ATV32 Modbus Manual S1A28698 02

Altivar 32
Variable speed drives for

synchronous and asynchronous motors
Modbus Communication Manual

09/2012
S1A28698
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.
© 2012 Schneider Electric. All rights reserved.
2 S1A28698 09/2012
Table of Contents
Table of Contents
Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Chapter 1 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Connection to ATV32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Protection Against Interference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
RS485 Bus Schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Chapter 2 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Notation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Configuring the Communication Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Configuring the Control Channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
I/O Scanner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Configuring Monitor Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Configuring Communication Interruption Management . . . . . . . . . . . . . . . . . . . . . . . . 19
Chapter 3 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Communication Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Modbus Counters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Modbus Communication Stat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Chapter 4 Profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Definition of a Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Functional Profiles Supported by the Altivar 32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Chapter 5 CiA®402 - IEC61800-7 Functional Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
CiA402 State Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Description of States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Control Word (CMd) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Stop Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Assigning Control Word Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Status Word (EtA). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Starting Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Sequence for a Drive Powered by the Power Section Line Supply . . . . . . . . . . . . . . . 34
Sequence for a Drive With Separate Control Section . . . . . . . . . . . . . . . . . . . . . . . . . 36
Sequence for a Drive with Line Contactor Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Chapter 6 Software Setup with Unity (M340) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Drive Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Modbus Master Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Chapter 7 Software Setup with SoMachine (M238) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Drive Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Modbus Master Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Chapter 8 Modbus Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Modbus Protocol. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Supported Modbus Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
S1A28698 09/2012 3
Table of Contents
4 S1A28698 09/2012
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.
S1A28698 09/2012 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 Modbus fieldbus on your Altivar 32,
• show you how to configure the Altivar 32 to use Modbus 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 Modbus fieldbus.
Related Documents
Title of Documentation Reference Number
ATV32 Quick Start S1A41715
ATV32 Installation manual S1A28686
ATV32 Programming manual S1A28692
ATV32 CANopen® manual S1A28699
ATV32 Communication Parameters S1A44568
ATV32 Atex manual S1A45605
ATV32 Safety manual S1A45606
ATV32 certificates and 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 S1A28698 09/2012
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.
Failure to follow these instructions will result in death or serious injury.
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.”
S1A28698 09/2012 7
Hardware Setup
Hardware Setup
What's in this Chapter?

This chapter contains the following topics:
Topic Page
Connection to ATV32 9
Protection Against Interference 9
RS485 Bus Schematic 10
8 S1A28698 09/2012
Hardware Setup
Connection to ATV32
Connection accessories should be ordered separately (please consult our catalogues).

Connect the RJ45 cable connector to the ATV32 connector.
The following table describes the pin out of the ATV32 RJ45 connector:
Pin Signal
1 Reserved for CANopen (3)
2
3
4 D1 (1)
5 D0 (1)
6 -
7 VP, 10 Vdc (2)
8 Common
(1) Modbus signals

(2) Supply for RS232 / RS485 converter or a remote terminal
(3) The RJ45 base port is also used for the connection to a CANopen network when any CANopen option modules are
plugged
Protection Against Interference
• Use the Schneider Electric cable with 2 pairs of shielded twisted conductors (reference: TSXCSA100,
TSXCSA200, TSXCSA500).
• Keep the Modbus cable separated from the power cables (30 cm (11.8 in.) minimum).
• Make any crossovers of the Modbus cable and the power cables at right-angles, if necessary.
For more information, please refer to the TSX DG KBL E manual: “Electromagnetic compatibility of industrial
networks and fieldbuses”.
S1A28698 09/2012 9
Hardware Setup
RS485 Bus Schematic
The RS485 standard allows variants of different characteristics:

• polarisation
• line terminator
• distribution of a reference potential
• number of slaves
• length of bus
The new Modbus specification published on the Modbus.org site in 2006 contains precise details of all these
characteristics. They are also summarised in Standard schematic section. The new Schneider Electric devices
conform to this specification.
Schematic Diagram
MASTER
SLAVE 1 SLAVE n
Characteristic Definition
Type of trunk cable Shielded cable with 1 twisted pair and at least a 3rd conductor
Maximum length of bus 1000m at 19200 bps with the Schneider Electric TSX CSA••• cable
Maximum number of stations 32 stations, i.e. 31 slaves
(without repetear)
Maximum length of tap links - 20m for one tape link
- 40m divided by the number of tape links on a multiple junction box
Bus polarisation - One 450 to 650Ω pull-down resistor at 5V (650Ω recommended)
- One 450 to 650Ω pull-down resistor at the Common (650Ω recommended)
This polaristaion is recommended for the master
Line terminator One 120 H 0.25W resistor in series with 1nF 10V capacitor
Common polarity Yes (Common), connected to the protective ground at one or more point of the bus
10 S1A28698 09/2012
Configuration
Configuration

