the drive via:
• The terminals
• The Modbus control word
• The CANopen control word
• The network 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, DeviceNet communication 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 to 15) can be assigned to a function.
The CiA402 profile is supported by the drive itself and therefore in turn by all the communication ports
(integrated Modbus, CANopen, Ethernet, Profibus DP, DeviceNet communication modules).
The Altivar 32 supports the CiA402 profile’s “Velocity mode”.
In the CiA402 profile, there are two modes that are specific to the Altivar 32 and characterize command and
reference management:
• Separate mode [Separate] (SEP)
• Not separate mode [Not separ.] (SIM)
See “CiA®402 - IEC61800-7 Functional Profile” on page 37.
PDOs Set Overview

See “PDO Default Configuration” on page 56.
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Hardware Setup
Hardware Setup

Topic Page
CANopen Base Port 15
CANopen Communication Modules 16
Electrical Installation 21
14 S1A28699 03/2010
Hardware Setup
CANopen Base Port
NOTE: This CANopen connection shares the same connector with Modbus base serial port.
Base Port RJ45 Pin Out

The following table describes the pin out of the RJ45 connector:
Pin Signal
1 CAN_H
2 CAN_L
3 CAN_GND
4 D1 - RS485 (Modbus)
5 D0 - RS485 (Modbus)
6 Not connected
7 VP - Reserved for RS232/RS485 converter
8 Common
NOTE: The CANopen signals on the base port are desactivated if an option card is plugged in the drive.
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Hardware Setup
CANopen Communication Modules
Introduction
3 CANopen opto-isolated modules exist for the ATV32, they offer convenient and optimized wiring solution for
CANopen networks:
• VW3 A3 608: Dual RJ45 module.
• VW3 A3 618: Legacy CANopen connection with SubD9.
• VW3 A3 628: Open style 5 poles connector.
CANopen Daisy Chain Module (VW3 A3 608)

The following figure shows the dual RJ45 connector:
NOTE: Maximum bus length are divided by 2 whith the CANopen Daisy chain VW3 A3 608. See “Maximum
Length Bus with SubD9 CANopen Connectors” on page 21.
The following table describes the pin out of each RJ45:
Pin RJ45 Signal
1 CAN_H
2 CAN_L
3 CAN_GND
4 Not connected
5 Not connected
6 Not connected
7 Not connected
8 Not connected
NOTE: Both RJ45 are interconnected internally as on the diagram below:
16 S1A28699 03/2010
Hardware Setup
SubD9 CANopen Communication Module (VW3 A3 618)

The following figure shows the SubD9 connector:
The following table describes the pin out of the SubD9 connector (male):
Pin SubD Signal
1 Reserved
2 CAN_L
3 CAN_GND
4 Reserved
5 CAN_SHLD
6 GND
7 CAN_H
8 Reserved
9 Reserved
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Hardware Setup
Open Style CANopen Communication Module (VW3 A3 628)

The following figure shows the open style connector:
The following table describes the pin out of the open style connector:
Pin Signal
1 CAN_GND
2 CAN L bus line
3 CAN shield
4 CAN H bus line
5 Reserved
CANopen Modules Mounting

• Check that the card catalog number marked on the label is the same as that on the delivery note
corresponding to the purchase order.
• Remove the communication module from its packaging and check that it has not been damaged in transit.
CAUTION
RISK OF DAMAGE TO THE DRIVE
Install only communication modules designed for ATV32. See references in the catalog.
Failure to follow these instructions can result in equipment damage.
DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
Read and understand the precautions in “About the Book” on page 6 before performing the procedure in this
section.
18 S1A28699 03/2010
Hardware Setup
Install the communication module in ATV32 as follows:

Step Action Comment
1 Ensure that the power is off.
Locate the option card port on the
bottom of the ATV32.
2 Extract the cover.
3 Insert the module A, B or C

A: open style module VW3 A3 628.
B: daisy chain module VW3 A3 608.
C: SubD9 module VW3 A3 618.
4 Check that the module is correctly

inserted and locked mechanically in
the drive.
S1A28699 03/2010 19
Hardware Setup
Extract the communication module as follows:

Step Action Comment
1 Ensure that the power is off.
Press the strip.
2 Extract the module while maintaining

the strip pressed,
20 S1A28699 03/2010
Hardware Setup
Electrical Installation
The maximum bus length depends on the selected baud rate. The table below shows the maximum
recommended overall length of the CAN bus in the case of cables with SubD9 connectors.
Maximum Length Bus with SubD9 CANopen Connectors

The following table describes the Maximum length:
Baud rate Maximum bus length
KBit/s m (ft)
50 1000 (3280)
125 500 (1640)
250 250 (820)
500 100 (328)
1000 20 (65)
The reference potential CAN_0V and the shield connection (connector housing) are galvanically isolated.
• Keep the galvanic isolation in order to avoid ground loops via the CAN bus.
• Use equipotential bonding conductors.
• Use pre-assembled cables to reduce wiring errors.
• Verify that wiring, cables and connected interfaces meet the PELV requirements.
Terminating Resistors
Both ends of a CAN bus line must be terminated. A 120 Ohm terminating resistor between CAN_L and CAN_H
is used for this purpose. According to the CANopen several solutions are available.
The following table describes the CANopen accessories for the different bus termination:
Bus termination Accessories
CANopen RJ45 module VW3 A3 608 CANopen terminating resistor, TCSCAR013M120
120 Ohm, integrated in RJ45 connector
CANopen Open style module VW3 A3 628 CANopen terminating resistor, TCSCAR01NM120
120 Ohm, for terminal screw terminal
CANopen SubD9 module VW3 A3 618 CANopen connector, SubD9 (female), with TSXCANKCDF180T
switchable terminating resistor, straight
CANopen cable, 1 m, SubD9 (female) with VW3M3805R01
integrated terminating resistor to RJ45
CANopen cable, 3 m, SubD9 (female) with VW3M3805R030
integrated terminating resistor to RJ45
S1A28699 03/2010 21
Configuration
Configuration

Topic Page
Configuring the Communication Parameters 23
Configuring the Control Channels 24
Configuring Monitor Parameters 26
Configuring Communication Interruption Management 27
22 S1A28699 03/2010
Configuration
Configuring the Communication Parameters
The configuration of the CANopen communication functions on the Altivar is accessed via the
[CONFIGURATION] (COnF) menu, [FULL] (FULL), [COMMUNICATION] (COM-) and
[CANopen] (CnO-) submenu, on the graphic display terminal or integrated display terminal.
NOTE: the configuration can only be modified when the motor is stopped and the drive stopped.
In order for modifications to take effect, the drive must be shut down then restarted.
Parameter Possible values Terminal display Default value

[CANopen address] CANopen deactivated [OFF] (0FF) [OFF] (0FF)
(AdCO) 1 to 127 [1] (1)....[127] (127)
[CANopen bit rate] 50 kbps [50 kbps] (50) [250 kbps] (250)
(bdCO) 125 kbps [125 kbps] (125)
250 kbps [250 kbps] (250)
500 kbps [500 kbps] (500)
1 000 kbps [1000 kbps] (1M)
The [CANopen address] (AdCO) parameter will thereafter be referred to as “Node-ID” in the present
communication manual.
The default value (OFF) of this parameter disables the CANopen communications of the Altivar.
In order to enable CANopen on the Altivar 32, you must set a non-zero value for
[CANopen address] (AdCO).
The value of the [CANopen bit rate] (bdCO) parameter must match the communication speed of all the
other devices connected to the CANopen bus. In addition, the maximum length of the bus depends on the
communication speed.
The drive must be restarted in order to take into account the CANopen parameters.
S1A28699 03/2010 23
Configuration
Configuring the Control Channels
This chapter explains through 3 examples how to configure the drive for operation from communication
network:
• I/O Mode - a simple command Word (based on Forward, reverse and reset binary commands).
• Combined Mode (with native profile CiA402) - Both reference and command word come from the
communication network.
• Separate (with native profile CiA402) - Reference and command come from separate sources: for example,
the command (in CiA402) comes from the communication network and the reference from the HMI.
PDO’s Configuration
See “Detailed Description of Services” on page 76.
Configuration of the Drive for Operation in I/O Profile

To illustrate the I/O Profile, we will describe a simple example, which can be of course extended with additional
features. The Command word is made of Run forward (bit 0 of CMD), run reverse (bit 1 of CMD), and a
detected fault reset (bit 7 of CMD).
[INPUTS / OUTPUTS CFG] /

[Forward] is assigned to CMD bit 0
[INPUTS / OUTPUTS CFG] /
[Reverse assign.] is assigned to
CMD bit 1
[FAULT MANAGEMENT] /
[FAULT RESET] / [Fault reset] is
assigned to CMD bit 7
Reset
Run reverse
Run forward
The settings will be the following:

CANopen communication adapter CANopen base port on ATV32
[Ref.1 channel] (Fr1) [Com. card] (nEt) [CANopen] (CAn)
[RV Inhibition] (rIn) Default Default
[Stop Key priority] (PSt) Default Default
[Profile] (CHCF) [I/O profile] (IO) [I/O profile](IO)
[Cmd switching] (CCS) Default Default
[Cmd channel 1] (Cd1) [Com. card] (nEt) [CANopen] (CAn)
The bits of the command word must now be configured.

In the [INPUTS / OUTPUTS CFG] Menu, configure:
[Forward] (Frd) [Cd00] (Cd00)
[Reverse assign.] (rrS) [Cd01] (Cd01)
In the [FAULT MANAGEMENT] menu, [FAULT RESET] submenu, configure:

[Fault reset] (rSF) [Cd07] (Cd07)
24 S1A28699 03/2010
Configuration
Configuration of the Drive for Operation With CiA402 Profile in Combined Mode
This chapter describes how to configure the settings of the drive if it is controlled in CiA402 Mode. The example
focuses on the Not separate mode (Combined). Additional modes such separate Mode are detailed in the
ATV32 Programming manual.
In the Command Menu [Command] (CtL-):

• [Ref.1 channel] (Fr1): is set on according to the communication source you can choice in the following
table:
Origin of the control Ref.1 channel setting
CANopen communication adapter [Com. card] (nEt)
CANopen base port on ATV32 [CANopen] (CAn)
• [Profile] (CHCF): defines if the drives operates in combined mode (reference and command from the
same channel)
For the current example, CHCF will be adjusted to SIM, as reference and control are originated from the
communication network.
Profile Ref.1 channel setting
CiA402 Combined mode [Not separ.] (SIM) (factory setting)
Configuration of the Drive for Operation with CiA402 Profile in Separate Mode
Alternate combinations are possible, see the ATV32 programming manual for the list of possible settings.
Example:
Speed
reference
Control Word
The drive is controlled from the communication (1 of the 3 following settings MDB, CAN or NET) but the
reference is adjusted on the HMI. The control word comes from the controller and is written according to
CiA402 profile.
The impacted settings will be as follows (and other settings are not modified):
CANopen communication adapter CANopen base port on ATV32
[Ref.1 channel] (Fr1) [AI virtual 1] (AIU1) [AI virtual 1] (AIU1)
[Profile] (CHCF) [Separate] (SEp) [Separate] (SEp)
[Cmd switching] (CCS) Default Default
[Cmd channel 1] (Cd1) [Com. card] (nEt) [CANopen] (CAn)
S1A28699 03/2010 25
Configuration
Configuring Monitor Parameters
It is possible to select up to 4 parameters to display their values in the [1.2 MONITORING] menu on the graphic
display terminal (to be ordered separately - reference VW3 A1 101).
The selection is made via the [3. INTERFACE] / [3.3 MONITORING CONFIG.] menu ([COM. MAP CONFIG.]
submenu).
Each parameter in the range [Word 1 add. select.] ... [Word 4 add. select.] can be used to select the
parameter logic address. An address at zero is used to disable the function.
Example
In the example given here, the monitored words are:
• Parameter 1 = Motor current (LCR): logic address 3204, signed decimal format.
• Parameter 2 = Motor torque (OTR): logic address 3205, signed decimal format.
• Parameter 3 = Last detected fault occurred (LFT): logic address 7121, hexadecimal format.
• Disabled parameter: 0; default format: Hexadecimal format
RDY CAN +0.00Hz 0A
COM. MAP CONFIG.
Address 1 select : 3204
FORMAT 1 : Signed
FORMAT 2 : Signed
Code Quick
FORMAT 3 : Hex
FORMAT 4 : Hex
One of the three display formats below can be assigned to each monitored word:
Format Range Terminal display
Hexadecimal 0000 ... FFFF [Hex]
Signed decimal -32 767 ... 32 767 [Signed]
Unsigned decimal 0 ... 65 535 [Unsigned]
NOTE: If a monitored parameter:

• has been assigned to an unknown address,
• has been assigned to a protected parameter,
• has not been assigned,
the value displayed in the [COMMUNICATION MAP] screen is: “••••” (see “Diagnostics” on page 28).
26 S1A28699 03/2010
Configuration
Configuring Communication Interruption Management
The response of the drive in the event of a CANopen communication interruption can be configured.
It can be configured via the graphic display terminal or the integrated display terminal, from the
[FAULT MANAGEMENT] (FLt-) menu, [COM. FAULT MANAGEMENT] (CLL-) submenu, via the
[CANopen fault mgt] (COL) parameter.
RDY CAN +0.00Hz 0A

