Altivar Process

Ethernet Manual (Embedded)

08/2014
EAV64327.01

www.schneider-electric.com
 The information provided in this documentation contains general descriptions and/or technical character-
istics 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.
© 2014 Schneider Electric. All rights reserved.

2 EAV64327 08/2014
 Table of Contents

Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
About the Book. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 1 Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Hardware Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Software Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Chapter 2 Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Network Layer Supported Functions/Protocols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
TCP and UDP Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.2 Modbus TCP Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Modbus TCP Frames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Modbus TCP Servers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Supported Modbus TCP Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Application Profile with Modbus TCP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Chapter 3 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Hardware Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Firmware Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Connection to the Adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Electrical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Cable Routing Practice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Chapter 4 Software Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.1 Basic Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
IP Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
[Device Name] ( PAn) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
[IP mode Eth Embd] ( IM00) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
[IP Eth Embd] (IC01) (IC02) (IC03) (IC04) . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
[IP Mask Eth Embd] (IM01) (IM02) (IM03) (IM04) . . . . . . . . . . . . . . . . . . . . . . 39
[IP Gate Eth Embd] (IG01) (IG02) (IG03) (IG04) . . . . . . . . . . . . . . . . . . . . . . . 40
[MAC @] (MAC). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
[ETH emb Rx frames] ( ErXE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
[ETH emb Tx frames] ( EtXE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
[ETH emb error frames] ( EErE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
[Ethernet Rate Data] ( ArdE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
[Ethernet Embd cmd.] ( CMd5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
[Ethernet Embd Ref Freq] ( LFr5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
[Enable Web Services] ( EWEE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
[Reset EmbWeb Passwd] ( rWPE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
[Ethernet Timeout] ( ttOb) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
4.2 Additional Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
FDR Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
[Embedded Eth Com Interrupt] ( EtHF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
[External Error] ( EPF1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Configuring I/O Scanning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.3 Fast Device Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Startup Detailed Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
FDR Operation Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Local Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Downloaded Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

EAV64327 08/2014 3
 4.4 Communication Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Definition of a Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Functional Profiles Supported by the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
CIA402 Operating State Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Description of Operating States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Control Word ( CMd) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Stop Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Assigning Control Word Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Status Word ( EtA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Starting Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Sequence for a Drive Powered by the Power Stage Supply . . . . . . . . . . . . . . . . . . . . . . . . . 76
Sequence for a Drive with Separate Control Stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Sequence for a Drive with Mains Contactor Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
4.5 Embedded Webserver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Connection to the Webserver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Chapter 5 Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
5.1 Operating States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Configuring Communication Detected Error Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
5.2 Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Configuring the Control Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Configuration of the Drive for Operation in I/O Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Configuration of the Drive for Operation with CiA 402 Profile in Combined Mode. . . . . . . . . 89
Configuration of the Drive for Operation with CiA 402 Profile in Separate Mode. . . . . . . . . . 90
Chapter 6 Diagnostic and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Fieldbus Status LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Connection for Fieldbus Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Fieldbus Functions Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

4 EAV64327 08/2014
 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.

PLEASE NOTE
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.
A qualified person is one who has skills and knowledge related to the construction and operation of
electrical equipment and its installation, and has received safety training to recognize and avoid the
hazards involved.

Qualification Of Personnel
Only appropriately trained persons who are familiar with and understand the contents of this manual and
all other pertinent product documentation are authorized to work on and with this product. In addition, these
persons must have received safety training to recognize and avoid hazards involved. These persons must
have sufficient technical training, knowledge and experience and be able to foresee and detect potential
hazards that may be caused by using the product, by changing the settings and by the mechanical,
electrical and electronic equipment of the entire system in which the product is used. All persons working
on and with the product must be fully familiar with all applicable standards, directives, and accident
prevention regulations when performing such work.

EAV64327 08/2014 5
Intended Use
This product is a drive for three-phase synchronous and asynchronous motors and intended for industrial
use according to this manual.The product may only be used in compliance with all applicable safety
regulations and directives, the specified requirements and the technical data.Prior to using the product, you
must perform a risk assessment in view of the planned application. Based on the results, the appropriate
safety measures must be implemented.Since the product is used as a component in an entire system, you
must ensure the safety of persons by means of the design of this entire system (for example, machine
design). Any use other than the use explicitly permitted is prohibited and can result in hazards. Electrical
equipment should be installed, operated, serviced, and maintained only by qualified personnel.

Product Related Information

Read and understand these instructions before performing any procedure with this drive.

DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
z Only appropriately trained persons who are familiar with and understand the contents of this manual
and all other pertinent product documentation and who have received safety training to recognize and
avoid hazards involved are authorized to work on and with this drive system. Installation, adjustment,
repair and maintenance must be performed by qualified personnel.
z The system integrator is responsible for compliance with all local and national electrical code
requirements as well as all other applicable regulations with respect to grounding of all equipment.
z Many components of the product, including the printed circuit boards, operate with mains voltage. Do
not touch. Use only electrically insulated tools.
z Do not touch unshielded components or terminals with voltage present.
z Motors can generate voltage when the shaft is rotated. Prior to performing any type of work on the
drive system, block the motor shaft to prevent rotation.
z AC voltage can couple voltage to unused conductors in the motor cable. Insulate both ends of unused
conductors of the motor cable.
z Do not short across the DC bus terminals or the DC bus capacitors or the braking resistor terminals.
z Before performing work on the drive system:
z Disconnect all power, including external control power that may be present.
z Place a Do Not Turn On label on all power switches.
z Lock all power switches in the open position.
z Wait 15 minutes to allow the DC bus capacitors to discharge. The DC bus LED is not an indicator
of the absence of DC bus voltage that can exceed 800 Vdc.
Measure the voltage on the DC bus between the DC bus terminals (PA/+, PC/-) using a properly
rated voltmeter to verify that the voltage is <42 Vdc
z If the DC bus capacitors do not discharge properly, contact your local Schneider Electric represen-
tative. Do not repair or operate the product.
z Install and close all covers before applying voltage.
Failure to follow these instructions will result in death or serious injury.

WARNING
UNEXPECTED MOVEMENT
Drive systems may perform unexpected movements because of incorrect wiring, incorrect settings,
incorrect data or other errors.
z Carefully install the wiring in accordance with the EMC requirements.
z Do not operate the product with unknown or unsuitable settings or data.
z Perform a comprehensive commissioning test.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

Damaged products or accessories may cause electric shock or unanticipated equipment operation.

6 EAV64327 08/2014
 DANGER
ELECTRIC SHOCK OR UNANTICIPATED EQUIPMENT OPERATION
Do not use damaged products or accessories.
Failure to follow these instructions will result in death or serious injury.