Topic Page
Notation 12
Configuring the Communication Parameters 13
Configuring the Control Channels 14
I/O Scanner 16
Configuring Monitor Parameters 18
Configuring Communication Interruption Management 19
S1A28698 09/2012 11
Configuration
Notation
Drive Terminal Displays

The graphic display terminal (to be ordered separately - reference VW3 A1 101) menus are shown in square
brackets.
Example: [COMMUNICATION]
The integrated 7-segment display terminal menus are shown in round brackets.
Example: (COM-)
Parameter names are displayed on the graphic display terminal in square brackets.
Example: [Fallback speed]
Parameter codes are displayed on the integrated 7-segment display terminal in round brackets.
Example: (LFF)
Formats
In this manual, hexadecimal values are written as follows: 16#
12 S1A28698 09/2012
Configuration
Configuring the Communication Parameters
Configuration of the Modbus communication functions of the Altivar 32 can be accessed from the
[CONFIGURATION] (COnF) / [FULL] (FULL) / [COMMUNICATION] (COM-) menu /
[MODBUS NETWORK] (Md1-).
Parameter description Range or listed values Default Possible value Modbus

address
[Modbus Address] 1 to 247 [OFF] [OFF; 1 to 247] 16#1771 =
(Add) 0: OFF (broadcast only, see “Modbus (OFF) (OFF; 1...247) 6001
Protocol” on page 57)
[Modbus baud rate] 4,8 kbps [19.2 kbps] [4.8] (4.8) 16#1773 =
(tbr) 9,6 kbps (19.2) [9.6] (9.6) 6003
19,6 kbps (1) [19.2] (19.2)
38,4 kbps [38.4] (38.4)
[Modbus format] 8 data bits, odd parity, 1 stop bit [8E1] [8O1] (8O1) 16#1774 =
(tFD) 8 data bits, even parity, 1 stop bit (1) (8E1) [8E1] (8E1) 6004
8 data bits, no parity, 1 stop bit [8N1] (8n1)
8 data bits, no parity, 2 stop bits [8N2] (8n2)
[Modbus time out] Adjustable from 0.1 to 30s [10 s] (10) [0.1 to 30.0] 16#1775 =
(ttO) (0.1...30.0) 6005
(1) The graphic display terminal will only work with these values. Any other value will make communication with the graphic
display terminal impossible.
The drive must be restarted in order to take into account the Modbus parameter.
S1A28698 09/2012 13
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.
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:

[Ref.1 channel] (Fr1) [Modbus] (Mdb)
[Profile] (CHCF) [I/O profile] (IO)
[Cmd switching (CCS) Default
[Cmd channel 1] (Cd1) [Modbus] (Mdb)
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)
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 Ref1 Channel setting
Modbus base port [Modbus] (Mdb)
14 S1A28698 09/2012
Configuration
• [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 Ref1 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 Control Word

reference
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 settings will be the following:
[Ref.1 channel] (Fr1) [AI virtual 1] (AIU1)
[Profile] (CHCF) [Separate] (SEp)
[Cmd switching] (CCS) Default
[Cmd channel 1] (Cd1) [Modbus] (Mdb)
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
by the drive card
Control word (CMd) (CMd1) (CMd2) (CMd3)
Extended control word (CMI) (CMI1) (CMI2) (CMI3)
Speed reference (rpm) (LFrd) (LFrd1) (LFrd2) (LFrd3)
Frequency reference (0.1 Hz) (LFr) (LFr1) (LFr2) (LFr3)
PI regulator reference (PISP) (PIr1) (PIr2) (PIr3)
Analog multiplier reference (MFr) (MFr1) (MFr2) (MFr3)
S1A28698 09/2012 15
Configuration
I/O Scanner
Introduction
The communication scanner is useful when used in combination by the Modbus client device with the function
“Read/Write Multiple registers”: 23 (16#17), which provides in a single telegram a read multiple registers and
a write multiple registers. The detail of the function 23 is described in the supported Modbus functions.
Local Configuration of the Communication Scanner