COM. FAULT MANAGEMENT
Network fault mgt : Freewheel
CANopen fault mgt : Freewheel
Modbus fault mgt : Freewheel
Code Quick
The values of the [CANopen fault mgt] (COL) parameter, which trigger a drive detected fault
[CANopen com.] (COF), are:
Value Meaning
[Freewheel] (YES) Freewheel stop (factory setting)
[Ramp stop] (rMP) Stop on ramp
[Fast stop] (FSt) Fast stop
[DC injection] (dCI) DC injection stop
The values of the [CANopen fault mgt] (COL) parameter, which do not trigger a drive detected fault, are:
Value Meaning
[Ignore] (nO) Detected fault ignored
[Per STT] (Stt) Stop according to configuration of [Type of stop] (Stt)
[fallback speed] (LFF) Change to fallback speed, maintained as long as the detected fault persists and the run
command has not been removed
[Spd maint.] (rLS) The drive maintains the speed at the time the detected fault occurred, as long as the
detected fault persists and the run command has not been removed
The fallback speed can be configured in the [FAULT MANAGEMENT] (FLt-) /

[FALLBACK SPEED] (LFF-) menu using the [Fallback speed] (LFF) parameter.
WARNING
LOSS OF CONTROL
If CANopen fault management [Unld. Thr. 0. Speed.] (COL) is set to [Ignore] (nO), communication
control will be inhibited.
For safety reasons, inhibiting the communication interruption detection should be restricted to the debug
phase or to special applications.
S1A28699 03/2010 27
Diagnostics
Diagnostics

Topic Page
Status LEDs 29
Communication Diagnostics Introduction 31
Communication Diagnostics 31
Control-Signal Diagnostics 33
Monitoring of Communication Channels 35
28 S1A28699 03/2010
Diagnostics
Status LEDs
CANopen activity LEDs (CAN ERR and CAN RUN) are located on the HMI of the ATV32:.
LED state Altivar 32 / CANopen state

CAN_RUN The CANopen controller is in “OFF” state
The Altivar 32 is in “STOPPED” state
The Altivar 32 is in “PRE-OPERATIONAL” state
The Altivar 32 is in “OPERATIONAL” state
CAN_ERR No detected error reported
Detected error reported by the CANopen controller of the Altivar 32 (example: too
many detected error frames)
Detected error due to the occurrence of a node-guarding event or a heartbeat event
The CANopen controller is in “bus-off” state
Description of the various LED states

LED state Visual description of the LED state
The LED is OFF
The LED is SINGLE FLASHING

(200 ms ON and 1 second OFF)
The LED is DOUBLE FLASHING

(200 ms ON, 200 ms OFF, 200 ms ON, and 1 second OFF)
The LED is BLINKING at 2.5 Hz

(200 ms ON and 200 ms OFF)
The LED is ON
S1A28699 03/2010 29
Diagnostics
Communication Diagnostics Introduction
A properly operating fieldbus is essential for evaluating operating and detected faults messages.
Connections for Fieldbus Mode

If the product 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:
• 24Vdc power supply
• Power connections to the device
• Fieldbus cable and fieldbus wiring
• Network connection to the device
You can also use the commissioning software for troubleshooting.
Baud Rate and Address

If it is impossible to connect to a device, check the baud rate and node address:
• The baud rate must be the same for all devices in the network.
• The node address of each device must be between 1 and 127 and unique for each device. To set the baud
rate and node address See “Configuring the Communication Parameters” on page 23.
Communication Interruptions
CANopen communication interruptions are displayed by [Past fault 1] (dP1) indicator of the integrated
display terminal or graphic display terminal or by Emergency object (EMCY), described in “Emergency Object
(EMCY)” on page 82.
In factory settings, a CANopen communication interruption triggers a resettable drive detected fault
[CANopen com.] (COF) and a freewheel stop.
The response of the drive in the event of a CANopen communication interruption can be changed.
• Drive fault [CANopen com.] (COF) (freewheel stop, stop on ramp, fast stop or DC injection stop).
• No drive detected fault (stop, maintain, fallback).
In the event of a [CANopen com.] (COF), the drive sends an EMCY message to the CANopen master, see
“Emergency Object (EMCY)” on page 82.
The Diagnostics and Troubleshooting are described in the programming manual:
• After initialisation (power up), the drive checks that at least one of the command or target parameters has
been written once via CANopen.
• Then, if a CANopen communication interruption occurs, the drive reacts according to the configuration
(stop, maintain, fallback...).
The source of this detected fault is displayed on the terminal: [MONITORING] (SUP-) menu,
[COMMUNICATION MAP] (CMM-) submenu, [CANopen MAP] (CnM-) submenu,
[Error code] (ErCO) parameter.
Fieldbus Function Test

After correct configuration of the transmission data, test fieldbus mode. This requires installation of a CAN
configuration tool that displays CAN messages. Feedback from the product is indicated in the form of a boot
up message:
• Switch the power supply off and on again.
• Observe the network messages after switching on. After initialization of the bus, the device sends a boot-
up message (COB ID 700h+ node ID and 1 data byte with the content 00h).
If operation on the network cannot be started, the network function of the device must be checked by your local
sales office. Contact your local sales office.
30 S1A28699 03/2010
Diagnostics
Communication Diagnostics
On the display terminal, the [1.2 - MONITORING] (MOn-) menu ([COMMUNICATION MAP] (CMM-)
submenu, [CANopen MAP] (CnM-) submenu) can be used to display the communication status on
CANopen.
LED Display
[RUN LED] LED (“OFF”, “Stopped”, “Pre-operational” or “Operational” state of the CANopen controller)
[ERR LED] LED (CANopen error)
These LEDS are equivalent to the “CAN RUN” and “CAN ERR” LEDs on the 7-segment integrated terminal
(where supplied together with the drive).
The display on the screen opposite indicates that the CANopen controller is in the “Operational” state
([RUN LED] LED permanently lit) and that the controller has not detected any errors present ([ERR LED] not
lit).
RUN CAN +50.00Hz 80A
CANopen MAP
RUN LED : indicates a LED, which is not lit.
ERR LED :
indicates a LED, which is lit.
PDO1 IMAGE :
PDO2 IMAGE :
PDO3 IMAGE :
Code Quick
Canopen NMT state : Operational
Number of TX PDO : 2438
Number of RX PDO : 2438
Error code 0
RX Error Counter 0
TX Error Counter 0
NMT Chart Display

The [CANopen NMT state] (nMtS) parameter (logic address 6057, CANopen index/subindex 16#201E/3A)
indicates the NMT chart state. The various possible values are [Boot], [Stopped], [Operational] and
[Pre-Op] (Pre-operational).
PDO Counter Display

[Number of RX PDO] (nbrp) and [Number of TX PDO] (nbtp) indicate the number of PDOs received
and the number of PDOs transmitted by the drive (all PDO sets - PDO1, PDO2 and PDO3 - combined).
The values of the counters are reseted to zero once 65 535 is reached.
Last CANopen Detected Fault

The [Error code] (ErCO) parameter (index/subindex 16#201E/39) indicates the last active CANopen
detected fault and maintains its value until the last detected fault has disappeared.
The possible values are listed below:
Display Description
[0] No errors detected since the start of CANopen communication
[1] “Bus Off”
[2] “Node Guarding” detected fault requiring a return to the NMT “Initialization” state
[3] “CAN overrun”
[4] “Heartbeat” detected fault requiring a return to the NMT “Initialization” state
[5] NMT state chart detected fault
S1A28699 03/2010 31
Diagnostics
Counters
The [RX Error Counter] (rEC1) parameter (logic address 6059, CANopen index/subindex 16#201E/3C)
counts the number of frames received with errors for all types of frame (PDO, SDO, etc.).
The [TX Error Counter] (tEC1) parameter (logic address 6058, CANopen index 16#201E/3B) counts the
number of frames transmitted with errors for all types of frame (PDO, SDO, etc.).
These types of error can be caused, for example, by network load problems or the short-circuiting of electrical
signals on the bus.
The maximum count value supported by these two counters is 65 535.
PDO Value Display

A second level of submenus can be accessed via the [CANopen map] (CnM-) submenu:
[PDO1 IMAGE] (PO1-), [PDO2 IMAGE] (PO2-) and [PDO3 IMAGE] (PO3-).
Each of these submenus can be used to access a screen displaying the values transmitted and received by
each set respectively (PDO1, PDO2 and PDO3).
PDO3 IMAGE
Received PDO3-1 : 1237
Received PDO3-3 : 0
Transmit PDO3-1 : 231
Code Quick
NOTE: In each of these screens and for each PDO transmitted or received, only the [Transmit PDO•-•] or
[Received PDO•-•] words actually transmitted and received on the CANopen bus are displayed.
This means, for example, that for a receive PDO2 containing only 4 data bytes (i.e., RP21 and RP22), the fields
[Received PDO2-3] and [Received PDO2-4] will not be displayed.
32 S1A28699 03/2010
Diagnostics
Control-Signal Diagnostics
On the terminal, the [1.2 - MONITORING] (MOn-) menu ([COMMUNICATION MAP] (CMM-) submenu)
can be used to display control-signal diagnostic information between the Altivar drive and the CANopen
master:
• Active command channel [Command channel] (CMdC)
• Value of the control word (CMD) from the active command channel [Cmd value] (CMd)
• Active target channel [Active ref. channel] (rFCC)
• Value of the target from the active target channel [Frequency ref.] (FrH)
• Value of the status word [ETA state word] (EtA)
• Values of the four parameters selected by the user (W---)
• The [COM. SCANNER INPUT MAP] submenu: is NOT necessary for CANopen
• The [COM SCAN OUTPUT MAP] submenu: is NOT necessary for CANopen
• In the [CMD. WORD IMAGE] submenu: control words from all channels
• In the [FREQ. REF. WORD MAP] submenu: frequency targets produced by all channels
Example
Example of the display of communication diagnostic information:
COMMUNICATION MAP
Command Channel : CANopen
Cmd value : 000FHex
Active ref. channel : CANopen
Frequency ref. : 500.0Hz
ETA state word : 8627Hex
Code Quick
W3204 : 73
W3205 : 725
W7132 : 0000Hex
W0 : -----
COM. SCANNER INPUT MAP
COM SCAN OUTPUT MAP
CMD. WORD IMAGE
FREQ. REF. WORD MAP
MODBUS NETWORK DIAG
MODBUS HMI DIAG
CANopen MAP
PROG. CARD SCANNER
Control Word Display

The [Command Channel] (CMdC) parameter indicates the active command channel.
The [Cmd value] (CMd) parameter indicates the hexadecimal value of the control word (CMD) used to
control the drive.
The [CMD. WORD IMAGE] (CI-) submenu ([CANopen cmd.] (CMd2) parameter) is used to display the
hexadecimal value of the control word sent by CANopen.
S1A28699 03/2010 33
Diagnostics
Frequency Target Display

The [Active ref. channel] (rFCC) parameter indicates the active target channel.
The [Frequency ref] parameter indicates the value (in 0.1 Hz units) of the frequency target (LFR) used to
control the drive.
The [FREQ. REF. WORD MAP] submenu ([CANopen ref.] parameter) is used to display the value (in 0.1 Hz
units) of the speed target sent by CANopen.
Status Word Display

The [ETA state word] (EtA) parameter gives the value of the status word (ETA).
Display of the Parameters Selected by the User

The four [W•••] parameters give the value of the four monitored words selected by the user.
The address and display format of these parameters can be configured in the
[3.3 MONITORING CONFIG.] (MCF-) menu ([COM. MAP CONFIG.] (AdL-) submenu).
The value of a monitored word equals “••••” if:
• Monitoring has not been activated (address equals W0)
• The parameter is protected
• The parameter is not known (example: W3200)
34 S1A28699 03/2010
Diagnostics
Monitoring of Communication Channels
Command and Reference Channels

All the drive's command and reference parameters are managed on a channel-by-channel basis.
It is possible to identify the last value written for each channel and each command or reference parameter:
Parameter name Parameter code

Taken into account Modbus CANopen Communication card
by the drive
Control word CMd CMd1 CMd2 CMd3
Extended control word CMI CMI1 CMI2 CMI3
Speed reference (rpm) LFrd LFrd1 LFrd2 LFrd3
Frequency reference LFr LFr1 LFr2 LFr3
(0.1 Hz)
PI regulator reference PISP PIr1 PIr2 PIr3
Analog multiplier MFr MFr1 MFr2 MFr3
reference
Network Monitoring Criteria

The network is monitored according to the protocol-specific criteria.
Protocol Criteria Related detected fault
Integrated Modbus Adjustable time-out for received requests destined for [Modbus fault] (SLF)
port the drive.
CANopen port Heartbeat [CANopen FAULT] (COF)
Bus Off
Overrun
NMT state machine transition
Monitoring of Communication Channels