Contact your local Schneider Electric sales office if you detect any damage whatsoever.

WARNING
LOSS OF CONTROL
z The designer of any control scheme must consider the potential failure modes of control paths and,
for 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, overtravel stop, power outage and restart.
z Separate or redundant control paths must be provided for critical control functions.
z System control paths may include communication links. Consideration must be given to the
implications of unanticipated transmission delays or failures of the link.
z Observe all accident prevention regulations and local safety guidelines (1).
z Each implementation of the product must be individually and thoroughly tested for proper operation
before being placed into service.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

(1) For USA: 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.

NOTICE
DESTRUCTION DUE TO INCORRECT MAINS VOLTAGE
Before switching on and configuring the product, verify that it is approved for the mains voltage
Failure to follow these instructions can result in equipment damage.

EAV64327 08/2014 7
8 EAV64327 08/2014
 About the Book

At a Glance

Document Scope
The purpose of this document is to:
z Show you how to connect the Ethernet fieldbus on your drive.
z Show you how to set up the drive to use Ethernet for monitoring and control.
z Provide examples of setup using commissioning software

NOTE: Read and understand this document and all related documents (see below) before
installing,operating, or maintaining your drive.

Validity Note
This documentation is valid for the drive Ethernet fieldbus.
The technical characteristics of the devices described in this document also appear online. To access this
information online:

Step Action
1 Go to the Schneider Electric home page www.schneider-electric.com.
2 In the Search box type the reference of a product or the name of a product range.
z Do not include blank spaces in the model number/product range.
z To get information on grouping similar modules, use asterisks (*).

3 If you entered a reference, go to the Product Datasheets search results and click on the reference that
interests you.
If you entered the name of a product range, go to the Product Ranges search results and click on the
product range that interests you.
4 If more than one reference appears in the Products search results, click on the reference that interests
you.
5 Depending on the size of your screen, you may need to scroll down to see the data sheet.
6 To save or print a data sheet as a .pdf file, click Download XXX product datasheet.

The characteristics that are presented in this manual should be the same as those characteristics that
appear online. In line with our policy of constant improvement, we may revise content over time to improve
clarity and accuracy. If you see a difference between the manual and online information, use the online
information as your reference.

Related Documents
Use your tablet or your PC to quickly access detailed and comprehensive information on all our products
on www.schneider-electric.com
The Internet site provides the information you need for products and solutions
z The whole catalog for detailed characteristics and selection guides
z The CAD files to help design your installation, available in over 20 different file formats
z All software and firmware to maintain your installation up to date
z A large quantity of White papers, environment documents, application solutions, specifications... To
gain a better understanding of electrical systems and equipment or automation
z All the user guides related to your drive, listed below:

Title of Documentation Reference Number

Altivar Process Getting Started EAV63253
Altivar Process Installation Manual EAV64301
Altivar Process Programming Manual EAV64318
Altivar Process Modbus Serial Link Manual (Embedded) EAV64325
Altivar Process Ethernet Manual (Embedded) EAV64327
Altivar Process Ethernet IP - Modbus TCP Manual (VW3A3720) EAV64328
Altivar Process PROFIBUS DP manual (VW3A3607) EAV64329

EAV64327 08/2014 9
 Title of Documentation Reference Number
Altivar Process DeviceNet manual (VW3A3609) EAV64330
Altivar Process PROFINET manual (VW3A3627) EAV64333
Altivar Process CANopen Serial Link Manual (VW3A3608, 618, 628) EAV64331
Altivar Process Communication Parameters EAV64332
Altivar Process Safety Function Manual EAV64334

You can download these technical publications and other technical information from our website at
www.schneider-electric.com.

Standards and Terminology

The technical terms, terminology, and the corresponding descriptions in this manual normally use the
terms or definitions in the relevant standards.
In the area of drive systems this includes, but is not limited to, terms such as error, error message, failure,
fault, fault reset, protection, safe state, safety function, warning, warning message, and so on.
Among others, these standards include:
z IEC 61800 series: Adjustable speed electrical power drive systems
z IEC 61508 Ed.2 series: Functional safety of electrical/electronic/programmable electronic safety-related
z EN 954-1 safety of machinery - Safety related parts of control systems
z EN ISO 13849-1 & 2 safety of machinery - Safety related parts of control systems.
z IEC 61158 series: Industrial communication networks - Fieldbus specifications
z IEC 61784 series: Industrial communication networks - Profiles
z IEC 60204-1: Safety of machinery - Electrical equipment of machines – Part 1: General requirements

10 EAV64327 08/2014
 Presentation

Chapter 1
Presentation

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Hardware Overview 12
Software Overview 13

EAV64327 08/2014 11
Presentation

Hardware Overview

General
The drive embeds an Ethernet communication port that can be used for Modbus TCP industrial
communication protocol.
In addition of the communication services provided by the protocol, the embedded adapter provides a set
of services at the Ethernet and TCP/IP level. The embedded adapter offers an embedded Web server
which offers comfortable displaying and commissioning functions directly from a standard web browser.

1 Ethernet Modbus TCP communication port

12 EAV64327 08/2014
 Presentation

Software Overview

Simplified TCP/IP Model

The table provides the basic overview to the simplified TCP/IP model

Application Modbus TCP

Transport TCP / UDP
Network IP
Link Ethernet

Modbus TCP Features Overview

EAV64327 08/2014 13
Presentation

14 EAV64327 08/2014
 Basics

Chapter 2
Basics

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
2.1 Introduction 16
2.2 Modbus TCP Features 22

EAV64327 08/2014 15
Basics

Introduction

Section 2.1
Introduction

What Is in This Section?

This section contains the following topics:
Topic Page
Overview 17
Network Layer Supported Functions/Protocols 18
TCP and UDP Protocol 20

16 EAV64327 08/2014
 Basics

Overview

Modbus TCP
The Modbus application layer is standard. Thousands of manufacturers are already implementing this
protocol. Many have already developed a Modbus TCP/IP connection and numerous products are
currently available. With the simplicity of its protocol and the fast Ethernet throughput data rate of
100 Mbit/s, Modbus TCP/IP achieves excellent performance.