The communication scanner is accessible via the following menus: [COMMUNICATION] (COM-) and
[COM. SCANNER INPUT] (ICS-), [COM. SCANNER OUTPUT] (OCS-) submenus.
The 8 output variables and the 8 input variables are assigned by means of parameters nCA1 to nCA8 and
nMA1 to nMA8. An nCAx or nMAx parameter with a value of zero is not linked to a parameter in the drive.
These parameters are described in the table.
nCAx or nMAx defines the addresses to:
Sub Menu Parameter description Default Modbus
assignment address
[COM. SCANNER INPUT] [Scan. IN1 address] (nMA1) Status 12701
(ICS-) Source drive address of the 1st input word (ETA) 16#319D
[Scan. IN2 address] (nMA2) Output speed 12702
Source drive address of the 2nd input word (RFRD) 16#319E
[Scan. IN3 address] (nMA3) 0 12703
Source drive address of the 3rd input word 16#319F
Source drive address of the 4th input word 16#31A0
[COM. SCANNER OUTPUT] [Scan.Out1 address] (nCA1) Command 12721
(OCS-) Destination drive address of the 1st output word (CMD) 16#31B1
[Scan.Out2 address] (nCA2) Speed target 12722
Destination drive address of the 2nd output word (LFRD) 16#31B2
[Scan.Out3 address] (nCA3) 0 12723
Destination drive address of the 3rd output word 16#31B3
Destination drive address of the 4th output word 16#31B4
16 S1A28698 09/2012
Configuration
Fast Task of the Communication Scanner

Only these parameters are available for fast tasks:
Fast read Parameters
(nMA1) to (nMA4) 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

(nCA1) to (nCA4) OL1R, AO1R, AO1C, CMD, LFR, PISP, LFRD, M001, M002, M003, M004, M005, M006,
M007, M008
Monitoring the Communication Scanner

It is also possible to monitor the parameters value that have been configured in the communication
scanner.This monitored values are accessible via the following menus: [COMMUNICATION MAP] (CMM-)
and [COM. SCANNER INPUT MAP] (ISA-), [COM SCAN OUTPUT MAP] (OSA-) submenu.
The 8 output variable values and the 8 input variable values are located into parameters
[Com Scan Out1 val.] (nC1) to [Com Scan Out8 val.] (nC8) and [Com Scan In1 val.] (nM1) to
[Com Scan In8 val.] (nM8).
Sub Menu Parameter description Default Modbus

assignment address
[COM. SCANNER INPUT MAP] [Com Scan In1 val.] (nM1) ETA value 12741
(ISA-) Source drive value of the 1st input word 16#31C5
[Com Scan In2 val.] (nM2) RFRD value 12742
Source drive value of the 2nd input word 16#31C6
[Com Scan In3 val.] (nM3) 0 12743
Source drive value of the 3rd input word 16#31C7
Source drive value of the 4th input word 16#31C8
Source drive value of the 5th input word 16#31C9
Source drive value of the 6th input word 16#31CA
Source drive value of the 7th input word 16#31CB
Source drive value of the 8th input word 16#31CC
[COM SCAN OUTPUT MAP] [Com Scan Out1 val.] (nC1) CMD value 12761
(OSA-) Destination drive value of the 1st output word 16#31D9
[Com Scan Out2 val.] (nC2) LFRD value 12762
Destination drive value of the 2nd output word 16#31DA
[Com Scan Out3 val.] (nC3) 0 12763
Destination drive value of the 3rd output word 16#31DB
Destination drive value of the 4th output word 16#31DC
Destination drive value of the 5th output word 16#31DD
Destination drive value of the 6th output word 16#31DE
Destination drive value of the 7th output word 16#31DF
Destination drive value of the 8th output word 16#31E0
S1A28698 09/2012 17
Configuration
Configuring Monitor Parameters
These parameters are visible only with the graphic display terminal.
Up to 4 parameters can be selected and their value displayed in the [1.2 MONITORING] menu on the graphic
display terminal (to be order separately - reference VW3 A1 101).
The selection is made via the [3. INTERFACE] / [3.3 MONITORING CONFIG.] menu ([COM. MAP CONFIG.]
submenu).
Each of the parameters [Word 1 add. select.] ... [Word 4 add. select.] can be used to select the logic address
of the parameter. 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 (LFT): Logic address 7121; hexadecimal format
• Disabled parameter: Address W0; default format: Hexadecimal format
RDY MDB +0.00Hz 0A