Communication channels are monitored if they are involved in one of the following parameters:
• The control word ([Cmd value] (CMd)) from the active command channel
• The control word containing the command switch (bit configured on [Cmd switching] (CCS))
• The control word containing the switch for reference 1'1B (bit configured on [Ref 1B switching] (rCb))
• The control word containing the switch for reference 1'2 (bit configured on [Ref. 2 switching] (rFC))
• The frequency or speed reference ([HMI Frequency ref.] (LFr) or LFRD : Nominal speed value) from the
active reference channel
• Summing frequency or speed reference ([HMI Frequency ref.] (LFr) or LFRD : Nominal speed value) 2
(assigned to [Summing ref. 2] (SA2))
• Summing frequency or speed reference ([HMI Frequency ref.] (LFr) or LFRD : Nominal speed value) 3
(assigned to [Summing ref. 3] (SA2))
• Subtracting frequency or speed reference ([HMI Frequency ref.] (LFr) or LFRD : Nominal speed value)
2 (assigned to [Subtract ref. 2] (dA2))
• Subtracting frequency or speed reference ([HMI Frequency ref.] (LFr) or LFRD : Nominal speed value)
3 (assigned to [Subtract ref. 3] (dA3))
• The PID regulator reference (PISP)
• The PID regulator feedback ([AI Virtual 2] (AIU2))
• The reference multiplication coefficient ([Multiplying coeff.] (MFr)) 2 (assigned to
[Multiplier ref. 2] (MA2))
• The reference multiplication coefficient ([Multiplying coeff.] (MFr)) 3 (assigned to
[Multiplier ref. 3] (MA3))
As soon as one of these parameters has been written once to a communication channel, it activates monitoring
for that channel.
If a communication alarm is sent (in accordance with the protocol criteria) by a monitored port or network card,
the drive will trigger a communication interruption.
The drive reacts according to the communication interruption configuration (detected fault, maintenance,
fallback, etc.)
S1A28699 03/2010 35
Diagnostics
If a communication alarm occurs on a channel that is not being monitored, the drive will not trigger a
communication interruption.
Enabling of Communication Channels

A communication channel is enabled once all the parameters involved have been written at least one time.
The drive is only able to start if all channels involved in command and reference are enabled.
Example:
A drive in DSP402 profile is connected to an active communication channel.
It is mandatory to write at least one time the reference and the command in order to switch from "4-Switched
on" to "5-Operation enabled" state.
A communication channel is disabled:

• In the event of a communication alarm
• In " forced local " mode.
NOTE: On exiting "forced local" mode:

• The drive copies the run commands, the direction and the forced local reference to the active channel
(maintained).
• Monitoring of the active command and reference channels resumes following a time delay [Time-out forc.
local] (FLOt).
• Drive control only takes effect once the drive has received the reference and the command from the active
channel.
36 S1A28699 03/2010
CiA®402 - IEC61800-7 Functional Profile

Topic Page
Functional Description 38
CiA402 State Chart 39
Description of States 40
Summary 41
Control Word (CMd) 42
Stop Commands 43
Assigning Control Word Bits 43
Status Word (EtA) 44
Starting Sequence 45
Sequence for a Drive Powered by the Power Section Line Supply 46
Sequence for a Drive With Separate Control Section 48
Sequence for a Drive with Line Contactor Control 51
S1A28699 03/2010 37
Functional Description
Drive operation involves two main functions, which are illustrated in the diagrams below:
CiA402
The main parameters are shown with their CiA402 name and their CiA402/Drivecom index (the values in
brackets are the CANopen addresses of the parameter).
Control diagram:
Statemachine
Controlword Statusword
(6040) (6041)
Simplified diagram of speed control in “Velocity” mode:
Limit Ramp Power device
vl_target_velocity vl_velocity_
(6042) demand(6043)
vl_velocity_min_max amount vl_velocity_acceleration (6048) vl_control_effort

(6046) vl_velocity_acceleration (6049) (6044)
Altivar 32
These diagrams translate as follows for the Altivar system:
Control diagram:
Statemachine
Control word Status word

(CMd) (EtA)
Simplified diagram of speed control in “Velocity” mode:
Reference limit Ramp Power module
Speed reference Speed reference

(LFRD) after ramp
(FRHD)
Speed min amount 1 Acceleration - Speed delta 1 Actual speed value

(SMIL) SPAL rFrd
Speed max amount 1 Acceleration - Time delta
(SMAL) SPAt
Deceleration - Speed delta 1
SPdL
Deceleration - Time delta
SPdt
38 S1A28699 03/2010
CiA402 State Chart

Power section line supply present or absent Fault
Entry into
From all states
state chart
Fault
Not ready to switch on Fault reaction active
Fault disappeared
and faults reset
CMD=16#0080
Fault
Switch on disabled
or
Disable voltage
CMD=16#0000
or Disable
STOP key voltage
or CMD=16#0000 Disable
Shutdown If Quick stop option code
freewheel stop at or voltage
CMD=16#0006 = 2:
Quick stop CMD=16#0000
the terminals
CMD=16#0002 or transition after stop.
or
or Quick stop If Quick stop option code
STO (Safe
STOP key CMD=16#0002 = 6:
Torque Off)
or Disable voltage
STOP key CMD=16#0000
or or
Ready to switch on freewheel stop STOP key
at the terminals or
or freewheel stop at
modification terminals
of a configuration
parameter
or
Switch on Shutdown
CMD=16#0007 CMD=16#0006
Shutdown Switched on
CMD=16#0006
Disable
Switch on Enable operation
CMD=16#xxxF operation CMD=16#xxxF
CMD=16#xxxF or
fast stop
Operation enabled Quick stop Quick stop active

CMD=16#0002
Examples:
ETA=16#0637: Stop or forward, speed reached
ETA=16#8637: Stop or reverse, speed reached
ETA=16#0237: Forward, accelerating or decelerating
ETA=16#8237: Reverse, accelerating or decelerating
Power section line supply present
Value of
Key: State
status word
Power
Switched on absent
Power
present
Enable
operation Power absent
CMD=16#xxxF or present
Transition condition Status display on

with example of command graphic display terminal
S1A28699 03/2010 39
Description of States
Each state represents an internal reaction by the drive.

This chart will change depending on whether the control word is sent (CMd) or an event occurs (a detected
fault, for example).
The drive state can be identified by the value of the status word (EtA).
State Drive internal reaction

1 - Not ready to switch on Initialization starts. This is a transient state invisible to the communication network.
2 - Switch on disabled The drive is inactive.
The drive is locked, no power is supplied to the motor.
For a separate control section, it is not necessary to supply AC power to the power section.
For a separate control section with line contactor, the contactor is not controlled.
The configuration and adjustment parameters can be modified.
3 - Ready to switch on Awaiting power section line supply.
For a separate control section, it is not necessary to supply AC power to the power section, but the system will expect
it in order to change to state “4 - Switched on”.
For a separate control section with line contactor, the contactor is not controlled.
The configuration and adjustment parameters can be modified.
4 - Switched on The drive is supplied with AC power but is stationary.
For a separate control section, the power section line supply must be present.
For a separate control section with line contactor, the contactor is controlled.
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.
Modification of a configuration parameter returns the drive to state “2 - Switch on disabled”.
5 - Operation enabled The drive is running.
For a separate control section, the power section line supply must be present.
For a separate control section with line contactor, the contactor is controlled.
The drive is unlocked, power is supplied to the motor.
The drive functions are activated and voltage is applied to the motor terminals.
However, in the case of an open-loop drive, if the reference is zero or the “Halt” command is applied, no power is
supplied to the motor and no torque is applied.
[Auto tuning] (tUn) requires an injection of current into the motor. The drive must therefore be in state
“5 - Operation enabled” for this command.
The adjustment parameters can be modified.
The configuration parameters cannot be modified.
NOTE: The command “4 - Enable operation” must be taken into consideration only if the channel is valid. In
particular, if the channel is involved in the command and the reference, transition 4 will take place only after the
reference has been received for the first time.
The reaction of the drive to a “Disable operation” command depends on the value of the
[Dis. operat opt code] (dOtd) parameter:
- If the [Dis. operat opt code] (dOtd) parameter has the value 0, the drive changes to “4 - Switched on” and
stops in freewheel stop.
- If the [Dis. operat opt code] (dOtd) parameter has the value 1, the drive stops on ramp and then changes to
“4 - Switched on”.
6 - Quick stop active Emergency stop.
The drive performs a fast stop, after which restarting will only be possible once the drive has changed to the
“Switch on disabled” state.
During fast stop, the drive is unlocked and power is supplied to the motor.
The configuration parameters cannot be modified.
The condition for transition 12 to state “2 - Switch on disabled” depends on the value of the parameter
Quick 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 voltage” command is received.
- Or the STOP key is pressed.
- Or there is a freewheel stop command via the terminals.
40 S1A28699 03/2010
State Drive internal reaction

7 - Fault reaction active Transient state during which the drive performs an action appropriate to the type of detected fault.
The drive function is activated or deactivated according to the type of reaction configured in the detected fault
management parameters.
8 - Fault Drive has detected a fault.
Summary
State Power section line supply for Power supplied to motor Modification of configuration
separate control section parameters
1 - Not ready to switch 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 disabled” state
5 - Operation enabled Required Yes, apart from an open-loop drive No
with a zero reference or in the
event of a “Halt” command for an
open-loop drive.
6 - Quick stop active Required Yes, during fast stop No
7 - Fault reaction active Depends on detected fault Depends on detected fault -
management configuration management configuration
8 - Fault Not required No Yes
S1A28699 03/2010 41
Control Word (CMd)
bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

Fault reset Reserved (=0) Reserved (=0) Reserved (=0) Enable Quick stop Enable voltage Switch on
operation
0 to 1 transition 1 = Run 0 = Emergency Authorization to Contactor
= Ack. fault command stop supply AC control
power

Manufacturer Manufacturer Manufacturer Manufacturer Manufacturer Reserved (=0) Reserved (=0) Halt
specific specific specific specific specific
Assignable Assignable Assignable Assignable 0 = Forward Halt
direction asked
1= Reverse
direction asked
Command Transition Final state bit 7 bit 3 bit 2 bit 1 bit 0 Example
address Fault reset Enable Quick stop Enable Switch on value
operation voltage
Shutdown 2, 6, 8 3 - Ready to x x 1 1 0 16#0006
switch on
Switch on 3 4 - Switched x x 1 1 1 16#0007
on
Enable 4 5 - Operation x 1 1 1 1 16#000F
operation enabled
Disable 5 4 - Switched x 0 1 1 1 16#0007
operation on
Disable 7, 9, 10, 12 2 - Switch on x x x 0 x 16#0000
voltage disabled
Quick stop 11 6 - Quick stop x x 0 1 x 16#0002
active
7, 10 2 - Switch on
disabled
Fault reset 15 2 - Switch on 0V1 x x x x 16#0080
disabled
x: Value is of no significance for this command.

0 V 1: Command on rising edge.
42 S1A28699 03/2010
Stop Commands
The “Halt” command enables movement to be interrupted without having to leave the “5 - Operation enabled”
state. The stop is performed in accordance with the [Type of stop] (Stt) parameter.
In the case of an open-loop drive, if the “Halt” command is active, no power is supplied to the motor and no
torque is applied.
Regardless of the assignment of the [Type of stop] (Stt) parameter ([Fast stop assign] (FSt),
[Ramp stop] (rMP), [Freewheel] (nSt), or [DC injection assign.] (dCI)), the drive remains in the “5 -
Operation enabled” state.
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” state. A “Halt” command does not cause this transition.
A Freewheel Stop command at the terminals or using a bit of the control word assigned to Freewheel Stop
causes a change to the “2 - Switch on disabled” state. A “Halt” command does not cause this transition.
Assigning Control Word Bits
In the CiA402 profile, fixed assignment of a function input is possible using the following codes:
Bit CANopen
bit 11 C211
bit 12 C212
bit 13 C213
bit 14 C214
bit 15 C215
For example, to assign the DC injection braking to bit 13 of CANopen, simply configure the
[DC injection assign.] (dCI) parameter with the [C213] (C213) value.
Bit 11 is assigned by default to the operating direction command [Reverse assign.] (rrS).
S1A28699 03/2010 43
Status Word (EtA)

Warning Switch on Quick stop Voltage Fault Operation Switched on Ready to switch
disabled enabled enabled on
Alarm Power section 0 = Emergency Power section Fault Running Ready 1 = Awaiting
line supply stop line supply power section
disabled present line supply

Manufacturer Manufacturer Reserved (=0) Reserved (=0) Internal limit Target reached Remote Reserved (=0)
specific specific active
Direction of Stop via STOP Reference Reference Command or
rotation key outside limits reached reference via
network
Status bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 ETA