TCP/IP and Ethernet Features

The product supports the following functions via:
z Manual IP address assignment
z Automatic IP address assignment via BOOTP or DHCP
z Automatic configuration data via FDR
z Commissioning via DTM-based commissioning software
z Diagnostics and configuration via integrated Web server

Webserver
The standard Web server (six languages) provides access to the following pages:
z My dashboard: Customer defined view based on widgets
z Display
z Diagnostics
z Drive
z Setup

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Network Layer Supported Functions/Protocols

ARP Protocol
The ARP (Address resolution protocol) is a protocol used by the IP (Internet protocol) network layer
protocol to map IP network addresses to hardware addresses (MAC address).
The protocol operates below the network layer as a part of the OSI link layer, and is used when IP is used
over Ethernet. A host, wishing to obtain a physical address, broadcasts an ARP request onto the TCP/IP
network. The host on the network that has the IP address in the request, then replies with its physical HA
(Hardware address).
There are four types of ARP messages which may be sent by the ARP protocol. They are identified by two
values in the “operation” field of an ARP message. The types of message are: ARP request; ARP reply.

0 8 15 16 31
Hardware type Protocol type
HLEN PLEN Operation
(Hardware address length) (Protocol address length)
Sender HA (bytes 0-3)
Sender HA (bytes 4-5) Sender IP (bytes 0-1)
Sender IP (bytes 2-3) Target HA (bytes 0-1)
Target HA (bytes 2-5)
Target IP (bytes 0-3)

ARP frames are described as follows:

z ARP request: it allows you to get the hardware (MAC) Address of a remote device.
z Gratuitous ARP: it allows you to announce the use of an IP and hardware addresses.
z ARP probe: it allows questioning the network to know if an IP address is already used without updating
the ARP table of the other hosts on the network.

ARP Request Gratuitous ARP Probe

ARP/Response
Sender IP Address Local IP address Local IP address Zero
Sender Hardware Address Local MAC address Local MAC address Local MAC address
Target IP Address Non-zero Local IP address IP address to probe
(!= Sender IP address) (= Sender IP address)
Target Hardware Address Zero Non-significant Zero

ICPM Protocol
The embedded board manages the ICMP protocol.
z ICMP client: not supported
z ICMP server: the managed requests are the following:

Type Description
0 Echo reply (ping)
3 Destination unreachable
4 Sources quench
5 Redirect
6 Alternate host address
8 Echo request (ping)
9 Router advertisement
10 Router solicitation
11 Time exceeded
12 Parameter problem
13 Time stamp request
14 Time stamp reply
15 Information request

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 Basics

Type Description
16 Information reply
17 Address mask request
18 Address mask reply

IP Protocol
The Ethernet adapter implements the IP protocols V4 and V6.

SNMP Services
The Ethernet adapter accepts the community name “private” for Writing and the community name “public”
for Reading.

MIB

Objects Description Access Default Value

SysDescr Text description of the product Read only Schneider Electric Altivar Ethernet
TCP/IP
SysObjectID Points in the private MIB on the product Read only 1.3.6.1.4.1.3833.1.100.4.1
part number
SysUpTime Time elapsed since the last power-up Read only Managed by the option
SysContact Information allowing to contact the Read/write ’’ ’’
node manager
SysName Node administrative name Read/write “” or FDR device name if configured
SysLocation Physical location of the product Read/write ’’ ’’
SysService Indicates the service type offered by Read only 72
the product.

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Basics

TCP and UDP Protocol

Connections
The Ethernet adapter supports up to 32 concurrent TCP/IP and/or TCP/UDP connection.

BOOTP and DHCP Protocol

The Ethernet adapter can use BOOTP and DHCP protocols.
The BOOTP frame is the same: only the OP field is different.
The following table describes the DHCP frame format:

OP (1 byte) HTYPE (1 byte) HLEN (1 byte) HOPS (1 byte)

XID (4 bytes)
SECS (2 bytes) FLAGS (2 bytes)
CIADDR (4 bytes)
YIADDR (4 bytes)
SIADDR (4 bytes)
GIADDR (4 bytes)
CHADDR (16 bytes)
SNAME (64 bytes)
FILE (128 bytes)
OPTIONS (312 bytes)

DHCP frame fields are described as follows:

Field Description
op Message type DHCP request / DHCP reply
htype Address hardware type
hlen Hardware address length
hops Used by relay agent
xid Transaction identifier, random number chosen by the client allowing to associate the request and the
response
secs Time in seconds since the beginning of the transaction
flags First bit used for the broadcast reply flag
ciaddr Client IP address, only used if the client can respond to ARP request
yiaddr Client IP address, “your” IP address proposed by the server
siaddr IP address of the server
giaddr Gateway IP address, used when a relay agent needs to be crossed
sname Server name
file Location of boot file
options Optional parameters with DHCP extensions

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 Basics

DHCP Message
The DHCP protocol uses 8 different types of message during the IP assigning process.
The table describes 8 messages:

Message Description
DISCOVER The client tries to discover the DHCP server using a broadcast
OFFER The server proposes a configuration
REQUEST The client chooses a DHCP server and declines other offers
ACK The chosen server assigns the IP configuration
NAK The server rejects the client request
DECLINE The client declines the assigned IP configuration
RELEASE The client releases Its IP address before the end of the lease
INFORM The client asks for network information (it already has an IP address)

Operating Modes
The choice between DHCP, BOOTP, and fixed configuration is made through one parameter:
z Fixed mode: the Ethernet adapter uses the address stored in parameter.
z BOOTP: the Ethernet adapter receives the addresses from BOOTP server.
z DHCP: if the device name [XXX] is valid, the Ethernet adapter receives the addresses from the DHCP
server.

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Modbus TCP Features

Section 2.2
Modbus TCP Features

What Is in This Section?

This section contains the following topics:
Topic Page
Modbus TCP Frames 23
Modbus TCP Servers 24
Supported Modbus TCP Functions 25
Application Profile with Modbus TCP 26

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Modbus TCP Frames

TCP Telegrams
Modbus TCP telegrams are not only Modbus standard requests and responses encapsulated in TCP
frames.