COM.. MAP CONFIG.
Address 1 select : 3204
Format address 1 : Signed
Format address 2 : Signed
Code Quick
Format address 3 : Hex
Format address 3 : 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 -32 768 ... 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 on the [COMMUNICATION MAP] screen will be “••••” (See “Diagnostics” on page 20.)
18 S1A28698 09/2012
Configuration
Configuring Communication Interruption Management
If the drive does not receive any Modbus request sent to its address for a predefined period of time (time out),
a Modbus detected fault is triggered.
The “time out” can be set to between 0.1 and 30 s using the graphic display terminal or integrated display
terminal via the [Modbus time out] (ttO) parameter in the [COMMUNICATION] (COM-) menu
([MODBUS NETWORK] (Md1-) submenu). The default value is 10 s.
Configuration can be performed using the graphic display terminal or integrated display terminal via the
[Modbus fault mgt] (SLL) parameter in the [FAULT MANAGEMENT] (FLt-) menu
([COM. FAULT MANAGEMENT] (CLL-) submenu).
RDY MDB +0.00Hz 0A
COM. FAULT MANAGEMENT
Network fault mgt : Freewheel
CANopen fault mgt : Freewheel
Modbus fault mgt : Freewheel
Code Quick
The values of the [Modbus fault mgt] (SLL) parameter, which trigger a drive detected fault
[Modbus com.] (SLF1), 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 [Modbus fault mgt] (SLL) 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 Modbus fault management [Modbus fault mgt] (SLL) 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.
S1A28698 09/2012 19
Diagnostics
Diagnostics

Topic Page
Communication Diagnostics 21
Modbus Counters 21
Modbus Communication Stat 21
20 S1A28698 09/2012
Diagnostics
Communication Diagnostics
These parameters are visible only with the graphic display terminal.
On the terminal, in the [1.2 MONITORING] menu ([COMMUNICATION MAP] (CMM-) submenu):
The [MODBUS NETWORK DIAG] (Mnd-) submenu can be used to display the status of Modbus network
communications.
RUN MDB +50.00Hz 80A

MODBUS NETWORK DIAG
COM LED : Indicates a LED, which is not lit.
Mb net frames nb. : 568
Mb net crc errors : 0
Code Quick
Modbus Counters
• [Mb NET frames nb.] (M1Ct) indicate the number of Modbus frames received. The counter counts both
correct and incorrect frames.
• [Mb NET CRC errors] (M1EC) indicate the number of Modbus frames containing checksum errors.
In the case of these two counters, only frames that are destined for the drive and whose Modbus address is
supplied by the [Modbus Address] (Add) parameter are counted. Broadcast frames are not counted.
[Mb NET frames nb.] (M1Ct) is modulo 65 536 counters, i.e., the value is reset to zero once the value of
65 535 is reached.
By contrast, the [Mb NET CRC errors] (M1EC) remain at 65 535 once this value is reached.
Each Modbus counter corresponds to a drive parameter:
Menu Parameter name Code Logical address
[MODBUS NETWORK DIAG] [Mb NET frames nb.] (M1Ct) 6011
[Mb NET CRC errors] (M1EC) 6010
Modbus Communication Stat
This can be accessed from the menu:

[1.3 CONF] (COnF) / [FULL] (FULL) / [COMMUNICATION] (COM-) /
[MODBUS NETWORK] (Md1-) / [Mdb com stat] (COM1)
(r0t0): Modbus no reception, no transmission = communication idle
(r0t1): Modbus no reception, transmission
(r1t0): Modbus reception, no transmission
(r1t1): Modbus reception and transmission
S1A28698 09/2012 21
Profiles
Profiles

Topic Page
Definition of a Profile 23
Functional Profiles Supported by the Altivar 32 24
22 S1A28698 09/2012
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.
S1A28698 09/2012 23
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 25.
24 S1A28698 09/2012
CiA®402 - IEC61800-7 Functional Profile

Topic Page
Functional Description 26
CiA402 State Chart 27
Description of States 28
Summary 29
Control Word (CMd) 30
Stop Commands 31
Assigning Control Word Bits 31
Status Word (EtA) 32
Starting Sequence 33
Sequence for a Drive Powered by the Power Section Line Supply 34
Sequence for a Drive With Separate Control Section 36
Sequence for a Drive with Line Contactor Control 39
S1A28698 09/2012 25
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
26 S1A28698 09/2012
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#xxx7
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
S1A28698 09/2012 27
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.
28 S1A28698 09/2012
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
S1A28698 09/2012 29
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

MANUFACTUR MANUFACTUR MANUFACTUR MANUFACTUR Manufacturer Reserved (=0) Reserved (=0) Halt
ER SPECIFIC ER SPECIFIC ER SPECIFIC ER 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.
30 S1A28698 09/2012
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.
If the “Halt” command is active, power is supplied to the motor and torque can be applied during “Halt” state
through DC injection when ADC = CT or LI DCI active.
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 Integrated Modbus
bit 11 C111
bit 12 C112
bit 13 C113
bit 14 C114
bit 15 C115
For example, to assign the DC injection braking to bit 13 of Modbus, simply configure the
[DC injection assign.] (dCI) parameter with the [C113] (C113) value.
Bit 11 is assigned by default to the operating direction command [Reverse assign.] (rrS).
S1A28698 09/2012 31
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 MANUFACTUR Reserved (=0) Reserved (=0) Internal limit Target reached Remote Reserved (=0)
specific ER 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.
32 S1A28698 09/2012
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.
S1A28698 09/2012 33
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
34 S1A28698 09/2012
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.
S1A28698 09/2012 35
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
36 S1A28698 09/2012
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
S1A28698 09/2012 37
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
38 S1A28698 09/2012
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
S1A28698 09/2012 39
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
40 S1A28698 09/2012
Software Setup with Unity (M340)