Switch on Quick stop Voltage Fault Operation Switched on Ready to masked by
disabled enabled enabled switch on 16#006F (1)
1 -Not ready 0 x x 0 0 0 0 -
to switch on
2 -Switch on 1 x x 0 0 0 0 16#0040
disabled
3 -Ready to 0 1 x 0 0 0 1 16#0021
switch on
4 -Switched 0 1 1 0 0 1 1 16#0023
on
5 -Operation 0 1 1 0 1 1 1 16#0027
enabled
6 -Quick stop 0 0 1 0 1 1 1 16#0007
active
7 -Fault 0 x x 1 1 1 1 -
reaction
active
8 -Fault 0 x x 1 0 0 0 16#0008 (2)
or 16#0028
(1) This mask can be used by the PLC program to test the chart state.
(2) Detected fault following state “6 - Quick stop active”.
x: In this state, the value of the bit can be 0 or 1.
44 S1A28699 03/2010
Starting Sequence
The command sequence in the state chart depends on how power is being supplied to the drive.
There are three possible scenarios:
Power section line
Power section line

Power section line
Control section
Control section
power supply
power supply
supply
supply
supply
DRIVE DRIVE DRIVE
Power section line Direct Direct Line contactor controlled by the drive
supply
Control section Not separate (1) Separate Separate
power supply
(1) The power section supplies the control section.
S1A28699 03/2010 45
Sequence for a Drive Powered by the Power Section Line Supply
Both the power and control sections are powered by the power section line supply.
If power is supplied to the control section, it has to be supplied to the power section as well.
The following sequence must be applied:
Step 1
Send the “2 - Shutdown” command
From all states

Power section
line supply
Entry into state chart Fault reaction

active
Not ready to
switch on
Fault
Bus or network
Switch on
disabled
Shutdown Disable voltage

or Quick stop
DRIVE Ready to Disable voltage

switch on or Quick stop
Disable
voltage Switch on
Shutdown
Enable Disable
operation operation
Operation Quick stop

enabled Quick stop active
46 S1A28699 03/2010
Step 2
• Check that the drive is in the “3 - Ready to switch on” state.
• Then send the “4 - Enable operation” command.
• The motor can be controlled (send a reference not equal to zero).
From all states

Power section
line supply

active
Not ready to
switch on
Fault
Bus or network
Switch on
disabled
Switch on Disable voltage or

Quick stop
Ready to Disable voltage

DRIVE
Disable
voltage Switch on
Shutdown
Enable Disable
operation operation
enabled Quick stop active
NOTE: It is possible, but not necessary, to send the “3 - Switch on” command followed by the “4 - Enable
Operation” command to switch successively into the states “3 - Ready to Switch on”, “4 - Switched on” and
then “5 - Operation Enabled”.
The “4 - Enable operation” command is sufficient.
S1A28699 03/2010 47
Sequence for a Drive With Separate Control Section
Power is supplied separately to the power and control sections.

If power is supplied to the control section, it does not have to be supplied to the power section as well.
Step 1
• The power section line supply is not necessarily present.
• Send the “2 - Shutdown” command
From all states

Control section
Power section
power supply
line supply

active
Not ready to
switch on
Fault
Bus or network
Switch on
disabled
Shutdown Disable voltage or

Quick stop

DRIVE
Disable
voltage
Switch on Shutdown
Enable Disable
operaton operation
enabled Quick stop
active
48 S1A28699 03/2010
Step 2
• Check that the power section line supply is present (“Voltage enabled” of the status word).
Power section line supply Terminal display Status word

Absent nLP 16#pp21
Present rdY 16#pp31
• Send the “3 - Switch on” command
From all states

Control section
Power section
power supply
line supply

active
Not ready to
switch on
Fault
Bus or network
Switch on
disabled

or Quick stop
DRIVE switch on or Quick stop
Disable
voltage Switch on
Shutdown
Enable Disable
operation operation

enabled active
Quick stop
S1A28699 03/2010 49
Step 3
• Check that the drive is in the “4 - Switched on” state.
• Then send the “4 - Enable operation” command.
• The motor can be controlled (send a reference not equal to zero).
• If the power section line supply is still not present in the “4 - Switched on” state after a time delay
[Mains V. time out] (LCt), the drive will switch to detected fault mode [input contactor] (LCF).
From all states

Control section
Power section
power supply
line supply

active
Not ready to
switch on
Fault
Bus or network
Switch on
disabled

or Quick stop
DRIVE
Disable
voltage Switch on
Shutdown
Enable Disable
operation operation

enabled Quick stop
active
50 S1A28699 03/2010
Sequence for a Drive with Line Contactor Control
Power is supplied separately to the power and control sections.

If power is supplied to the control section, it does not have to be supplied to the power section as well. The
drive controls the line contactor.
Step 1
• The power section line supply is not present as the line contactor is not being controlled.
• Send the “2 - Shutdown” command
From all states

Control section
Fault reaction
Power section
Entry into state chart

power supply
line supply
active
Not ready to
switch on
Fault
Bus or network
Switch on
disabled
Shutdown Disable voltage or Quick

stop
Ready to Disable voltage or
DRIVE switch on Quick stop
Disable
voltage Switch on
Shutdown
Enable Disable
operation operation
enabled active
Quick stop
S1A28699 03/2010 51
Step 2
• Send the “3 - Switch on” command, which will close the line contactor and switch on the power section line
supply.
From all states

Control section
Fault reaction
Power section
power supply
Entry into state chart

line supply
active
Not ready to
switch on
Fault
Bus or network
Switch on
disabled

or Quick stop
DRIVE switch on or Quick stop
Disable
voltage Switch on Shutdown
Enable Disable
operation operation

enabled Quick stop
active
52 S1A28699 03/2010
Software Setup (CANopen Services)

Topic Page
Communication Profile 54
PDO (Process Data Objects) 55
SDO (Service Data Objects) 58
Other Available Services 58
Description of Identifiers Taken into Account 59
S1A28699 03/2010 53
Communication Profile
The Altivar communication profile is based on:

• CAN 2.A
• The CANopen specification (DS301 V4.02)
Simplified Telegram Structure (Communication Object)
Identifier (11 bits) Data (maximum length 8 bytes)

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Function code Service Range of possible Index of parameterization

(bit 10 … bit 7) identifiers objects (1)
2#0000 NMT 16#000 -
2#0001 SYNC 16#080 16#1005
EMCY 16#081 to 16#0FF -
2#0011 Transmit PDO1 (TPD01) 16#181 to 16#1FF 16#1800, 16#1A00
2#0100 Receive PDO1 (RPD01) 16#201 to 16#27F 16#1400, 16#1600
2#1011 Transmit SDO 16#581 to 16#5FF 16#1200
2#1100 Receive SDO 16#601 to 16#67F 16#1200
2#1110 Heartbeat 16#701 to 16#77F 16#1016, 16#1017
(1) These objects are described in “Object Dictionary” on page 92
For more detailed information, visit the Can In Automation website at: http://www.can-cia.org.
54 S1A28699 03/2010
PDO (Process Data Objects)
PDO telegrams are used to exchange periodic I/O data between the PLC and the drive.
The Altivar 32 has 3 predefined PDO sets:
• PDO1 is in accordance with the CiA402 specification: velocity mode,
• PDO2 is fully configurable by the user. By default, this PDO is disabled,
• PDO3 is linked to the communication scanner. By default, this PDO is disabled.
PDO1 Details
The first PDO is by default compliant with the PDO 1 of the Velocity Mode of the CiA402. It is asynchronous
and contains two data: the control word (6040h / ATV32 CMD) and the target velocity (6042h / ATV32 LFRD)
for the input (from PLC to device) and the status word (6041h / ATV32 ETA) and the control effort (6044h /
ATV32 RFRD) for the output (from device to PLC).
PDO detailed properties:
• The COB-Id of the transmit and receive PDO1 is fully configurable.
• The transmission type of the receive and transmit PDO are fully configurable.
• The mapping of the receive and transmit PDO are fully configurable.
PDO2 Details
The second PDO set (PDO2) is deactivated by default and can be configured in full (1 to 4 words of the user's
choice). It is reserved for adjustments and for additional control and monitoring functions. By default, TPD02
(transmit) and RPD02 (receive) are disabled and not configured.
PDO3 Details
The third PDO set (PDO3) is reserved. Deactivated by default, it cannot be configured and comprises:
• RPDO3 (receive), containing 4 input words of the communication scanner NC1 to NC4
• TPDO3 (transmit), containing 4 output words of the communication scanner NM1 to NM4
RPDO1, TPDO1, RPDO2, TPDO2, RPDO3, and TPDO3 can each be enabled or disabled independently.
Each PDO can be activated or deactivated using bit 31 of its COB-ID. Set this bit to 1 to deactivate the PDO.
Reset it to zero to activate the PDO. By default, these three PDO are asynchronous, although the transmission
mode of each PDO can be reconfigured by the user in accordance with requirements:
• Asynchronous mode (255): The transmit PDO is only sent when the value of its data changes. In this mode,
the “inhibit time” and “event timer” (example: objects 16#1800/03 and 16#1800/05 for TPD01) can be
modified in order to adjust the PDO transmission frequency on the bus.
• Cyclic synchronous mode (1…240): the transmit PDO is sent each time a synchronization object (SYNC)
is received or when a preconfigured number of synchronization objects (between 1 and 240) are received.
• Acyclic synchronous mode (0): the transmit PDO is sent each time the value of its data changes, but only
during the synchronous “window” authorized by the next synchronization object (SYNC, not available for
the receive PDO).
The drive optimizes the size of the TPDO frames (transmit); only useful data bytes are transmitted.
The length of PDO3 is 8 data bytes.
S1A28699 03/2010 55
PDO Default Configuration

The following tables describes the receive PDOs parameters:
No. of Parameters configured by default Comment
PDOs Index Name
1 16#6040 Control word (CMDD) Drive control in speed regulation mode
16#6042 Speed target (LFRD) This PDO can be reconfigured. It is activated
by default.
2 No parameter configured by default Additional settings or commands
This PDO can be reconfigured.
It is deactivated by default.
3 16#2061/3E Receive PDO3 mapping - 1st mapped object: Mapped to the communication scanner
NC1 (Comm. Scanner 1st data)
16#2061/3F Receive PDO3 mapping - 2nd mapped object:
NC2 (Comm. Scanner 2nd data)
16#2061/40 Receive PDO3 mapping - 3rd mapped object:
NC3 (Comm. Scanner 3rd data)
16#2061/41 Receive PDO3 mapping - 4th mapped object:
NC4 (Comm. Scanner 4th data)
The following tables describes the transmit PDOs parameters:

No. of Parameters configured by default Comment
PDOs Index Name
1 16#6041 Status word (ETAD) Drive monitoring in speed regulation mode
16#6044 Output speed (RFRD) This PDO can be reconfigured. It is activated
by default.
2 No parameter configured by default. Additional monitoring
This PDO can be reconfigured.
It is deactivated by default.
3 16#2061/2A Transmit PDO3 mapping - 2nd mapped object: Mapped to the communication scanner
NM1 - Comm. Scanner 2nd data
16#2061/2B Transmit PDO3 mapping - 2nd mapped object:
16#2061/2C Transmit PDO3 mapping - 3rd mapped object:
NM3 - Comm. Scanner 3rd data
16#2061/2D Transmit PDO3 mapping - 4th mapped object:
NM4 - Comm. Scanner 4th data
56 S1A28699 03/2010
Optimizing the Response Time

The response time can be optimized for the PDO1 and PDO3 configurations described below. In these
configurations:
• the RPD01 or RPDO3 (receive) is processed with the same priority as a logic input from the terminals.
• TPD01 or TPDO3 (transmit) is updated with the same priority as an output from the terminals.
In all other configurations, a receive PDO is taken into account by the drive's background task.
The following tables describes the receive PDO1 parameters:

No. of Parameters configured Comment
PDOs Index Name
1 16#6040 Control word (CMD) Drive control

PDOs Index Name
1 16#6040 Control word (CMD) Drive control in speed regulation mode
16#6042 Speed target (LFRD)
The following tables describes the transmit PDO1 parameters:

PDOs Index Name
1 16#6041 Status word (ETA) Drive state monitoring

PDOs Index Name
1 16#6041 Status word (ETA) Drive monitoring in speed regulation mode
16#6044 Output speed (RFRD)
NOTE: See “PDO3” on page 90 for more information of the PDO3’s configuration.
Fast Tasks
Only these parameters are available for fast tasks:
Fast read Parameters
ETA, RFR, FRH, LCR, OTR, ETI, ULN, UOP, THD, OPR, THR1, THR2, THR3, IL1I, IL1R,
OL1R, AI1C, AI2C, AI3C, AO1R, AO1C, RFRD, FRHD, LRS1, LRS2, LRS3, LRS4, LRS5,
LRS6, LRS7, LRS8, M001, M002, M003, M004, M005, M006, M007, M008
Fast write Parameters

OL1R, AO1R, AO1C, CMD, LFR, PISP, LFRD, M001, M002, M003, M004, M005, M006,
M007, M008
S1A28699 03/2010 57
SDO (Service Data Objects)
SDO telegrams are used for configuration and adjustment.

