Altivar 61 - error

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Communication monitoring The <strong>Altivar</strong> <strong>61</strong> and its network ports feature mechanisms for monitoring and communication. Principle Following initialization (power-up), the drive checks that at least one command or reference parameter has been written for the first time by the active network. Then, if a communication fault occurs on this network (in accordance with the protocol-specific criteria) the drive will react according to the configuration (fault, maintain, fallback, etc.). The drive only starts once all the command and reference parameters of the active network have been written. Network monitoring criteria The network is monitored according to the protocol-specific criteria, which are summarized below. These criteria are described in the manual for the network concerned. If an anomaly is detected, the port or network card sends a communication alarm. Protocol Criteria Related fault (1) Integrated Modbus ports • Adjustable time-out for received requests destined for the drive. [Modbus fault] (SLF) Integrated CANopen port Modbus TCP/IP Ethernet card Fipio card Modbus Plus cards Modbus card Uni-Telway card Profibus DP card DeviceNet cards INTERBUS card • Heartbeat • Bus Off • Overrun • NMT state machine transition • FDR fault • IP address duplication fault (1) The fault is triggered under certain conditions. • Adjustable time-out for received control word (I/O scanning or messaging) • Network overload • Non-adjustable time-out for received periodic variables destined for the drive • Adjustable time-out: • Either for received periodic variables (Peer cop) destined for the drive • Or for Modbus messages destined for the drive, if no periodic variables (Peer cop) configured • Fixed time-out (10 s) for received requests destined for the drive • Fixed time-out (10 s) for master polling • Adjustable time-out (via the network configuration software) for received periodic variables (PZD and PKW) destined for the drive • Adjustable time-out: • Either for received periodic variables (Polling and COS) destined for the drive • Or for network activity, if no periodic variables configured • Time-out for received periodic variables destined for the drive [CANopen FAULT] (COF) [EXTERNAL FAULT NET.] (EPF2) [NETWORK FAULT] (CNF) 50
Communication monitoring Detailed operation Detailed operation is complex. It is not necessary to read this chapter except in certain situations, including: - When several networks can be used to control the drive - When the control variables are not sent automatically in order to optimize scan time (at the risk of triggering a communication fault) Monitoring of parameters • A parameter is involved in controlling the drive if it is configured as a drive function input. Example: If the operation on reference function is active and reference 2 has been assigned to Modbus, the Modbus reference plays a part in control. • For each communication channel, the drive monitors all the command and reference parameters likely to be involved in controlling the drive: • The control word (CMD) • The speed reference (LFRD) • The frequency reference (LFR) • The PID regulator reference (PISP) • The PID regulator feedback (AIU1) • The reference multiplication coefficient (MFR) • As soon as one of these parameters has been written once to a communication channel, it is confirmed on that channel. • The confirmation of monitored network parameters is reset: • In the event of a communication alarm • In forced local Monitoring of communication channels • Certain communication channels are said to be obligatory participants if they are obliged to supply one of the following parameters: • The control word (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 (LFR or LFRD) from the active reference channel • Summing frequency or speed reference (LFR or LFRD) 2 (assigned to [Summing ref. 2] (SA2)) • Summing frequency or speed reference (LFR or LFRD) 3 (assigned to [Summing ref. 3] (SA2)) • Subtracting frequency or speed reference (LFR or LFRD) 2 (assigned to [Subtract ref. 2] (dA2)) • Subtracting frequency or speed reference (LFR or LFRD) 3 (assigned to [Subtract ref. 3] (dA3)) • The PID regulator reference (PISP) • The PID regulator feedback (AIU1) • The reference multiplication coefficient (MFR) 2 (assigned to [Multiplier ref. 2] (MA2)) • The reference multiplication coefficient (MFR) 3 (assigned to [Multiplier ref. 3] (MA3)) • Confirming a parameter on an obligatory participant channel 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 fault. The drive reacts according to the communication fault configuration (fault, maintenance, fallback, etc.) • If a communication alarm occurs on a channel that is not being monitored, the drive will not trigger a communication fault. Example: A drive is powered up. It is connected to CANopen, which is the active channel. The PLC is powered up but is not in RUN mode. Therefore, the bus is active but no parameter is sent to the drive yet. If the CANopen bus is disconnected, a "Bus off" alarm is triggered, but not a communication fault. 51
Page 1: Altivar 61 User's manual Communicat
Page 4 and 5: Table of Contents Measurement param
Page 6 and 7: Documentation structure Installatio
Page 8 and 9: Presentation All the drive function
Page 10 and 11: Profiles What is a profile? There a
Page 12 and 13: I/O profile Definition The behavior