1 TCP header
2 MBPA: Modbus application protocol header
3 ADU: Application data unit
4 PDU: Protocol data unit (The Modbus message itself)

MBAP Header Structure

Fields Length Description Client Server

Transaction 2 bytes Identification of a Modbus request Initialized by the Recopied by the server
identifier / response transaction client from the received request
Protocol 2 bytes 0= Modbus protocol Initialized by the Recopied by the server
identifier client from the received request
Length 2 bytes Number of following bytes Initialized by the Initialized by the server
client (request) (response)
Unit identifier 1 byte Identification of a remote slave Initialized by the Recopied by the server
connected on a serial line or on client from the received request
other buses

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Modbus TCP Servers

Overview

Unit ID Modbus TCP server Accessible parameters

0/248 Variable speed drive See the file related to drive communication parameters.
255 Drive I/O scanner See I/O scanner setting (see page 25)

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Supported Modbus TCP Functions

Modbus TCP Services

The Modbus TCP option supports the following services:

Function Name Code Description Remarks

Dec Hex
Read holding registers 03 03 hex Read N output words Max PDU length: 63
words
Write 1 output word (Unit ID 0-248 only) 06 06 hex Write 1 output word
Write multiple registers 16 10 hex Write N output word Max PDU length: 63
words
Read/write multiple registers (Uint ID 0- 23 17 hex Read/write multiple Max PDU length: 32
248 and 255) registers words (W), 32 words (R)
(Subfunction) 43/14 2B hex Encapsulated interface See the table below
Read device identification OE hex transport / read device
identification

Identification

Id Value Comment
00 hex Schneider electric Device manufacturer
01 hex ATVXXX Drive commercial part number
02 hex 0101 Drive version
04 hex − −
05 hex − −
06 hex Customized Name Device name

I/O Scanning Service

The I/O scanning service is used to exchange periodic I/O data between:
z A controller or PLC (I/O scanner).
z Devices (I/O scanning servers).

This exchange is performed by implicit requests, thus avoiding the need to program the controller (PLC).
The I/O scanner periodically generates the read/write multiple registers (23 = 17 hex) request. The I/O
scanning service operates if it has been enabled in the PLC and the drive. The drive parameters assigned
to I/O scanning have been selected by default. This assignment can be modified by configuration.
When the I/O scanning service has been enabled in the drive:
z A TCP connection is assigned to it.
z The parameters assigned in the periodic variables are exchanged cyclically between the Ethernet
adapter and the drive.
z The parameters assigned to the periodic output variables are reserved for I/O scanning. They cannot
be written by other Modbus services, even if the I/O scanner is not sending its periodic output variables.

I/O Scanner Setting

The communication scanner is managed via the DTM-based PC software.

[Scan.Out1 address] ( CMd)

[Scan.Out2 address] ( LFrd)
[Scan.Out3 address] 0
[Scan.Out4...Scan.Out31 address] 0
[Scan.Out32 address] 0
[Scan.IN1 address] ( EtA)
[Scan.IN2 address] ( rFrd)
[Scan.IN3 address] 0
[Scan.IN4...Scan.IN31 address] 0
[Scan.IN32 address] 0

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Application Profile with Modbus TCP

Description
The profiles managed with the drive when it is controlled through Modbus TCP are:
z Native profile (CiA402 - IEC 61800-7),
z I/O profile.

For details, refer to CiA®402 - IEC61800-7 functional profile (see page 63)

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Chapter 3
Hardware Setup

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Hardware Presentation 28
Firmware Version 29
Connection to the Adapter 30
Electrical Installation 31
Cable Routing Practice 32

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Hardware Setup

Hardware Presentation

Modbus TCP Communication Port

The figure presents the Altivar process terminal view:

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Firmware Version

Compatibility
The drive firmware and embedded communication adapter are provided in a common package for
updating the drive.

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Connection to the Adapter

Procedure to Remove the Front Cover of the Drive

Apply the following instructions to remove the front cover of the drive:

Step Action
1 Unscrew the four screws attaching the front cover
2 Slide down the front cover
3 Remove the front cover
4 Plug the Ethernet cable in the Ethernet port

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Electrical Installation

Pin Layout
The figure shows the RJ45 socket for the Ethernet connection:

The table provides the pin out details of each RJ45 connector:

Pin Signal Description

1 Tx+ Ethernet transmit line +
2 Tx- Ethernet transmit line –
3 Rx+ Ethernet receive line +
4 − −
5 − −
6 Rx- Ethernet receive line –
7 − −
8 − −

Cable Specification
Cable specifications are as follows:
z Minimum Cat 5e,
z Use equipotential bonding conductors
z Connector RJ45
z Shield: both ends grounded
z Twisted-pair cable
z Cable: 8 x 0.25 mm² (8 x AWG 22)
z Use pre-assembled cables to reduce the wiring mistakes,
z Verify that wiring, cables, and connected interfaces meet the PELV requirements.
z Maximum cable length per segment = 100 m (328 ft)

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Cable Routing Practice

Installation Topology
The following figure shows the connection between the drive and PC through an Ethernet switch.

The following figure shows the direct connection between the drive and PC.

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Chapter 4
Software Setup

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
4.1 Basic Settings 34
4.2 Additional Settings 51
4.3 Fast Device Replacement 56
4.4 Communication Profile 63
4.5 Embedded Webserver 80

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Basic Settings

Section 4.1
Basic Settings

What Is in This Section?

This section contains the following topics:
Topic Page
IP Parameter Settings 35
[Device Name] ( PAn) 36
[IP mode Eth Embd] ( IM00) 37
[IP Eth Embd] (IC01) (IC02) (IC03) (IC04) 38
[IP Mask Eth Embd] (IM01) (IM02) (IM03) (IM04) 39
[IP Gate Eth Embd] (IG01) (IG02) (IG03) (IG04) 40
[MAC @] (MAC) 41
[ETH emb Rx frames] ( ErXE) 42
[ETH emb Tx frames] ( EtXE) 43
[ETH emb error frames] ( EErE) 44
[Ethernet Rate Data] ( ArdE) 45
[Ethernet Embd cmd.] ( CMd5) 46
[Ethernet Embd Ref Freq] ( LFr5) 47
[Enable Web Services] ( EWEE) 48
[Reset EmbWeb Passwd] ( rWPE) 49
[Ethernet Timeout] ( ttOb) 50

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IP Parameter Settings

Assigning IP Parameters
If not using IPV6 functionalities, following parameters shall be configured:
z The drive IP address.
z The subnet mask.
z The gateway IP address.

These IP addresses can be entered using the display terminal, the embedded webserver, or the DTM-
based PC software.
They can be also provided by:
z A BOOTP server (correspondence between the MAC address and the IP addresses).
z Or a DHCP server (correspondence between device name [DEVICE NAME] (PAn) and the IP
addresses).
If an IP address other than 0.0.0.0 has been entered manually, assignment using a server is disabled.
Regardless of the type of IP address assignment, if the address is modified, then the IP address is effective
the next time the drive is turned on (control voltage if a separate power supply is being used).

Entering IP Parameters in the Display Terminal

In the [Communication] ( COM-) , [Comm parameters] ( CMP-) menu and [Ethernet Embd]
( EtE-) submenu, enter the following IP addresses:
z [IP Eth Embd] (IC01) (IC02) (IC03) (IC04)
z [IP Mask Eth Embd] (IM01) (IM02) (IM03) (IM04),
z [IP Gate Eth Embd] (IG01) (IG02) (IG03) (IG04).

If this address is modified, the new IP address entered is displayed.