The Altivar manages an SDO server, characterized by two identifiers:
• One for requests (telegrams sent from the PLC to the Altivar)
• One for responses (telegrams sent back to the PLC by the Altivar)
Although the Altivar supports segmented transfer, this is only required by the reading of object 16#1008
(device name).
Other Available Services
Assignment by default of address-based identifiers:

• NMT commands
• Bootup
• Heartbeat producer and consumer
• Node Guarding
• Emergency (EMCY)
• SYNC, for all PDOs on the Altivar
• General broadcast support on identifier 0
• Service not available: Time-stamping object (TIME)
58 S1A28699 03/2010
Description of Identifiers Taken into Account
The identifiers will be referred to as COB-IDs (Communication OBject IDentifiers) in the rest of this
communication manual
Direction Identifier (COB-ID) Description
Master V Drive 000 Service Network ManagemenT (NMT)
16#000
Master V Drive 128 SYNChronization service (SYNC)
16#080
Master V Drive 128 + Node-ID EMergenCY service (EMCY)
16#080
Master X Drive 384 + Node-ID Drive monitoring (TPDO1)
16#180
Master V Drive 512 + Node-ID Drive control (RPDO1)
16#200
Master X Drive 640 + Node-ID Drive periodic input words (TPDO2)
16#280
Master V Drive 768 + Node-ID Drive periodic output words (RPDO2)
16#300
Master X Drive 896 + Node-ID Periodic input words on the Altivar’s communication scanner
16#380 (TPDO3)
Master V Drive 1024 + Node-ID Periodic output words on the Altivar’s communication scanner
16#400 (RPDO3)
Master X Drive 1408 + Node-ID Response to a drive setting (transmit SDO)
16#580
Master V Drive 1536 + Node-ID Drive setting request (receive SDO)
16#600
Master V Drive 1792 + Node-ID Network management (NMT, Node Guard, Heartbeat)
Master X Drive 16#700 Network management (Bootup)
The Altivar supports the automatic assignment of identifiers (COB-IDs), based on its CANopen address.
The term “master” designates a device transmitting a request to a variable speed drive (example: a PLC).
Bit 31 of PDO COB-ID entry, coded on 32 bits, is equal to 1 for TPDO2, RPDO2, TPDO3, and RPDO3, as they
are inactive by default.
S1A28699 03/2010 59
Software Setup With Unity (M340)

Topic Page
Introduction 61
Drive Configuration 62
ATV32 EDS Integration 63
Configuring the ATV32 in the CANopen Master Project 64
ATV32 Control Block Example According to CiA402 67
60 S1A28699 03/2010
Introduction
This chapter describes how to integrate an ATV32 in a unity project and to control it from a M340 PLC.
Example of configuration:
M340 with P342010 CPU

(CANopen ® Master)
ATV32 equipped with VW3 A3 608

CANopen modules
S1A28699 03/2010 61
Drive Configuration
Factory Setting
Before configuring the drive, it’s strongly advised to make a factory setting. Goto to:
• [1.3 CONFIGURATION] (COnF) menu,
• [FACTORY SETTINGS] (FCS-) sub-menu.
Then configure the following parameters:
• [PARAMETER GROUP LIST] (FrY-) = [ALL] (ALL),
• [Goto FACTORY SETTINGS] (GFS) = enter.
Command Configuration
To control the drive with a CANopen Master, it is necessary to select CANopen as command channel active.
Goto to:
• [1.3 CONFIGURATION] (COnF),
• [FULL] (FULL),
• [COMMAND] (CtL-) menu
And then configure: [Ref. 1 channel] (Fr1) parameter to [CANopen] (CAn) value.
Communication Configuration
Select the CANopen address in the menu:
• [1.3 CONFIGURATION] (COnF)
• [FULL] (FULL)
• [COMMUNICATION] (COM-) menu
• [CANopen] (CnO-)
And then configure:
• [CANopen address] (AdCO) parameter to [1] (1) value,
• [Baud Rate] (BdCO) parameter to [500 kbps] (500).
The drive must be restarted in order to take into account the CANopen address.
62 S1A28699 03/2010
ATV32 EDS Integration
If your Unity Software doesn't contain the ATV32 in the CANopen catalog. You must add the EDS file to the
hardware Catalog Manager installed with Unity, or use the ATV32_XXX.cpx file provided as example with the
ATV32 EDS file. The cpx file is an export from an existing catalog and doesn't need any configuration in the
Hardware catalog manager.
Importing a .cpx File
In the file menu, select Import User devices to load the .cpx file.
A file dialog box will ask you to select the file and its location on your PC.
Importing EDS File

If you add the EDS file.
Checking the Imported .cpx in the Hardware Catalog Manager
Once imported, you should see the ATV32 in the Motion & drive section. The two topics “default“ and
“PDOsonly” are used in the CANopen device configuration screen of Unity to select which objects are mapped
and linked to an application variable.
• Default: all the objects described in the EDS will have reserved memory in the PLC application.
• PDOs only: Only the TPDO and RPDO objects are mapped in PLC memory. (The current example will use
this “function”).
Your Hardware catalog manager is now updated and contains the ATV32. If you import only the EDS file you
will have only the default choice. You must create new functions in the Hardware catalog manager if you need
several choices.
NOTE: Don't remove an existing device from the hardware catalog manager unless you are sure that this
device is not used in an existing Unity project: You will not be able to re open this project.
S1A28699 03/2010 63
Configuring the ATV32 in the CANopen Master Project
From the project browser open the CANopen configuration tool by double clicking the CANopen drop:
Configuration of the Master

The master configuration consists of:
• Setting the baud rate
• Setting the SYNC message period
• Configuring the memory area which is the image of the whole PDOs handled by the PLC.
64 S1A28699 03/2010
Configuration of the Slave

Add a new device and select the ATV32 in the catalog. The ATV32V93 was previously added to the catalog
by importing the .cpx file or by creating the device from the EDS file.
S1A28699 03/2010 65
Then double click on the device and select in the “function” drop menu PDOs only:
In the example above, we select only TPDO1 and RPDO1 which provides the basic control command of the
drive with the CiA402 velocity mode profile.
PDOs are linked to the %Mw variables, The mapping is automatically generated by Unity according to the
index defined in the master configuration panel and to the PDOs and to the slave Node ID.
Status Word (object 6041) %MW304
Control effort (Object 6044) %MW305
Control Word (Object 6040) %MW1304
Target velocity (Object 6041) %MW1305
You can now build the project and start the PLC to check the cyclic exchanges with an animation table:
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ATV32 Control Block Example According to CiA402
In the example below The drive state machine is managed from a control block (written in a DFB).This control
block is linked to an animation screen which reproduces a basic Motor control. For more detail on the Drive
state machine please refer to “CiA®402 - IEC61800-7 Functional Profile” on page 37.
The objects of the animation screen are used as input and output parameters of the control Block. The Block
is called cyclically in a SR part of the Mast task. The variables used as parameters in the following control block
call are used in the previous animated table.
ATV32_1_Control (Status_in := ATV32_1_StatusWord,

CurrentSpeed := ATV32_1_CurrentSpeed,
Start := Atv32Start,
Stop := Atv32Stop,
Reset := Atv32Reset,
AtvFwdRev := Atv32FwdRev,
SpeedSp := Atv32SpdSP,
ControlWord => ATV32_1_ControlWord,
Reference => ATV32_1_TargetSpeed);
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DFB code:
(* state machine basic management *)
MaskedStatus:= Status_in and 16#000f;
(* Shutdown *)
if (MaskedStatus=0) and (Status_in <> 6) then ControlWord:=6;
end_if;
(* Switch ON *)
If (MaskedStatus=1) and (Status_in <> 7) then ControlWord:=7;
end_if;
(* START *)
If ((MaskedStatus=3) and (Status_in <> 15))and Start then ControlWord:=15;
end_if;
(* STOP *)
If ((MaskedStatus=7) and (Status_in <> 7))and Stop then ControlWord:=7;
end_if;
(* basic speed management *)

if AtvFwdRev then reference := SpeedSp * -1; else Reference := SpeedSp;
END_IF;
(* reset control *)
ControlWord.7 := Reset;
DFB interface
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Software Setup With SoMachine (M238)
9
Topic Page
Introduction 70
Drive Configuration 71
CANopen Master Configuration 72
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Introduction
Here is an example of an application that shows how to control an ATV32 with a M238 PLC equipped with a
CANopen master port. The operator can control the drive directly from SoMachine.
In the example, the PDO1 of the ATV32 is used. The PLC will send the command and the speed reference to
the ATV32 and will read the status word and the actual speed of the drive.
PLC: TM238LFDC24DT
ATV32 equipped with VW3 A3 628

Open style module
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Drive Configuration
Factory Setting
Before configuring the drive, it’s strongly advised to make a factory setting. Goto to:
• [1.3 CONFIGURATION] (COnF) menu,
• [FACTORY SETTINGS] (FCS-) sub-menu.
Then configure the following parameters:
• [PARAMETER GROUP LIST] (FrY-) = [ALL] (ALL),
• [Goto FACTORY SETTINGS] (GFS) = enter.
Command Configuration
To control the drive with a CANopen Master, it is necessary to select CANopen as command channel active.
Goto to:
• [FULL] (FULL),
• [COMMAND] (CtL-) menu.
And then configure: [Ref. 1 channel] (Fr1) parameter to [CANopen] (CAn) value.
Communication Configuration
Select the CANopen address in the menu:
• [FULL] (FULL),
• [COMMUNICATION] (COM-) menu,
• [CANopen] (CnO-).
And then configure:
• [CANopen address] (AdCO) parameter to [2] (2) value,
• [Baud Rate] (BdCO) parameter to [125 kbps] (125).
The drive must be restarted in order to take into account the CANopen address.
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CANopen Master Configuration
In this example, the CANopen Master configuration is done with SoMachine.
Add Device
Make a right click on CANopen and select Add Device.
Then select CANopen Schneider Electric and click on Add Device.
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Import EDS file

It is necessary to import the EDS file corresponding to the product.
Select Remote Device and click on Install.
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Find where is located the EDS file on your hard disk and select it. The EDS file can be downloaded from our
web site (www.schneider-electric.com).
Then Add Device selecting ATV32.
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CANopen Port Configuration

Configure the baud rate (125 bits/s) and the node ID (ATV32 CANopen address = 2).
Data Exchange
In the window CANopen I/O Mapping tick Always update variables. In this example, we use the first PDO.
PDO1 contains two data (default setting):
- Control word (CMDD) and target velocity (LFRD) for the input and
- Status word (ETAD) and control effort (RFRD) for the output.
PDO1 is activated by default.
Build the project, download it to the PLC and start it.
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Detailed Description of Services
10

Topic Page
Network Management 77
Boot Up Service 79
Node Guarding Service 80
Heartbeat Service 81
Emergency Object (EMCY) 82
Synchronization Object (SYNC) 84
PDO1 85
PDO2 89
PDO3 90
SDO Service 91
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Network Management
NMT Commands
Master C Drive
COB-ID Byte 0 Byte 1
0 Command specifier (CS) Node-ID(1)
(16#000)
(1) If Node-ID = 0, the “command specifier” is broadcast to all CANopen slaves (including the Altivar). Each slave must then
execute this NMT command, thereby completing the corresponding transition (see below). Check that your CANopen
slaves support broadcast communication on COB-ID 0, which the Altivar does
Command specifier (CS) Meaning

1 (16#01) Start_Remote_Node
2 (16#02) Stop_Remote_Node
128 (16#80) Enter_Pre-Operational_State
129 (16#81) Reset_Node
130 (16#82) Reset_Communication
Example
Transition to pre-operational state (Enter_Pre-Operational_State = 16#80) of the Altivar located at CANopen
address 4 (16#04).
16#000 16#80 16#04
Network Management State Machine

The product respects the NMT state machine.
The CANopen NMT Slave device implements a state machine, which brings automatically after power-on and
internal initialisation every device in Pre-operational state. In this state the node may be configured and
parameterized via SDO (example: using a configuration tool), no PDO communication is allowed.
The NMT Master device may switch all nodes or a single node to Operational state and vice versa. In
Operational state PDO transfer is allowed. By switching a device into the Stopped state it is forced to stop PDO
and SDO communication. Furthermore, this state can be used to achieve certain application behavior.
In the Operational state all communication objects are active. Object Dictionary access via SDO is possible.
• NMT state chart