Topic Page
Introduction 42
Drive Configuration 43
Modbus Master Configuration 44
S1A28698 09/2012 41
Introduction
Here is an example of an application that shows how to control an ATV32 with a M340 PLC equipped with a
Modbus master serial port. The operator can control the drive directly from Unity. The version of Unity used
here is Unity Pro XL V4.0.
In the example, the communication scanner 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.
M340 with P342010 CPU
42 S1A28698 09/2012
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 Modbus Master, it is necessary to select Modbus as command channel active.
Goto to:
• [1.3 CONFIGURATION] (COnF),
• [FULL] (FULL)
• [COMMAND] (CtL-) menu
And then configure:
• [Ref.1 channel] (Fr1) parameter to [Modbus] (Mdb) value.
Communication Configuration
Select the Modbus address in the menu:
• [1.3 CONFIGURATION] (COnF)
• [FULL] (FULL)
• [COMMUNICATION] (COM-) menu
• [MODBUS NETWORK] (Md1-)
And then configure:
• [Modbus address] (Add) parameter to [2] (2) value.
The drive must be restarted in order to take into account the Modbus address.
S1A28698 09/2012 43
Modbus Master Configuration
In this example, the Modbus Master configuration is done with Unity.
Serial Port Configuration

Configure the serial port as Master. The other default settings are compliant with the default settings of the
ATV32.
44 S1A28698 09/2012
Data Structure Declaration

Create the following table (DevicePath). DevicePath describes the path to the device including its slave
address.
5
4
1
6
2
3
Then create the 4 others tables as arrays from 0 to 3 of integer.
S1A28698 09/2012 45
As all the tables declared are dynamic (no fixed address), it is necessary in the project setting to «Allows
dynamic array» and to «Directly represented array variables». The parametrization must be done in the menu
«Tool», «Project Settings», «Language extensions» window.
46 S1A28698 09/2012
Program
Create a program in MAST section.
1
3
The communication is based on the READ_VAR, WRITE_VAR functions. During the first execution of the
MAST task, you can initialize the data structure used by these two functions.
ReadVarMgt and WriteVarMgt are arrays used respectively by READ_VAR and WRITE_VAR. Only the 3rd
element of these arrays is modifiable by the user to define the timeout duration of the requests.
In our example, the application manages 2 requests:
- A read request of 4 words starting at Modbus address 12741 (16#31C5). It is the address of the first
word of the input scanner of the drive [Com Scan In1 val.] (nM1). Modbus function #3. The
information is sent from the PLC to the drive. The table ATV32_NM is used. The 2 first words are
mapped by default.
Name Address Comment
ATV32_NM(0) 12741 default: ATV32 ETA (status word)
ATV32_NM(1) 12742 default: ATV32 RFRD (output speed)
ATV32_NM(2) 12743 -
ATV32_NM(3) 12744 -
- A write request of 4 words starting at Modbus address 12761 (16#31D9). It is the address of the first
word of the input scanner of the drive [Com Scan Out1 val.] (nC1). Modbus function #16.The
information is sent from the drive to the PLC. The table ATV32_NC is used. The 2 first words are
mapped by default.
ATV32_NC(0) 12761 default: ATV32 CMD (command word)
ATV32_NC(1) 12762 default: ATV32 LFRD (speed referenced)
ATV32_NC(2) 12763 -
ATV32_NC(3) 12764 -
S1A28698 09/2012 47
48 S1A28698 09/2012
Software Setup with SoMachine (M238)