Page 14 and 15: I/O profile Control word - run on s
Page 16 and 17: I/O profile Status word (ETA) bit 7
Page 18 and 19: DSP402 profile DSP402 state chart D
Page 20 and 21: DSP402 profile Quick stop active Em
Page 22 and 23: DSP402 profile "Halt" command: The
Page 24 and 25: DSP402 profile Starting sequence Th
Page 26 and 27: DSP402 profile • Check that the d
Page 30 and 31: DSP402 profile Sequence for a drive
Page 34 and 35: Command/reference switching Not sep
Page 36 and 37: Command/reference switching Channel
Page 38 and 39: Command/reference switching Referen
Page 40 and 41: Command/reference switching Assigni
Page 42 and 43: Command/reference switching DSP402
Page 44 and 45: Forced local mode Definition Forced
Page 46 and 47: Forced local Forced local mode and
Page 48 and 49: Priority stops Priority stops Prior
Page 52 and 53: Communication monitoring • The dr
Page 54 and 55: Communication monitoring Reaction t
Page 56 and 57: Assignment of references from a net
Page 58 and 59: Configuration saving and switching
Page 66 and 67: Parameter set switching The paramet
Page 68 and 69: Parameter set switching Table of va
Page 70 and 71: Control parameters Code Description
Page 72 and 73: Control parameters Code Description
Page 74 and 75: Status parameters Code Description
Page 82 and 83: Output value parameters Output valu
Page 84 and 85: Reference parameters References (sp
Page 86 and 87: Measurement parameters Input measur
Page 88 and 89: Measurement parameters Code Descrip
Page 90 and 91: I/O parameters Code Description AI1
Page 92 and 93: I/O parameters Code Description AO3
Page 94 and 95: Fault parameters Code Description L
Page 96 and 97: Fault parameters Code Description C
Page 98 and 99: Fault parameters Code Description F
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Log parameters Code Description IP0
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Log parameters Code Description ULP
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Identification parameters Code Desc
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Communication parameters Code Descr
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"Controller Inside" parameters Code
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DSP402 standard configuration and a
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DSP402 standard configuration and a
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[1.1 SIMPLY START] (SIM-) Code Desc
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[1.3 SETTINGS] (SEt-) Code Descript
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[1.4 MOTOR CONTROL] (drC-) Code Des
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[1.5 INPUTS / OUTPUTS CFG] (I-O-) [
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[1.5 INPUTS / OUTPUTS CFG] (I-O-) C
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[1.6 COMMAND] (CtL-) Code Descripti
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[1.7 APPLICATION FUNCT.] (FUn-) [RE
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[1.7 APPLICATION FUNCT.] (FUn-) [RA
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[1.7 APPLICATION FUNCT.] (FUn-) Cod
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[1.7 APPLICATION FUNCT.] (FUn-) [ST
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[1.7 APPLICATION FUNCT.] (FUn-) [JO
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[1.7 APPLICATION FUNCT.] (FUn-) [+/
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[1.7 APPLICATION FUNCT.] (FUn-) [FL
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[1.7 APPLICATION FUNCT.] (FUn-) [LI
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[1.7 APPLICATION FUNCT.] (FUn-) [MU
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[1.7 APPLICATION FUNCT.] (FUn-) [AU
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[1.8 FAULT MANAGEMENT] (FLt-) [PTC
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[1.8 FAULT MANAGEMENT] (FLt-) [AUTO
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[1.8 FAULT MANAGEMENT] (FLt-) [MOTO
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[1.8 FAULT MANAGEMENT] (FLt-) [OUTP
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[1.8 FAULT MANAGEMENT] (FLt-) [THER
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[1.8 FAULT MANAGEMENT] (FLt-) [UNDE
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[1.8 FAULT MANAGEMENT] (FLt-) [IGBT
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[1.8 FAULT MANAGEMENT] (FLt-) [FAUL
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[1.8 FAULT MANAGEMENT] (FLt-) [TORQ
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[1.8 FAULT MANAGEMENT] (FLt-) [AUTO
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[1.8 FAULT MANAGEMENT] (FLt-) [DC I
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Index of parameter names Name Code
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Index of parameter codes Code Name
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Index of parameter logic addresses
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Index of parameter CANopen addresse
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Index of parameter INTERBUS address
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Index of parameter DeviceNet addres
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atv61_Parameters_EN_V1 2006-01
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