Power-up or hardware reset
(1)
CS = 130 CS = 129
Initialization
(2)
(11)
(14)
Pre-operational
CS = 128
CS = 128 (7) (10) (9)
(5)
(13) (3) (4)
CS = 2
Stopped
(6)
CS = 1 CS = 1 CS = 2
(12)
(8)
Operational
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Transition Description
(1) On power-up, the node automatically changes to the initialization state
(2) Once initialization is complete, the pre-operational state is activated automatically
(3), (6) Start_Remote_Node
(4), (7) Enter_Pre-Operational_State
(5), (8) Stop_Remote_Node
(9), (10), (11) Reset_Node
(12), (13), (14) Reset_Communication
Depending on the communication status of the drive, the following services are available:
Initialization Pre-operational Operational Stopped
PDO X
SDO X X
Synchronization (SYNC) X X
Emergency (EMCY) X X
Bootup service X X
Network management (NMT) X X X
In pre-Operational mode, the master can only perform SDO. In operational mode, the master can perform SDO
and PDO.
In Stop mode, the master can't perform SDO and PDO (it's impossible to start the drive).
In operational mode, the device can be controlled only if the user has selected CANopen as the command
channel.
In the event of a resettable detected fault, the drive must be in the “Operational” NMT state in order that the
PDO carrying the control word CMD (receive PDO1, preferably) can reset the drive using the CMD “reset fault”
bit. Then, the CANopen “master” will have to set the drive to the “Operational” state using an NMT telegram,
with CS - 1 (Start_Remote_Node) and Node-ID = drive node address.
• NMT state chart

Some transitions in the NMT state chart will trigger a CANopen communication interruption. These transitions
are listed in the table and illustrated in the chart below (solid lines with arrows):
Power-up or hardware reset
(1)
CS = 130 CS = 129
Initialization
(2)
(11)
(14)
Pre-operational
CS = 128
CS = 128 (7) (10) (9)
(5)
(13) (3) (4)
CS = 2
Stopped
(6)
CS = 1 CS = 1 CS = 2
(12)
(8)
Operational
NOTE: The default will appears only if the drive is running.
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Transition Description
(4) Enter_Pre-Operational_State
(5), (8) Stop_Remote_Node
(9), (10), (11) Reset_Node
(12), (13), (14) Reset_Communication
These transitions suppress a service, which can be used to control the drive. A detected fault is triggered in
order to avoid losing control of the drive (only if the drive is running).
Transition Service lost
(4) PDO
(5) SDO
(8), (9), (10), (11), (12), (13), (14) PDO and SDO
Boot Up Service
This protocol is used to signal that a NMT slave has entered the node state Pre-Operational after the state
Initialization. The protocol uses the same identifier as the detected error control protocols. The boot up
messages is transmitted also after reset-communication, reset-application and recovering from power-off.
The only data byte sent in a Bootup frame is equal to 16#00.
Master B Drive
COB-ID Byte 0
1792 16#00
(16#700)
+Node-ID
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Node Guarding Service
Either the Node Guarding service described here or the Heartbeat service described below can be used for
communication monitoring. Only one of these two services can be active at any one time. The Node Guarding
service is deactivated by default on the Altivar.
Master C Drive
The master scans the drive at regular intervals (“Life Time”) by sending “remote transmit requests” (RTR). The
“Life Time” is calculated by multiplying the “Guard Time” by the “Life Time Factor”. These two parameters are
described below.
If, once the “Life Time” has expired, the drive has not received the RTR:
• It triggers a “Life Guarding” detected fault (see “Configuring Communication Interruption Management” on
page 27),
• and sends an emergency telegram (EMCY) (See “Emergency Object (EMCY)” on page 82.).
Master B Drive
COB-ID Byte 0 = NMT information
1792 Bit 7 Bit 6-0
(16#700) Toggle bit Node State
+ Node-Id
The drive response indicates it NMT state via the “NMT information” field, described here:
Bits 6-0 (node state): Current NMT state of the drive:
• Initialization (16#00),
• Stopped (16#04),
• Operational (16#05),
• or Pre-operational (16#7F).
The [Canopen NMT state] (nMtS) parameter (16#201E/3A) can be accessed via the drive display terminal.
If the drive does not send a response or if it sends an incorrect state, the master will trigger a “Node Guarding”
event.
Bit 7 (toggle bit): The value of this bit must alternate from one drive response to the other. The value of the
toggle bit for the first response following activation of the Node Guarding service is 0. This bit can only be reset
to 0 by sending the “Reset_Communication” command to the drive. If a response is received with the same
toggle bit value as the previous response, the new response is treated as if it had not been received.
Example Configuration for the Node Guarding Service

The Altivar “Life Time” can be modified using the SDO service in order to write new values for the “Guard Time”
and “Life Time Factor” parameters.
Parameter Index Subindex Format Unit
Guard Time 16# 100C 16# 00 16-bit unsigned integer 1 ms
Life Time Factor 16# 100D 16# 00 Unsigned byte -
In our example, we are going to configure a Life Time of 2 seconds, with a Guard Time of 500 ms and a Life
Time Factor of 4 (500 ms × 4 = 2 s).
Setting the “Guard Time” parameter to 500 ms
• COB-ID = 16#600 + Node-ID for the write request or 16#580 + Node-ID for the write response
• Request code (byte 0) = 16#2B to write data 2 bytes in length
• Response code (byte 0) = 16#60 if the write operation has been completed without detected errors
• Object index (bytes 1 and 2) = 16#100C
• Object subindex (byte 3) = 16#00
• Request data (bytes 4 and 5) = 16#01F4 (500)
Request: Master C Drive
16#604 16#2B 16#0C 16#10 16#00 16#F4 16#01 16#00 16#00
Response: Master B Drive

16#584 16#60 16#0C 16#10 16#00 16#00 16#00 16#00 16#00
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Heartbeat Service
If you do not activate the Node Guarding service described above, you can use the Heartbeat service to
monitoring communication with another node, provided that it supports this service.
The Heartbeat service is deactivated by default on the Altivar (the “Consumer Heartbeat Time” and “Producer
Heartbeat Time” parameters are both set to 0).
Producer C Consumer
COB-ID Byte 0
1792 Heartbeat
(16#700) Producer state
+Node-ID
Each “Heartbeat Producer” sends Heartbeat messages at regular intervals (the “Producer Heartbeat Time”
16#1017/00).
All “Heartbeat Consumers” check that they receive these messages in a time less than the “Consumer
Heartbeat Time” (16#1016/01).
The “Producer Heartbeat Time” must be less than the “Consumer Heartbeat Time”.
If the drive has been configured as a consumer and a period of time equal to the “Consumer Heartbeat Time”
elapses without a “Heartbeat message” being received, the drive will trigger a “Heartbeat” event and send an
emergency telegram (EMCY).
If CANopen is the active channel, a CANopen detected fault (COF) will be triggered.
The “Heartbeat message” sent from the drive contains a “Heartbeat Producer state” field (byte 0), described
here:
Bit 7 = Reserved: This bit is equal to 0.
Bits 6-0 = Heartbeat Producer state: Current NMT state of the drive:
• Initialization (16#00).
• Stopped (16#04).
• Operational (16#05).
• or Pre-operational (16#7F).
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Emergency Object (EMCY)
Master B Drive
128 Fault code (Errd) Error register 0 0 0 0 0
(16#080) LSB MSB Bit 0 = 0 (no fault) - - - - -
+NODE-ID or 1 (fault)
An EMCY object is sent by the drive to other CANopen devices, with a high priority, every time a detected fault
appears (byte 2/bit 0 = 1) or disappears (byte 2/bit 0 = 0). This is the case in particular for “Heartbeat” or “Life
Guard” type detected faults. An Emergency object is never repeated.
The detected error code parameter Errd (CANopen index = 16#2038/7) is described in the table below:
EMCY detected error code (Errd) Description (accessible also in dP1 see programming manual)
16#0000 [No fault] (nOF)
16#1000 [Precharge] (CrF)
16#1000 [Motor overload] (OLF)
16#1000 [Overspeed] (SOF)
16#1000 [Diff. I fault] (dCF)
16#1000 [IGBT desaturation] (HdF)
16#1000 [internal- CPU] (InFE)
16#1000 [Ch.sw. fault] (CSF)
16#1000 [Angle error] (ASF)
16#2230 [IGBT short circuit] (SCF4)
16#2310 [Overcurrent] (OCF)
16#2311 [Proc.Overload Flt] (OLC)
16#2320 [Motor short circuit] (SCF1)
16#2320 [Motor short circuit] (SCF5)
16#2330 [Ground short circuit] (SCF3)
16#3110 [Mains overvoltage] (OSF)
16#3120 [Undervoltage] (USF)
16#3130 [Input phase loss] (PHF)
16#3310 [Overbraking] (ObF)
16#3310 [1 output phase loss] (OPF1)
16#3310 [3out ph loss] (OPF2)
16#4210 [Drive overheat] (OHF)
16#4210 [IGBT overheat] (tJF)
16#4310 [PTC fault] (OtFL)
16#5000 [Out. contact. stuck] (FCF1)
16#5000 [Out. contact. open.] (FCF2)
16#5000 [input contactor] (LCF)
16#5210 [Internal- I measure] (InF9)
16#5210 [Internal-mains circuit] (InFA)
16#5210 [Internal- th. sensor] (InFb)
16#5530 [Control Eeprom] (EEF1)
16#5530 [Power Eeprom] (EEF2)
16#6100 [Rating error] (InF1)
16#6100 [PWR Calib.] (InF2)
16#6100 [Int.serial link] (InF3)
16#6100 [Int.Mfg area] (InF4)
16#6100 [Cards pairing] (HCF)
16#6300 [Incorrect config.] (CFF)
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EMCY detected error code (Errd) Description (accessible also in dP1 see programming manual)
16#6300 [Invalid config.] (CFI)
16#6300 [Bad conf] (CFI2)
16#7000 [Internal-option] (InF6)
16#7110 [Brake feedback] (brF)
16#7300 [LI6=PTC probe] (PtFL)
16#7300 [AI3 4-20mA loss] (LFF3)
16#7310 [Speed fdback loss] (SPF)
16#7400 [FB fault] (FbE)
16#7400 [FB stop flt.] (FbES)
16#7510 [Modbus com.] (SLF1)
16#7510 [HMI com.] (SLF3)
16#7520 [int. com.link] (ILF)
16#7520 [Com. network] (CnF)
16#7530 [PC com.] (SLF2)
16#8100 [CAN com.] (COF)
16#9000 [External flt-LI/Bit] (EPF1)
16#9000 [External fault com.] (EPF2)
16#FF00 [Auto-tuning] (tnF)
16#FF01 [Brake control] (bLF)
16#FF02 [Torque/current lim] (SSF)
16#FF03 [Pr.Underload.Flt] (ULF)
16#FF03 [Safety fault] (SAFF)
16#FF80 [Load fault] (dLF)
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Synchronization Object (SYNC)
The SYNC object is sent cyclically by the CANopen master.

It does not contain data and its frame is, therefore, limited to its unique COB-ID identifier.
The purpose of this object is essentially to authorize synchronous communication modes for CANopen slaves.
In the case of the Altivar, none of the PDOs used can be defined in cyclic or acyclic synchronous
communication mode.
Master C Drive
COB-ID
128
(16#080)
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PDO1
Default Assignment
• Transmit TPDO1
Master B Drive
COB-ID Byte 0 Byte 1 Byte 2 Byte 3
384 Status word "ETA" Output speed "RFRD"
(16#180) LSB MSB LSB MSB
+Node-ID
Example: The Altivar located at CANopen address 4 (COB-ID = 16#180 + 4) is in the “Operation enabled” state
and is not faulty (status word “ETA” = 16#xxx7). In our example, the status word “ETA” is equal to 16#0607.
Furthermore, the speed of the motor is equal to 1500 rpm (16#05DC).
16#184 16#07 16#06 16#DC 16#05
• Receive RPDO1
Master C Drive
COB-ID Byte 0 Byte 1 Byte 2 Byte 3
512 Control word “CMD” Speed target “LFRD”
16#200 LSB MSB LSB MSB
+Node-ID
Example: The Altivar located at CANopen address 4 (COB-ID = 16#200 + 4) receives the command called
“Enable operation” (control word “CMD” = 16#xxxF). In our example, the control word “CMD” is equal to
16#000F.
Furthermore, the speed of the motor is equal to 1200 rpm (16#04B0).
16#204 16#0F 16#00 16#B0 16#04
Extended Default Assignment

• Transmit TPDO1
Master B Drive
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5
384 Status word “ETA” Output speed “RFRD” Motor torque
(16#180) LSB MSB LSB MSB LSB MSB
+ Node-ID
Example: The Altivar located at CANopen address 4 (COB-ID = 16#180 + 4) is in the “Operation enabled” state
and is not faulty (status word “ETA” = 16#xxx7). In our example, the status word “ETA” is equal to 16#0607,
the speed of the motor is equal to 1500 rpm (16#05DC) and the motor torque is equal to 50% (500 x 0.1% =
16#01F4).
16#184 16#07 16#06 16#DC 16#05 16#F4 16#01
• Receive RPDO1
Master C Drive
512 Control word “CMD” Speed target “LFRD” Torque target “LTR”
+ Node-ID
Example: The Altivar located at CANopen address 4 (COB-ID = 16#200 + 4) receives the command called
“Enable operation” (control word “CMD” = 16#xxxF). In our example, the control word “CMD” is equal to
16#000F, the speed target of the motor is equal to 1200 rpm (16#04B0) and its torque target is equal to 50%
(500 x 0.1% = 16#01F4).
16#204 16#0F 16#00 16#B0 16#04 16#F4 16#01
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Restricted Default Assignment