Configuring BOOTP
The BOOTP service is used to assign IP addresses based on the MAC address. The MAC address
consisting of 6 hexadecimal digits (MM-MM-MM-XX-XX-XX) must be entered in the BOOTP server. The
MAC address appears on the fieldbus adapter dedicated menu on the display terminal.
In the [Communication] ( COM-) , [Comm parameters] ( CMP-) menu and [Ethernet Embd]
( EtE-) submenu:
z Leave the IP address [IP Eth Embd] ( IC01) ( IC02) ( IC03) ( IC04) at the value[0.0.0.0]
( 0) ( 0) ( 0) ( 0) .
z Do not enable the FDR service.

Configuring DHCP
The DHCP service is used to assign IP addresses and FDR configuration file path based on the device
name [DEVICE NAME] (PAn).
The device name consisting of an alphanumeric string must be entered in both the DHCP server and the
drive.
In the [Communication] ( COM-) , [Comm parameters] ( CMP-) menu and [Ethernet Embd]
( EtE-) submenu, enter the [DEVICE NAME] (PAn)

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Software Setup

[Device Name] ( PAn)

About This Parameter

This parameter is used set the device name.

Access
This parameter is accessible via [Communication] ( COM-) , [Comm parameters] ( CMP-) menu
and [Ethernet Embd] ( EtE-) submenu.
This is a read/write parameter

Possible Settings
The FDR (Fast Device Replacement) service is based on identification of the device by a Device Name.
In the case of the Altivar drive, this is represented by the [Device Name] ( PAn) parameter. Verify that
all the network devices have different Device Name.

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[IP mode Eth Embd] ( IM00)

About This Parameter

This parameter is used to select the IP address assignment method.

Access
This parameter is accessible via [Communication] ( COM-) , [Comm parameters] ( CMP-) menu
and [Ethernet Embd] ( EtE-) submenu.
This is a read/write parameter
The parameter number is 64400.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Fixed] MAnU 0 Manually type the IP address.
[BOOTP] bOOt 1 Automatically gets the IP address from the Bootp or DHCP server using the MAC
address.
[DHCP] dHCP 2 Automatically gets the IP address from the DHCP server using the device name.
Factory setting: DHCP

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Software Setup

[IP Eth Embd] (IC01) (IC02) (IC03) (IC04)

About This Parameter

This parameter is used to set the IP address and can be edited only when the IP mode is set to fixed
address.

Access
This parameter is accessible via [Communication] ( COM-) , [Comm parameters] ( CMP-) menu
and [Ethernet Embd] ( EtE-) submenu.
This is a read/write parameter
The parameter number for IC01 is 64401
The parameter number for IC02 is 64402
The parameter number for IC03 is 64403
The parameter number for IC04 is 64404

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[139.160.069.241] 139 0...255 First byte of IP Eth Embd.
160 0...255 Second byte of IP Eth Embd
069 0...255 Third byte of IP Eth Embd
241 0...255 Fourth byte of IP Eth Embd

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[IP Mask Eth Embd] (IM01) (IM02) (IM03) (IM04)

About This Parameter

This parameter is used to set the IP subnet mask and can be edited only when IP mode is set to fixed
address.

Access
This parameter is accessible via [Communication] ( COM-) , [Comm parameters] ( CMP-) menu
and [Ethernet Embd] ( EtE-) submenu.
This is a read/write parameter
The parameter number for IPM1 is 64405
The parameter number for IPM2 is 64406
The parameter number for IPM3 is 64407
The parameter number for IPM4 is 64408

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[255.255.254.0] 255 0...255 First byte of IP Mask Eth Embd.
255 0...255 Second byte of P Mask Eth Embd.
254 0...255 Third byte of P Mask Eth Embd.
0 0...255 Fourth byte of P Mask Eth Embd

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Software Setup

[IP Gate Eth Embd] (IG01) (IG02) (IG03) (IG04)

About This Parameter

This parameter is used to set the default gateway address and can be edited only IP mode is set to fixed
address.

Access
This parameter is accessible via [Communication] ( COM-) , [Comm parameters] ( CMP-) menu
and [Ethernet Embd] ( EtE-) submenu.
This is a read/write parameter
The parameter number for IG01 is 64409
The parameter number for IG02 is 64410
The parameter number for IG03 is 64411
The parameter number for IG04 is 64412

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[0.0.0.0] 0 0...255 First byte of IP Gate Eth Embd.
0 0...255 Second byte of IP Gate Eth Embd
0 0...255 Third byte of IP Gate Eth Embd
0 0...255 Fourth byte of IP Gate Eth Embd

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 Software Setup

[MAC @] (MAC)

About This Parameter

This parameter displays the MAC address of the device.

Access
This parameter is accessible via [Display] ( MON-) , [Communication map] ( CMM-) menu and
[Ethernet Embd Diag] ( MPE-) submenu.
This is a read-only parameter

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[MM-MM-MM-XX-XX-XX] MM-MM-MM-XX-XX-XX MM-MM-MM-XX-XX-XX MAC address of the
embedded Ethernet port

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Software Setup

[ETH emb Rx frames] ( ErXE)

About This Parameter

This parameter displays the Ethernet embedded received frames counter

Access
This parameter is accessible via [Display] ( MON-) , [Communication map] ( CMM-) menu and
[Ethernet Embd Diag] ( MPE-) submenu.
This is a read-only parameter
The parameter numbers is 64416

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[ETH emb Tx frames] ( EtXE)

About This Parameter

This parameter displays the Ethernet embedded transmitted frames counter

Access
This parameter is accessible via [Display] ( MON-) , [Communication map] ( CMM-) menu and
[Ethernet Embd Diag] ( MPE-) submenu.
This is a read-only parameter
The parameter numbers is 64418

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Software Setup

[ETH emb error frames] ( EErE)

About This Parameter

This parameter displays the Ethernet embedded error frames counter

Access
This parameter is accessible via [Display] ( MON-) , [Communication map] ( CMM-) menu and
[Ethernet Embd Diag] ( MPE-) submenu.
This is a read-only parameter
The parameter numbers is 64420

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[Ethernet Rate Data] ( ArdE)

About This Parameter

This parameter displays the Ethernet embedded actual rate.