Topic Page
Introduction 50
Drive Configuration 51
Modbus Master Configuration 52
S1A28698 09/2012 49
Introduction
Here is an example of an application that shows how to control an ATV32 with a M238 PLC equipped with a
Modbus port. The operator can control the drive directly from SoMachine.
In the example, the communication scanner 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
50 S1A28698 09/2012
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 Modbus Master, it is necessary to select Modbus as command channel active.
Goto to:
• [1.3 CONFIGURATION] (COnF),
• [FULL] (FULL)
• [COMMAND] (CtL-) menu
And then configure:
• [Ref. 1 channel] (Fr1) parameter to [Modbus] (Mdb) value.
Communication Configuration
Select the Modbus address in the menu:
• [1.3 CONFIGURATION] (COnF)
• [FULL] (FULL)
• [COMMUNICATION] (COM-) menu
• [MODBUS NETWORK] (Md1-)
And then configure:
• [Modbus address] (Add) parameter to [2] (2) value.
The drive must be restarted in order to take into account the Modbus address.
S1A28698 09/2012 51
Modbus Master Configuration
In this example, the Modbus master configuration is done with SoMachine.
Serial Port Configuration

Configure the serial port as Master.
52 S1A28698 09/2012
Add device Modbus IOScanner Schneider Electric
The other default settings are compliant with the default settings of the ATV32.
S1A28698 09/2012 53
Configure the ATV32 slave address.
Check the transmission mode (RTU) and the timeout.
Read/Write Multiple Registers Function (#23)

The communication is based on the READ/WRITE Multiple registers function.
In our example, the application manages 1 function (#23) which includes 2 requests:
- A read request of 4 words starting at Modbus address 12741 (16#31C5). It is the address of the first
word of the input scanner of the drive [Com Scan In1 val.] (nM1). The information is sent from the
PLC to the drive. The 2 first words are mapped by default.
ATV32_NM(0) 12741 default: ATV32 ETA (status word)
ATV32_NM(1) 12742 default: ATV32 RFRD (output speed)
ATV32_NM(2) 12743 -
ATV32_NM(3) 12744 -
- A write request of 4 words starting at Modbus address 12761 (16#31D9). It is the address of the first
word of the input scanner of the drive [Com Scan Out1 val.] (nC1). The information is sent from
the drive to the PLC. The 2 first words are mapped by default.
ATV32_NC(0) 12761 default: ATV32 CMD (command word)
ATV32_NC(1) 12762 default: ATV32 LFRD
(speed referenced)
ATV32_NC(2) 12763 -
ATV32_NC(3) 12764 -
54 S1A28698 09/2012
- Select the Read/Write Multiple Registers function (1),

- Enter the address of the first read word and the length of the table (2),
- Enter the address of the first write word and the length of the table (3),
- Validate the function with «Enter» (4).
3
4
Use the «Modbus Master I/O Mapping» to exchange data with the drive.
S1A28698 09/2012 55
Modbus Functions
Modbus Functions

Topic Page
Modbus Protocol 57
Supported Modbus Functions 58
56 S1A28698 09/2012
Modbus Functions
Modbus Protocol
Introduction
The transmission mode used is RTU mode. The frame contains no message header byte, nor end of message
bytes.
It is defined as follows:
Slave
Request code Data CRC16
address
The data is transmitted in binary code.

CRC16: cyclical redundancy check.
The end of the frame is detected on a silence greater than or equal to 3 characters.
Principle
The Modbus protocol is a master-slave protocol.
Master
Slave i Slave j Slave k
Only one device can transmit on the line at any time.

The master manages the exchanges and only it can take the initiative.
It interrogates each of the slaves in succession.
No slave can send a message unless it is invited to do so.
The master repeats the question when there is an incorrect exchange, and declares the interrogated slave
absent if no response is received within a given time period.
If a slave does not understand a message, it sends an exception response to the master. The master may or
may not repeat the request.
Direct slave-to-slave communications are not possible.
For slave-to-slave communication, the application software must therefore be designed to interrogate a slave
and send back data received to the other slave.
Two types of dialogue are possible between master and slaves:
• the master sends a request to a slave and waits for its response
• the master sends a request to all slaves without waiting for a response (broadcasting principle)
Addresses
• The drive Modbus address can be configured from 1 to 247.
• Address 0 coded in a request sent by the master is reserved for broadcasting. ATV32 drives take account
of the request, but do not respond to it.
S1A28698 09/2012 57
Modbus Functions
Supported Modbus Functions
Introduction
The Altivar 32 supports the following Modbus functions:
Function name Code Description Remarks
Read Holding Registers 03 Read N output words Max PDU length: 63 words
16#03
Write One Output Word 06 Write one output word -
16#06
Write Multiple Registers 16 Write N output word Max PDU length: 61 words
16#10
Read/write Multiple Registers 23 Read/write multiple registers Max PDU length: 20 words (W),
16#17 20 words (R)
(Sub-function) 43/14 Encapsulated interface transport / -
Read Device Identification 16#2B Read device identification
16#0E
Diagnostics 08 Diagnostics -
58 S1A28698 09/2012
Modbus Functions
Read Holding Registers