• Transmit TPDO1
Master B Drive
384 Status word “ETA”
(16#180) LSB MSB
+ Node-ID
• Receive RPDO1
Master C Drive
512 Control word “CMD”
(16#200) LSB MSB
+ Node-ID
User Assignment
• Transmit TPDO1
Master B Drive
384 Altivar variable Altivar variable Altivar variable Altivar variable
(16#180) (by default: status word (by default: output speed (by default: no (by default: no
+Node-ID “ETA”) “RFRD”) parameter) parameter)
LSB MSB LSB MSB LSB MSB LSB MSB
NOTE: Any bytes left unused at the end of this PDO will not be transmitted on the bus by the Altivar. For
example, if no parameters have been assigned to bytes 6 and 7, the data length of transmit PDO1 will be 6
bytes.
Example: The two default assignment parameters are maintained (16#6041/00 and 16#6044/00) and are
suffixed (i.e., in bytes 4 and 5) with the “Torque Actual Value” motor torque parameter (16#6077/00), thereby
producing the extended default assignment of transmit PDO1.
This extended default assignment then becomes a user assignment by means of the suffixing (i.e., in bytes 6
and 7) of the parameters of the current in the motor object “LCR” (16#2002/05), thereby producing the
following user assignment:
384 Status word “ETA” Output speed “RFRD” Motor torque “OTR” Current in the motor
(16#180) “LCR”
+Node-ID LSB MSB LSB MSB LSB MSB LSB MSB
Consider an Altivar located at CANopen address 4 (COB-ID = 16#180 + 4) and in the following state:
• Current state = “Operation enabled” and no detected faults (status word “ETA” = 16#xxx7). In our example,
the status word “ETA” is equal to 16#0607.
• The output speed “RFRD” is equal to 1500 rpm (16#05DC).
• The motor torque is equal to 83% (830 x 0.1% = 16#033E).
• The current in the motor “LCR” is equal to 4.0 A (16#0028).
The corresponding telegram sent for this transmit PDO is therefore as follows (8 data bytes):
16#184 16#07 16#06 16#DC 16#05 16#3E 16#03 16#28 16#00
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• Receive RPDO1
Master C Drive
(16#200) (by default: control word (by default: speed target (by default: no (by default: no
+Node-ID “CMD”) “LFRD”) parameter) parameter)
Example: The first default assignment object is maintained (16#6040/00) but the second is deleted
(16#6042/00), thereby producing the restricted default assignment of receive PDO1.
This restricted default assignment then becomes a user assignment by means of the suffixing of the
Acceleration ramp time “ACC”/”Acceleration” (16#203C/02) and Deceleration ramp time “DEC”/”Deceleration”
(16#203C/03) parameters in bytes 2 to 5, thereby producing the following user assignment:
512 Control word “CMD” Acceleration ramp time “ACC” Deceleration ramp time “DEC”
+Node-ID
Consider an Altivar located at CANopen address 4 (COB-ID = 16#200 + 4) and controlled as follows:
• “Enable operation” command (control word “CMD” = 16#xxxF). In our example, the control word “CMD” is
equal to 16#000F.
• The acceleration ramp time “ACC” is 1 s (10 = 16#000A).
• The deceleration ramp time “DEC” is 2 s (20 = 16#0014).
The corresponding telegram received for this receive PDO is therefore as follows (6 data bytes):
16#204 16#0F 16#00 16#0A 16#00 16#14 16#00
Cancellation code (1) Description
16# 0503 0000 Segmented transfer: The toggle bit has not been modified.
16# 0504 0001 “Request code” invalid or unknown
16# 0601 0000 Parameter access detected error (example: write request on “read-only” parameter)
16# 0601 0002 Attempt to execute a write request on a “read-only” parameter
16# 0602 0000 The “index” sent in the request refers to an object, which does not exist in the object dictionary
16# 0604 0041 PDO object assignment: The parameter cannot be assigned to the PDO; this detected error
occurs when writing to parameters 16#1600, 16#1601, 16#1602, 16#1A00, 16#1A01,
and16#1A02 (assignments of PDO1, 2 and 3)
16# 0604 0042 PDO object assignment: The number and/or length of the parameters to be assigned exceeds
the maximum PDO length.
16# 0609 0011 The “subindex” sent in the request does not exist
16# 0609 0030 Outside parameter value limits (for a write request only)
16# 0609 0031 Value of parameter written too high
16# 0800 0000 A general detected error has occurred
(1) Please note that the “cancellation codes” listed in this table have been written in accordance with general convention and
must, therefore, be inverted in the case of byte-by-byte representation for “bytes 4 to 7" (example: 16# 0609 0030
becomes byte 4 = 16#30, byte 5 = 16#00, byte 6 = 16#09, byte 7 = 16#06).
Important notes about the SDO service

Do not try to use SDO write requests to a parameter that has been assigned in an RPDO (receive).
Example: If the speed target (rpm) is assigned in RPDO1, there is no point using an SDO to write this target.
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Any parameter connected to one of the parameters configured in an RPDO (receive) must not be modified
using an SDO write request.
Example: If the speed target in (rpm) is assigned in RPDO1, there is no point using an SDO to modify the
frequency target (0.1 Hz).
Example of a read operation using the SDO service

This example explains how to read the “acceleration ramp time (ACC)” parameter on an Altivar located at
CANopen address 4 (COB-ID = 16#580 + Node-ID or 16#600 + Node-ID). The “index/subindex” value of this
parameter is equal to 16#203C/02.
Read request: Master C Drive

16#604 16#40 16#3C 16#20 16#02 16#00 16#00 16#00 16#00
Read response: Master B Drive

16#584 16#4B 16#3C 16#20 16#02 16#E8 16#03 16#00 16#00
The value of the parameter read is equal to 1000 (16#03E8), equivalent to an “acceleration ramp time (ACC)”
of 100 s, as the unit of this parameter is “0.1 s”.
Example of a write operation using the SDO service

This example explains how to write the value 100 s to the “acceleration ramp time (ACC)” parameter on an
Altivar located at CANopen address 4 (COB-ID = 16#580 + Node-ID or 16#600 + Node-ID). The
“index/subindex” value of this parameter is equal to 16#203C/02.
Write request: Master C Drive

The “request code” is 16#2B as we are trying to modify the value of an item of data 2 bytes in length.
16#604 16#2B 16#3C 16#20 16#02 16#E8 16#03 16#00 16#00
The “Request data” field indicates that the value we are trying to assign to the parameter is equal to 1000
(16#03E8), equivalent to an “acceleration ramp time (ACC)” of 100 s, as the unit of this parameter is “0.1 s”.
Write response: Master B Drive

16#584 16#60 16#3C 16#20 16#02 16#00 16#00 16#00 16#00
88 S1A28699 03/2010
PDO2
Set PDO2 on the Altivar is disabled by default (“PDO COB-ID entry” parameter = 16#80000XXX).
To enable it, use the SDO service in write mode to set bit 31 of the “PDO COB-ID entry” parameter in transmit
PDO2 (16#1801/01) and/or receive PDO2 (16#1401/01) to zero.
Unlike set PDO1, it is also possible to modify bits 0 to 6 of the COB-IDs in set PDO2 in order to authorize slave-
to-slave communication.
• Transmit TPDO2
Master B Drive
(16#280) (by default: no (by default: no (by default: no (by default: no
+Node-ID parameter) parameter) parameter) parameter)
NOTE: Any bytes left unused at the end of this PDO will not be transmitted on the bus by the Altivar. For
example, if no parameters have been assigned to bytes 6 and 7, the data length of transmit PDO2 will be 6
bytes.
Example: Assignment of 3 parameters: Last detected fault occurred “LFT” (16#2029/16), Current in the motor
“LCR” (16#2002/05) and Motor power “OPR” (16#2002/0C). This produces the following user assignment:
640 Last detected fault occurred Current in the motor “LCR” Motor power “OPR”
(16#280) “LFT”
+Node-ID LSB MSB LSB MSB LSB MSB
Consider an Altivar located at CANopen address 4 (COB-ID = 16#280 + 4) and in the following state:
• The last detected fault occurred “LFT” is “nOF”/no detected fault stored (16#0000).
• The current in the motor “LCR” is equal to 4.0 A (16#0028).
• The motor power “OPR” is equal to 50% (16#0032).
The corresponding telegram sent for this transmit PDO is therefore as follows (8 data bytes):
16#284 16#00 16#00 16#28 16#00 16#32 16#00
• Receive RPDO2
Master C Drive
(16#300) (by default: no (by default: no (by default: no (by default: no
+Node-ID parameter) parameter) parameter) parameter)
S1A28699 03/2010 89
PDO3
This PDO set is reserved for the Altivar 32 programmable card and must only be used on a drive equipped
with this card.
Set PDO3 on the Altivar is disabled by default (bit 31 of PDO COB-ID entry = 1).
To enable it, use the SDO service in write mode to set bit 31 of the “PDO COB-ID entry” parameter in transmit
PDO3 (16#1802/01) and/or receive PDO3 (16#1402/01) to zero.
Unlike set PDO2, it is also possible to modify bits 0 to 6 of the COB-IDs in set PDO3 in order to authorize slave-
to-slave communication.
Unlike the assignment of PDO1 and PDO2 objects, the assignment of PDO3 objects cannot be modified.
• Transmit TPDO3
Master B Drive
896 Output word of the NM1 Output word of the NM2 Output word of the NM3 Output word of the NM4
(16#380) Communication scanner Communication scanner Communication scanner Communication scanner
• Receive RPDO3
Master C Drive
1024 Input word of the NC1 Input word of the NC2 Input word of the NC3 Input word of the NC4
(16#400) Communication scanner Communication scanner Communication scanner Communication scanner
90 S1A28699 03/2010
SDO Service
Request: Master C Drive

1536 Request Object index Object Request data
(16#600) code LSB MSB subindex Bits 7-0 Bits 15-8 Bits 23-16 Bits 31-24
+Node-ID
Response: Master B Drive

1408 Response Object index Object Request data
(16#580) code LSB MSB subindex Bits 7-0 Bits 15-8 Bits 23-16 Bits 31-24
+Node-ID
The content of the “request data” and “response data” will vary depending on the “request code” and the
“response code”. The two tables below indicate the various possible scenarios:
Request Description of the command Byte 4 Byte 5 Byte 6 Byte 7
code
16#23 Write data 4 bytes in length (e.g., UNSIGNED 32) Bits 7-0 Bits 15-8 Bits 23-16 Bits 31-24
16#2B Write data 2 bytes in length (e.g., UNSIGNED 16) Bits 7-0 Bits 15-8 16#00 16#00
16#2F Write data 1 byte in length (e.g., UNSIGNED 8) Bits 7-0 16#00 16#00 16#00
16#40 Read data 1/2/4 bytes in length 16#00 16#00 16#00 16#00
16#80 Cancel current SDO command (1) 16#00 16#00 16#00 16#00
Response Description of the response Byte 4 Byte 5 Byte 6 Byte 7

code
16#43 Read data: 4 bytes of data: response (1) Bits 7-0 Bits 15-8 Bits 23-16 Bits 31-24
16#4B Read data: 2 bytes of data: response (1) Bits 7-0 Bits 15-8 16#00 16#00
16#4F Read data: 1 byte of data: response (1) Bits 7-0 16#00 16#00 16#00
16#60 Write data 1/2/4 bytes in length: response 16#00 16#00 16#00 16#00
16#80 Detected error sending cancellation code (2) Bits 7-0 Bits 15-8 Bits 23-16 Bits 31-24
(1) To use an SDO service reserved for reading multi-byte data, such as “manufacturer name” (parameter 16#1008: 16#00),
segmented transfer is triggered between the master and the drive.
The “request code” 16#80 is used to stop this type of transfer.
(2) The response data (bytes 4 to 7) correspond to a 32-bit “cancellation code” (a complete list of all cancellation codes
supported by the Altivar appears in the table on the next page).
NOTE: Segmented transfer can only be used for items of data larger than 4 bytes. It is only used for “Device
name” (object 16#1008) in conjunction with the Altivar.
S1A28699 03/2010 91
Object Dictionary
Object Dictionary
11

Topic Page
Introduction 93
Communication Profile Area 94
SDO Server Parameter 95
Receive PDOs 96
Receive PDO1, PDO2, and PDO3 Mapping 97
Transmit PDO 98
Transmit PDO1, PDO2 and PDO3 Mapping 99
Manufacturer Specific Area 100
Application Profile Area 101
92 S1A28699 03/2010
Object Dictionary
Introduction
The description object dictionary is made of separate chapters:

• Communication profile area
• RPDO
• TPDO
• Manufacturer specific
• Application profile (CiA402)
Index Object
16#0000 Unused
16#0001 - 16#001F Static data types
16#0020 - 16#003F Complex data types
16#0040 - 16#005F Unused (Manufacturer specific complex data types)
16#0060 - 16#007F Device profile specific static data types
16#0080 - 16#009F Device profile specific complex data types
16#00A0 - 16#0FFF Reserved for further use
16#1000 - 16#1FFF Communication profile area
16#2000 - 16#5FFF ATV32 specific profile area
16#6000 - 16#9FFF Standardised device profile area
16#A000 - 16#FFFF Reserved for further use
S1A28699 03/2010 93
Object Dictionary
Communication Profile Area
Index Sub-Index Access Type Default value Description