Access
This parameter is accessible via [Display] ( MON-) , [Communication map] ( CMM-) menu and
[Ethernet Embd Diag] ( MPE-) submenu.
This is a read-only parameter
The parameter numbers is 64413

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Auto] ( AUtO) Auto Data rate is auto detected depending on the first data packet received.
[10M.Full] ( 10F) 10F Data rate is set to10 Mbit/s full
[10M.Half] ( 10H) 10H Data rate is set to10 Mbit/s half
[100M.Full] ( 100F) 100F Data rate is set to100 Mbit/s full
[100M.Half] ( 100H) 100H Data rate is set to100 Mbit/s half
Factory setting: Auto

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Software Setup

[Ethernet Embd cmd.] ( CMd5)

About This Parameter

This parameter displays the command word built with Ethernet embedded source (same as CMD).

Access
This parameter is accessible via [Display] ( MON-) , [Communication map] ( CMM-) menu and
[Command word image] ( CWI-) submenu.
This is a read-only parameter
The parameter numbers is 8515

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[Ethernet Embd Ref Freq] ( LFr5)

About This Parameter

This parameter displays the reference frequency built with Ethernet embedded source (same as LFr).

Access
This parameter is accessible via [Display] ( MON-) , [Communication map] ( CMM-) menu and
[Command word image] ( CWI-) submenu.
This is a read-only parameter
The parameter numbers is 8525

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Software Setup

[Enable Web Services] ( EWEE)

About This Parameter

This parameter is used to manage the embedded Ethernet Web services.

Access
This parameter is accessible via [My preferences] ( MYP-) menu and [Webserver] ( WbS-)
submenu.
This is a read/write parameter
The parameter numbers is 6693

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[No] ( no) 0 Web services disabled
[Yes] ( yes) 1 Web services enabled
Factory setting: Yes

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[Reset EmbWeb Passwd] ( rWPE)

About This Parameter

This parameter is used to manage the set to factory value the Ethernet webserver password.

Access
This parameter is accessible via [My preferences] ( MYP-) menu and [Webserver] ( WbS-)
submenu.
This is a read/write parameter

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[No] ( no) 0 Reset of the embedded webserver password not requested
[Yes] ( yes) 1 Reset of the embedded webserver password requested
NOTE: The parameter is set to [No] when the operation is done
Factory setting: Yes

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Software Setup

[Ethernet Timeout] ( ttOb)

About This Parameter

This parameter is used to set the Ethernet timeout.

Access
This parameter is accessible via fieldbus using the Modbus address.
This is a read/write parameter
The parameter number is 64415.

Possible Settings
The table presents the parameter settings:

Settings Description
0.1...30 sec Factory setting: 10 sec

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Additional Settings

Section 4.2
Additional Settings

What Is in This Section?

This section contains the following topics:
Topic Page
FDR Settings 52
[Embedded Eth Com Interrupt] ( EtHF) 53
[External Error] ( EPF1) 54
Configuring I/O Scanning 55

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FDR Settings

Access
The parameters are accessible via the webserver or the DTM-based PC software

FDR Configuration
The following figure shows FDR settings via webserver:

The table presents the FDR Configuration settings:

Parameter Description Settings

FDR Activation This parameter is used to enable or Enabled: FDR service enabled
disable the FDR service Disabled: FDR service disabled.
Factory setting: Enabled
NOTE: You can enable FDR only if the IP
assignment mode selected is DHCP.
Synchronization Mode Allows to manage the periodic saving of Automatic: Transfers the configuration
the configuration to FDR server, or file from drive to server.
manually transfer configuration between Manual: Allows to transfers the
drive and FDR server configuration file from drive to server or
server to drive.
Disabled: Synchronization mode is
disabled.
Factory setting: Automatic
Control Configuration This parameter is used to select the Served: Transfers the configuration file
server or local configuration. from server to drive at power-up.
Stored: uses the configuration stored
in the drive at power-up.
Factory setting: served
Automatic Syncho Cycle (Sec) Allows you to select the interval for 10...9999 sec
periodic synchronization of the drive with Factory setting: 2560 sec
the FDR server.
NOTE: You can define automatic Syncho
cycle only if Synchronization mode
selected is automatic.

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[Embedded Eth Com Interrupt] ( EtHF)

About This Parameter

This parameter displays the communication option interruption error value.

Access
This is a read-only parameter
The parameter number is 7132.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[1] 1 1 1: Modbus TCP timeout
Factory setting: 0

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Software Setup

[External Error] ( EPF1)

About This Parameter

This parameter displays the external detected error.

Access
This is a read-only parameter
The parameter number is 7143.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[1] 1 − 1: Invalid IP address
[2] 2 2: Duplicate IP address
[4] 4 4: FDR service error

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Configuring I/O Scanning

Description
The drive I/O scanning service can be enabled or disabled with the DTM-based PC software.
It is not possible to modify the assignment of the I/O scanning periodic variables using the display terminal.
To configure I/O scanning, use the DTM-based PC software.

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Fast Device Replacement

Section 4.3
Fast Device Replacement

What Is in This Section?

This section contains the following topics:
Topic Page
Presentation 57
Startup Detailed Behavior 58
FDR Operation Behavior 59
Local Configuration 60
Downloaded Configuration 61

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Presentation

FDR Service
The FDR (Fast Device Replacement) service is used to simplify the maintenance of drives connected on
the Ethernet network. In the event of drive not functioning correctly, this service automatically reconfigures
its replacement.
The new drive (FDR client) retrieves:
z Its IP addresses and the FDR file path from a DHCP server
z The FDR file from an FTP server, if the drive is not configured in local configuration

In practice, the DHCP server and the FTP server are the same device (PAC M580, M340 PLC, or
dedicated PCs).
The FDR file contains:
z The Ethernet parameters (configuration of I/O scanning, FDR, and so on)
z The drive parameters (drive, functions, application, and so on)

The FDR service is based on identification of the device by a Device Name. In the case of the Altivar
process drive, this is represented by the [DEVICE NAME] ( PAn) parameter.
The configuration of the FDR service is accessible via embedded webserver or DTM-based software.
NOTE: Check that all the network devices have different Device Name.
NOTE: The FDR server controls duplication of Device Name (it does not assign an IP address that has
already been assigned and is active).
If the same IP address is supplied on 2 devices, the second should trigger an IP address duplication
(network management detected error which triggers an [External Error] ( EPF1) by default).
If the FDR service has been enabled, the Ethernet adapter attempts to restore its IP addresses on each
power-up. Each time the procedure has detected error, the Ethernet adapter reiterates its FDR requests
(DHCP).
Where the configuration also needs to be downloaded by the FDR server:
After assigning the Ethernet card IP addresses, if the configuration download has detected error, the
Ethernet card detects a network management detected error (triggers an [External Error] ( EPF1) by
default).

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Startup Detailed Behavior

Presentation

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FDR Operation Behavior

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Local Configuration

Presentation

IP Assignment Save
If the drive parameter configuration is local, the FDR server only assigns the following IP addresses:
z Card IP address,
z Subnet mask,
z Gateway IP address.