Request
Function code 1 Byte 16#03
Starting Address 2 Bytes 16#0000 to 16#FFFF
Quantity of Registers 2 Bytes 1 to 63 (16# 3F)
Response
Byte count 1 Byte 2 x N(1)
Register value N(1) x 2 Bytes
(1) N: Quantity of Registers
Error
Error code 1 Byte 16#83
Exception code 1 Byte 01 or 02 or 03 or 04
Example
This function can be used to read all ATV32 words, both input words and output words.
Request
Slave 03 No. of first word Number of words CRC16
no. Hi Lo Hi Lo Lo Hi
1 byte 1 byte 2 bytes 2 bytes 2 bytes
Hi = high order byte, Lo = low order byte.
Response
Slave 03 Number of First word value ------ Last word value CRC16
no. bytes read Hi Lo Hi Lo Lo Hi
1 byte 1 byte 1 byte 2 bytes 2 bytes 2 bytes
Hi = high order byte, Lo = low order byte.
Example: read 4 words W3102 to W3105 (16#0C1E to 16#0C21) in slave 2, using function 3, where:
• SFr = Switching frequency = 4 kHz (W3102 = 16#0028)
• tFr = Maximum output frequency = 60 Hz (W3103 = 16#0258)
• HSP = High speed = 50 Hz (W3104 = 16#01F4)
• LSP = Low speed = 0 Hz (W3105 = 16#0000)
Request:
02 03 0C1E 0004 276C
Response:
02 03 08 0028 0258 01F4 0000 52B0
Value of: W3102 W3103 W3104 W3105
Parameters: SFr tFr HSP LSP
S1A28698 09/2012 59
Modbus Functions
Write One Output Word

Request
Register Address 2 Bytes 16#0000 to 16#FFFF
Register value 2 Bytes 16#0000 to 16#FFFF
Response
Register Address 2 Bytes 16#0000 to 16#FFFF
Register value 2 Bytes 16#0000 to 16#FFFF
Error
Error code 1 Byte 16#86
Exception code 1 Byte 01 or 02 or 03 or 04
Example
Request and response (the frame format is identical)
Slave 06 Word number Value of word CRC16
no. Hi Lo Hi Lo Lo Hi
Example: write value 16#000D in word W9001 (16#2329) in slave 2 (ACC = 1.3 s).
Request and response 02 06 2329 000D 9270
60 S1A28698 09/2012
Modbus Functions
Write Multiple Register

Request
Slave no. 10 No. of first word Number of words Number of Value of first word -- CRC16
Hi Lo Hi Lo bytes Hi Lo Lo Hi
1 byte 1 byte 2 bytes 2 bytes 1 byte 2 bytes 2 bytes
Response
Slave no. 10 No. of first word Number of words CRC16
Hi Lo Hi Lo Lo Hi
Example: Write values 20 and 30 to words W9001 and W9002 on slave 2 (acceleration time = 2 s and
deceleration time = 3 s)
Request
Slave Request No. of first Number of Number of Value of first Value of CRC16
no. code word words bytes word second word
Hi Lo Hi Lo Hi Lo Hi Lo Lo Hi
02 10 23 29 00 02 04 00 14 00 1E 73 A4
Response
Slave no. Response code No. of first word Number of words CRC16
Hi Lo Hi Lo Lo Hi
02 10 23 29 00 02 9B B7
(hexadecimal values)
S1A28698 09/2012 61
Modbus Functions
Read/write Multiple Registers
Description Length in byte Value Comment

Function code 1 16#17 -
Read starting address 2 16#XXXX Always Modbus address
Quantity 2 16#03 Contain number of holding registers to be read
Write starting address 2 16#XXXX Always Modbus address
Quantity 2 16#03 Contain number of holding registers to be written
Write Byte count 1 16#06 The byte count specifies the number of bytes to follow in the
field Write Register Value
Write Registers Value 6 16#XX Value to be written respectively in NCA1 to NCA3, so the
XXXX configured example:
XXXX CMD, LFRD, CMI
XX
Example
Slave n° Function Read starting Read starting Qty Write starting Write starting Qty
Code Address HI Address LOW Address HI Address LOW
1 byte 1 byte 1 byte 1 byte 2 byte 1 byte 1 byte 2 byte
Write byte Writing Writing Value

count Value 1 Lo Value 1 HI 1.. 2... 3...n ... CRC16
Value 1 HI
1 byte 1 byte 1 byte 1 byte 1 byte 2 byte
62 S1A28698 09/2012
Modbus Functions
Read Device Identification
ID Name / Description Type