16#1000 16#00 R/O unsigned32 16#00410192 Device type:
Bits 16-23 = Device type mode
Bits 00-15 = Device profile number
(402)
16#1001 16#00 R/O unsigned8 16#00 Detected error register: detected
error (1) or no detected error (0)
16#1003 16#00 R/O unsigned32 16#00000005 Number of detected errors: No
detected error (0) or one or more
detected errors (>0) in object
16#1003; only the value 0 can be
written
16#01 R/O unsigned32 16#00000000 Standard detected error Field:
Bits 16-31 = Additional information
(all 0s)
Bits 00-15 = detected error code
(Errd)
16#1005 16#00 R/W unsigned32 16#00000080 COB ID SYNC MESSAGE
16#1008 16#00 R/O visible string ATV32XXX Device name
16#100C 16#00 R/W unsigned16 16#0000 Guard Time: By default, the Node
Guarding Protocol is inhibited; the
unit of this object is 1 ms.
16#100D 16#00 R/W unsigned16 16#0000 Life Time Factor: Multiplier applied
to the “Guard
Time” in order to obtain a “Life Time”
16#1010 16#00 R/O unsigned32 16#0002 Store parameters: Number of
entries
16#01 R/W unsigned32 16#0000 Store parameters: Save All
parameters
16#02 R/W unsigned32 16#0000 Store parameters: Save
Communication parameters
16#1011 16#00 R/O unsigned8 16#0002 Restore default parameters:
Number of entries
16#01 R/W unsigned32 16#0000 Restore default parameters:
Restore All parameters
16#02 R/W unsigned32 16#0000 Restore default parameters:
Restore COM parameters
16#1014 16#00 R/O unsigned32 16#00000080 COB-ID Emergency message:
+ Node ID COB-ID used for the EMCY service
16#1016 16#00 R/O unsigned8 16#01 Consumer Heartbeat Time -
Number of entries
16#01 R/W unsigned32 16#00000000 Consumer Heartbeat Time:
Bits 16-23 = Node-ID of the
producer
Bits 00-15 = Heartbeat time (unit = 1
ms)
16#1017 16#00 R/W unsigned32 16#00000000 Producer Heartbeat time
94 S1A28699 03/2010
Object Dictionary
SDO Server Parameter
Index Sub-index Access Type Default value Description

16#1200 16#00 R/O Unsigned8 16#02 Server SDO - Number of entries
16#01 R/O Unsigned32 16#00000600 Server SDO - COB-ID Client Ö Drive
+ Node ID (receive)
16#02 R/O Unsigned32 16#00000580 Server SDO - COB-ID Client Õ Drive
+ Node ID (transmit)
S1A28699 03/2010 95
Object Dictionary
Receive PDOs

16#1400 16#00 R/O unsigned8 16#02 Receive PDO1 - Number of entries
16#01 R/W unsigned32 16#00000200 Receive PDO1 - COB-ID
+ Node ID
16#02 R/W unsigned32 16#000000FF Receive PDO1 - Transmission type: Default
value: event driven
+ Node ID
16#02 R/W unsigned32 16#FF Receive PDO2 - Transmission type: Default
value: event driven
+ Node ID
16#02 R/W unsigned8 16#FF Receive PDO3 - Transmission type: Default
value: event driven
96 S1A28699 03/2010
Object Dictionary
Receive PDO1, PDO2, and PDO3 Mapping

16#1600 16#00 R/W unsigned8 16#02 Receive PDO1 mapping - Number of mapped
objects: 0 to 4 objects can be mapped for this
PDO
16#01 R/W unsigned32 16#60400010 Receive PDO1 mapping - 1st mapped object:
Control word “CMDD” (16#6040)
16#02 R/W unsigned32 16#60420010 Receive PDO1 mapping - 2nd mapped object:
Velocity reference “LFRD” (16#6042)
16#03 R/W unsigned32 16#00000000 Receive PDO1 mapping: No 3rd mapped
object
16#04 R/W unsigned32 16#00000000 Receive PDO1 mapping: No 4th mapped
object
16#1601 16#00 R/W unsigned8 16#00 Receive PDO2 mapping - Number of mapped
PDO
16#01 R/W unsigned32 16#00000000 Receive PDO2 mapping -: No 1st mapped
object
16#02 R/W unsigned32 16#00000000 Receive PDO2 mapping -: No 2nd mapped
object
16#03 R/W unsigned32 16#00000000 Receive PDO2 mapping: No 3rd mapped
object
16#04 R/W unsigned32 16#00000000 Receive PDO2 mapping: No 4th mapped
object
16#1602 16#00 R0 unsigned8 16#04 Receive PDO3 mapping - Number of mapped
PDO
16#01 R0 unsigned32 16#20613E10 Receive PDO3 mapping - 1st mapped object -
NC1 (Comm. Scanner 1st data)
16#02 R0 unsigned32 16#20613F10 Receive PDO3 mapping - 2nd mapped object:
NC2 (Comm. Scanner 2nd data)
16#03 R0 unsigned32 16#20614010 Receive PDO3 mapping - 3rd mapped object:
NC3 (Comm. Scanner 3rd data)
16#04 R0 unsigned32 16#20614110 Receive PDO3 mapping - 4th mapped object:
NC4 (Comm. Scanner 4th data)
S1A28699 03/2010 97
Object Dictionary
Transmit PDO

16#1800 16#00 R/O unsigned8 16#05 Transmit PDO1 - Number of entries
16#01 R/W unsigned32 16#00000180 Transmit PDO1 - COB-ID
+ Node ID
16#02 R/W unsigned8 16#FF Transmit PDO1 - - Transmission type: Three
modes are available for this PDO:
“asynchronous” (255),
“synchronously cyclic” (1-240),
and “synchronously acyclic” (0)
16#03 R/W unsigned16 300 Transmit PDO1 - Inhibit time: Minimum time
between two transmissions; unit = 100µs
16#04 R/W unsigned8 - Transmit PDO1 - Reserved
16#05 R/W unsigned16 1000 Transmit PDO1 - Event timer: In
“asynchronous” mode, this object sets a
minimum rate of transmission for this PDO;
unit = 1 ms
+ Node ID
16#02 R/W unsigned8 16#FF Transmit PDO2 - - Transmission type: Three
“asynchronous” (255),
“synchronously cyclic” (1-240),
and “synchronously acyclic” (0)
between two transmissions; unit = 100µs
unit = 1 ms
+ Node ID
16#02 R/W unsigned8 16#FF Transmit PDO3 - Transmission type: Three
“asynchronous” (255), “synchronously cyclic”
(1-240), and “synchronously acyclic” (0)
between two transmissions; unit = 1 ms
unit = 1 ms
98 S1A28699 03/2010
Object Dictionary
Transmit PDO1, PDO2 and PDO3 Mapping

16#1A00 16#00 R/W unsigned8 16#02 Transmit PDO1 mapping - Number of
mapped objects.
16#01 R/W unsigned32 16#60410010 Transmit PDO1 mapping - 1st mapped object:
Status word “ETA” (16#6041)
16#02 R/W unsigned32 16#60440010 Transmit PDO1 mapping - 2nd mapped
object:
Output speed “RFRD” (16#6044/00) default
value
16#03 R/W unsigned32 16#00000000 Not mapped
16#1A01 16#00 R/W unsigned8 16#00 Transmit PDO2 mapping - Number of
mapped objects
16#1A02 16#00 R/O unsigned8 16#04 Transmit PDO3 mapping - Number of
mapped objects
16#01 R/O unsigned32 16#20612A10 Transmit PDO3 mapping - 1st mapped object:
NM1 - Comm. Scanner 1st data
16#02 R/O unsigned32 16#20612B10 Transmit PDO3 mapping - 2nd mapped
object:
16#03 R/O unsigned32 16#20612C10 Transmit PDO3 mapping - 3rdmapped object:
NM3 - Comm. Scanner 3rd data
16#04 R/O unsigned32 16#20612D10 Transmit PDO3 mapping - 4th mapped
object:
NM4 - Comm. Scanner 4th data
S1A28699 03/2010 99
Object Dictionary
Manufacturer Specific Area
The ATV32 parameters are based and documented with their Modbus address, however the pending
CANopen address of these parameters can be easily retrieved with the formula described below, and vice-
versa.
NOTE: In the communication parameters excel sheet you will find also both addresses (Modbus and
CANopen).
• Modbus internal address to CANopen

• CANopen object number = Modbus address
100 S1A28699 03/2010

Object Dictionary
Application Profile Area
These area contains standardized parameters in conformance with CiA402 velocity mode.
Index Description
16#603F Detected error code
16#6040 Control Word
16#6041 Status Word
16#6042 Target velocity
16#6043 Velocity demand
16#6044 Control Effort
16#6046 01 Velocity min. amount
02 Velocity max amount
16#6048 Velocity acceleration
01 Delta speed
02 Delta time
16#6049 Velocity deceleration
01 Delta speed
02 Delta time
16#604b Set Point factor
01 Set Point factor numerator
02 Set Point factor denominator
16#605A Quick stop option code
16#605C Disable option code
16#6060 Modes of operation
16#6061 Modes of operation Display
16#6077 Torque actual value
16#6502 Supported drive modes
S1A28699 03/2010 101

Abbreviations
Abbreviations
12
Abbreviation Definition
CAN Controller Area Network is an internally standardized serial bus system
COB Communication Object. A unit of transportation in a CAN network. Data must be sent across a CAN
Network inside a COB. There are 2048 different COB's in a CAN network. A COB can contain at most
8 bytes of data
COB-ID Each COB is uniquely identified in a CAN network by a number called the COB Identifier (COB-ID).
The COB-ID determines the priority of that COB for the MAC sub-layer
COF CANopen Detected Fault
CRC Cyclic Redundancy Check
CS Command Specifier
LLC Logical Link Control. One of the sub-layers of the Data Link Layer in the CAN Reference Model that
gives the user an interface that is independent from the underlying MAC layer
LSB Least Significant Byte
MAC Medium Access Control. One of the sub-layers of the Data Link Layer in the CAN Reference Model
that controls who gets access to the medium to send a message
MSB Most Significant Byte
NMT Network Management. One of the service elements of the application layer in the CAN Reference
Model. The NMT serves to configure, initialise, and handle detected errors in a CAN network
OSI Open Systems Interconnection
PDO Process Data Object
Remote COB A COB whose transmission can be requested by another device
RPDO Receive PDO
RTR Remote Transmit Requests
SDO Service Data Object
SYNC Synchronisation Object
TPDO Transmit PDO
ERCO Error Code
102 S1A28699 03/2010

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Altivar 32

Variable speed drives for

CANopen® Communication Manual

Chapter 8 Software Setup With Unity (M340) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

About the Book

Product Related Information

ATV32 CANopen Features Overview

What's in this Chapter?

The ATV32 can be connected to a CANopen network by several ways:

The ATV32 supports CiA®301 and CiA®402 V3 drive profile.

Communication and Services

The configuration means are:

Other CANopen Supported Services

What's in this Chapter?

There are three types of profile:

Functional Profiles Supported by the Altivar 32

PDOs Set Overview

What's in this Chapter?

CANopen Base Port

Base Port RJ45 Pin Out

CANopen Communication Modules

CANopen Daisy Chain Module (VW3 A3 608)

NOTE: Both RJ45 are interconnected internally as on the diagram below:

SubD9 CANopen Communication Module (VW3 A3 618)

Open Style CANopen Communication Module (VW3 A3 628)

CANopen Modules Mounting

Install the communication module in ATV32 as follows:

2 Extract the cover.

3 Insert the module A, B or C

4 Check that the module is correctly

Extract the communication module as follows:

2 Extract the module while maintaining

Maximum Length Bus with SubD9 CANopen Connectors

What's in this Chapter?

Configuring the Communication Parameters

Parameter Possible values Terminal display Default value

Configuring the Control Channels

Configuration of the Drive for Operation in I/O Profile

[INPUTS / OUTPUTS CFG] /

The settings will be the following:

The bits of the command word must now be configured.

In the [FAULT MANAGEMENT] menu, [FAULT RESET] submenu, configure:

In the Command Menu [Command] (CtL-):

Configuring Monitor Parameters

NOTE: If a monitored parameter:

Configuring Communication Interruption Management

RDY CAN +0.00Hz 0A

The fallback speed can be configured in the [FAULT MANAGEMENT] (FLt-) /

What's in this Chapter?

LED state Altivar 32 / CANopen state

The Altivar 32 is in “STOPPED” state

The Altivar 32 is in “PRE-OPERATIONAL” state

The Altivar 32 is in “OPERATIONAL” state

CAN_ERR No detected error reported

Detected error due to the occurrence of a node-guarding event or a heartbeat event

The CANopen controller is in “bus-off” state

Description of the various LED states

The LED is SINGLE FLASHING

The LED is DOUBLE FLASHING