On connection to the network, the drive automatically saves its parameters in the FDR server.

Drive Connection Procedure

Step Action Description

1 Configure the FDR server See the PLC manual or the section on software setup using Unity
2 Configure the drive In the COMMUNICATION [(COM-)], [Comm parameters] ( CMP-)
menu, [Ethernet Embd] ( EtE) submenu:
Configure [IP mode] ( IPM) =DHCP
Enable the FDR service via webserver or DTM-based software:
Select local drive configuration with webserver or DTM-based
software
Enter the device name, DEVICE NAME, in the COMMUNICATION
[(COM-)], [Comm parameters] ( CMP-) menu, [Ethernet Embd]
( EtE) submenu:
3 Turn off the drive Turn off the drive and then back on again (control voltage supply if a
separate power supply is being used), otherwise the device name is
not taken into account
4 Connect the drive to the network Connect the drive and the FDR server (PLC) to the Ethernet network

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Downloaded Configuration

Presentation

IP Assignment Save
If the drive parameter configuration has been downloaded, the FDR server assigns the following
addresses:
z Card IP address,
z Subnet mask,
z Gateway IP address,
z FDR server IP address.

Periodic Saving
Periodic saving of the drive configuration can be configured on the FDR server in either local configuration
or downloaded configuration mode
Using the embedded webserver or the DTM-based software:
z Set FDR synchronization to automatic mode
z Set the synchronization cycle time

NOTE: Saving too often risks overburdening the fieldbus and adversely affecting its performance (factory
setting: 2.560 s.).

Limitations
The FDR service is able to store the current configuration of the drive, but does not provide the possibility
to store multi-parameters configurations.

Drive Parameters (Configuration)

In the procedure described below, the configuration file is transferred to the FDR server, via the Ethernet
network, using a manual save command.

Step Action Description

1 Configure the drive In the [COMMUNICATION] ( COM-) , [Comm
parameters] ( CMP-) menu, [Ethernet Embd] ( EtE-
) submenu:
z Leave the IP address [IP Eth Embd] ( IC01)
( IC02) ( IC03) ( IC04) at the value [0.0.0.0]
( 0) ( 0) ( 0) ( 0)
Using the embedded webserver or the DTM-based
software:
z Set FDR synchronization to manual mode.
z Before the first connection, select local drive
configuration. The drive needs first to push the
configuration to the server.
Enter the device name, [COMMUNICATION] ( COM-) ,
[Comm parameters] ( CMP-) menu, [Ethernet Embd]
( EtE-) submenu.
2 Turn off the drive Turn off the drive and then back on again (control voltage
if a separate power supply is being used), otherwise the
device name is not taken into account

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Step Action Description

3 Connect the drive to the fieldbus Connect the drive and the FDR server (PLC) to the
Ethernet fieldbus.
4 Configure the FDR server (see the PLC The server downloads the IP addresses to the Ethernet
manual) card.
Check that the operation has proceeded correctly: you can
also check, in the [COMMUNICATION] ( COM-) ,
[Comm parameters] ( CMP-) menu, [Ethernet Embd]
( EtE-) submenu. Whether the [IP Eth Embd]
( IC01) ( IC02) ( IC03) ( IC04) , I[P Mask Eth
Embd] ( IM01) ( IM02) ( IM03) ( IM04) and
[IP Gate Eth Embd] ( IG01) ( IG02) ( IG03)
( IG04) parameters have values other than [0.0.0.0]
( 0) ( 0) ( 0) ( 0)
5 Supply the FDR server with the configuration Using the embedded webserver or the DTM-based
file software
z Specify that the drive configuration is downloaded from
the FDR server on each power-up
z Send a save command to the FDR server.

6 Check that the system is operational If the save operation has not been successful, the adapter
detects a communication error which, in factory settings
mode, triggers an [External Error]( EPF1)

Replacing a Drive
For replacing a drive, it is necessary to follow the procedure below:

Step Action Action

1 Configure the drive In the [COMMUNICATION] ( COM-) , [Comm parameters]
( CMP-) menu, [Ethernet Embd] ( EtE-) submenu:
z Leave the IP address [IP Eth Embd] ( IC01) ( IC02)
( IC03) ( IC04) at the value [0.0.0.0] ( 0) ( 0) ( 0) ( 0)
Using the embedded webserver or the DTM-based software:
z Set FDR synchronization to manual mode.
z Before the first connection, select served drive configuration. The
drive needs first to transfer the configuration from the server.
Enter the device name, [DEVICE NAME],[COMMUNICATION]
( COM-) , [Comm parameters] ( CMP-) menu, [Ethernet
Embd] ( EtE-) submenu.
2 Turn off the drive Turn off the drive and then back on again (control voltage if a
separate power supply is being used), otherwise the device name is
not taken into account
3 Connect the drive to the fieldbus Connect the drive and the FDR server (PLC) to the Ethernet fieldbus
4 Check that the drive is operational Check that the operation has proceeded correctly.
If downloading has not been possible after a period of 2 min following
assignment of the IP addresses, the adapter detects a
communication error which, in factory settings mode, triggers an
[External Error.] ( EPF1)

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Communication Profile

Section 4.4
Communication Profile

What Is in This Section?

This section contains the following topics:
Topic Page
Definition of a Profile 64
Functional Profiles Supported by the Drive 65
Functional Description 66
CIA402 Operating State Diagram 67
Description of Operating States 68
Summary 70
Control Word ( CMd) 71
Stop Commands 72
Assigning Control Word Bits 73
Status Word ( EtA) 74
Starting Sequence 75
Sequence for a Drive Powered by the Power Stage Supply 76
Sequence for a Drive with Separate Control Stage 77
Sequence for a Drive with Mains Contactor Control 79

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Definition of a Profile

Types of Profiles
There are 3 types of profile:
z Communication profiles
z Functional profiles
z Application profiles

Communication Profile
A communication profile describes the characteristics of the bus or network:
z Cables
z Connectors
z Electrical characteristics
z Access protocol
z Addressing system
z Periodic exchange service
z Messaging service
z ...

A communication profile is unique to a type of fieldbus (such as Modbus, PROFIBUS DP, and so on) and
is used by various different types of device.

Functional Profile
A functional profile describes the behavior of a type of device:
z Functions
z Parameters (such as name, format, unit, type, and so on.)
z Periodic I/O variables
z State chart
z ...

A functional profile is common to all members of a device family (such as variable speed drives, encoders,
I/O modules, displays, and so on).
They can feature common or similar parts. The standardized (IEC 61800-7) functional profiles of variable
speed drives are:
z CiA402
z PROFIDRIVE
z CIP

DRIVECOM has been available since 1991.