16#00 VendorName ASCII String
16#01 ProductCode ASCII String
16#02 MajorMinorRevision ASCII String
16#04 ProductName ASCII String
Example
Default values to be detailed
Request
Slave 2B Type of MEI ReadDeviceId Object Id CRC16
no. 0E 01 00 Lo Hi
1 byte 1 byte 1 byte 1 byte 1 byte 2 bytes
Response
Slave 2B Type of MEI ReadDeviceId Degree of conformity -------
no. 0E 01 02
1 byte 1 byte 1 byte 1 byte 1 byte
------- Number of additional frames Next object Id Number of objects -------

00 00 03
1 byte 1 byte 1 byte
------- Id of object no. 1 Length of object no. 1 Value of object no. 1 -------
00 12 “Schneider Electric”
1 byte 1 byte 18 bytes
01 0B “ATV32HU75M3”
02 04 “0201”
------- CRC16
Lo Hi
1 byte 1 byte
The total response size equals 49 bytes

The three objects contained in the response correspond to the following objects:
• Object no. 1: Manufacturer name (always “Schneider Electric”, ie. 18 bytes).
• Object no. 2: Device reference (ASCII string; for example: “ATV32HU75M3”, ie. 11 bytes).
• Object no. 3: Device version, in “MMmm” format where “MM” represents the determinant and “mm” the
subdeterminant (4-bytes ASCII string; for example: “0201” for version 2.1).
NOTE: The response to function 43 may be negative; in this case, the response located at the top of the next
page is sent by the Altivar 32 rather than the response described above.
S1A28698 09/2012 63
Modbus Functions
Diagnostics
Subcode 16#00: Echo
This function asks the slave being interrogated to echo (return) the message sent by the master in its entirety.
Subcode 16#0A: Counter reset

This function resets all the counters responsible for monitoring a slave’s exchanges.
Subcode 16#0C: Read message counter responsible for counting messages received with checksum errors
Subcode 16#0E: Read message counter responsible for counting messages addressed to slave
Read a word indicating the total number of messages addressed to the slave, regardless of type (excluding
broadcast messages).
Request and response

Slave no. 08 Subcode Data CRC16
Hi Lo Hi Lo Lo Hi
1 byte 1 byte 2 bytes N bytes 2 bytes
Subcode Request data Response data Function executed

00 XX YY XX YY Echo
0A 00 00 00 00 Counter reset
0C 00 00 XX YY Read message counter responsible for counting messages
(= counter value) received with checksum errors
0E 00 00 XX YY Read message counter responsible for counting messages
(= counter value) addressed to slave
Example: Values 16#31 and 16#32 echoed by slave 4
Request and response (if function successful)

Slave no. Request code or Response Subcode Value of 1st byte Value of 2nd byte CRC16
code
Hi Lo Lo Hi
04 08 00 00 31 32 74 1B
(hexadecimal values)
64 S1A28698 09/2012
ATV32_Modbus Manual_S1A28698_02
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Altivar 32

Variable speed drives for

Modbus Communication Manual

About the Book

Product Related Information

What's in this Chapter?

Connection accessories should be ordered separately (please consult our catalogues).

(1) Modbus signals

Protection Against Interference

RS485 Bus Schematic

The RS485 standard allows variants of different characteristics:

What's in this Chapter?

Drive Terminal Displays

Configuring the Communication Parameters

Parameter description Range or listed values Default Possible value Modbus

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:

Speed Control Word

Command and Reference Channels

Local Configuration of the Communication Scanner

Fast Task of the Communication Scanner

Fast write Parameters

Monitoring the Communication Scanner

Sub Menu Parameter description Default Modbus

Configuring Monitor Parameters

RDY MDB +0.00Hz 0A

NOTE: If a monitored parameter:

Configuring Communication Interruption Management

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

What's in this Chapter?

RUN MDB +50.00Hz 80A

Modbus Communication Stat

This can be accessed from the menu:

What's in this Chapter?

There are three types of profile:

Functional Profiles Supported by the Altivar 32

CiA®402 - IEC61800-7 Functional Profile

What's in this Chapter?

Simplified diagram of speed control in “Velocity” mode:

Limit Ramp Power device

vl_velocity_min_max amount vl_velocity_acceleration (6048) vl_control_effort

Control word Status word

Simplified diagram of speed control in “Velocity” mode:

Reference limit Ramp Power module

Speed reference Speed reference

Speed min amount 1 Acceleration - Speed delta 1 Actual speed value

CiA402 State Chart

Not ready to switch on Fault reaction active

Operation enabled Quick stop Quick stop active

Power section line supply present

Transition condition Status display on

Each state represents an internal reaction by the drive.

State Drive internal reaction

State Drive internal reaction

Control Word (CMd)

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0