CiA402 device profile for drives and motion control represents the next stage of this standard development
and is now part of the IEC 61800-7 standard.
Some protocols also support the Open DeviceNet Vendor Association profile (ODVA).

Application Profile
Application profile defines 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 fieldbus.

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Functional Profiles Supported by the Drive

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.
The I/O profile for the drive can also be used when controlling via a fieldbus.The drive starts up as soon as
the run command is sent.15 bits of the control word (bits 1...15) can be assigned to a specific function.
This profile can be developed for simultaneous control of the drive via:
z The terminals
z The Modbus control word
z The CANopen control word
z Ethernet Modbus TCP embedded
z The fieldbus module control word

The I/O profile is supported by the drive itself and therefore in turn by all the communication ports
(integrated Modbus, CANopen, Ethernet, PROFIBUS DP, PROFINET, and DeviceNet fieldbus modules).

CiA402 Profile
The drive only starts up following a command sequence.
The control word is standardized.
5 bits of the control word (bits 11...15) can be assigned to a function.
The CiA402 profile is supported by the drive itself and therefore by all the communication ports (Modbus,
CANopen, Ethernet, PROFIBUS DP, PROFINET, and DeviceNet).
The drive supports the velocity mode of CiA402 profile.
In the CiA402 profile, there are two modes that are specific to the drive and characterize commands and
references value management:
z Separate [Separate] (SEP)
z Not separate [Not separ.] (SIN),

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Functional Description

Introduction
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).
The following figure shows the control diagram for drive operation:

Simplified diagram for speed control in Velocity mode:

Altivar Process
These diagrams translate as follows for the Altivar process system.
The following figure shows the control diagram for drive operation:

Simplified diagram for speed control in Velocity mode:

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CIA402 Operating State Diagram

State Diagram
After switching on and when an operating mode is started, the product goes through a number of operating
states.
The state diagram (state machine) shows the relationships between the operating states and the state
transitions. The operating states are internally monitored and influenced by monitoring functions.
The following figure shows the CIA402 state diagram:

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Description of Operating States

Drive Operating State

The operating state of the drive changes depending on whether the control word is sent ( CMd) or an
event occurs (an error detection, for example).
The drive operating state can be identified by the value of the status word ( EtA) .

Operating State Description

1 - Not ready to switch Initialization starts. This is a transient state invisible to the communication network.
on
2 - Switch on disabled The power stage is not ready to switch on.
The drive is locked, no power is supplied to the motor.
For a separate control stage, it is not necessary to supply the power.
For a separate control stage with mains contactor, the contactor is not closed.
The configuration and adjustment parameters can be modified.
3 - Ready to switch on The power stage is ready to switch on and awaiting power stage supply mains.
For a separate control stage, it is not necessary to supply the power stage, but the
system expects it in order to change to state 4 - Switched on.
For a separate control stage with mains contactor, the contactor is not closed.
The drive is locked, no power is supplied to the motor.
The configuration and adjustment parameters can be modified.
4 - Switched on Power stage is switched on.
For a separate control stage, the power stage must be supplied.
For a separate control stage with mains contactor, the contactor is closed.
The drive is locked, no power is supplied to the motor.
The power stage of the drive is ready to operate, but voltage has not yet been
applied to the output.
The adjustment parameters can be modified.
If a configuration parameter is modified, the drive returns to the state 2 - Switch
on disable .
5 - Operation enabled Power stage is enabled. The drive is in running state
For a separate control stage, the power stage must be supplied.
For a separate control stage with mains contactor, the contactor is closed.
The drive is unlocked, power is supplied to the motor.
The drive functions are activated and voltage is applied to the motor terminals.
If the reference value is zero or the Halt command is applied, no power is supplied
to the motor and no torque is applied. To perform.[Auto tuning] ( tUn) , the drive
must be in state 5 - Operation enabled.
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 value, transition 4 is possible only after the reference value has
been received once.
The reaction of the drive to a Disable operation command depends on the
value of the [Dis. operat opt code] ( dOtd) parameter:
z If the [Dis. operat opt code] ( dOtd) parameter is set to 0, the drive changes
to operating state 4 - Switched on and stops in freewheel stop.
z If the [Dis. operat opt code] ( dOtd) parameter is set to 1, the drive stops on
ramp and then changes to operating state 4 - Switched on.

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Operating State Description

6 - Quick stop active The drive performs a fast stop and remains locked in the operating state 6-Quick
stop active. Before restarting the motor, it is required to go to the operating state
2-switch on disabled.
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:
z A Disable voltage command is received or
z The STOP key is pressed or
z A freewheel stop command via the digital input of the terminal.

7 - Fault reaction Transient state during which the drive performs an action corresponding to the
active selected error response.
8 - Fault Error response terminated. Power stage is disabled.
The drive is locked, no power is supplied to the motor.

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Summary

Device Status Summary

Operating State Power Stage Supply for Power Supplied to Modification of Configuration
Separate Control Stage Motor Parameters
1 - Not ready to Not required No Yes
switch on
2 - Switch on Not required No Yes
disabled
3 - Ready to Not required No Yes
switch on
4 - Switched on Required No Yes, return to 2 - Switch on
disabled operating state
5 - Operation Required Yes No
enabled
6 - Quick stop Required Yes, during fast stop No
active
7 - Fault reaction Depends on error response Depends on error −
active configuration response configuration
8 - Fault Not required No Yes

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Control Word ( CMd)

Bit Mapping

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

Fault reset Reserved Reserved Reserved Enable Quick stop Enable Switch on
(=0) (=0) (=0) operation voltage
0 to 1 1 = Run 0 = Quick Authorization Mains
transition = command stop active to supply AC contactor
Error is power control
reset (after
cause of
error is no
longer
active)

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

Manufacturer Manufacturer Manufacturer Manufacturer Manufacturer Reserved Reserved Halt
specific specific specific specific specific (=0) (=0)
assignable assignable assignable assignable
0 = Forward Halt
direction
asked
1= Reverse
direction
asked

Command State Final Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Example

Transition Operating Fault Enable Quick Enable Switch Value
State Reset Operation Stop Voltage On
Shutdown 2, 6, 8 3 - Ready X X 1 1 0 0006 hex
to switch
on
Switch on 3 4 - X X 1 1 1 0007 hex
Switched
on
Enable 4 5 - X 1 1 1 1 000F hex
operation Operation
enabled
Disable 5 4 - X 0 1 1 1 0007 hex
operation Switched
on
Disable 7, 9, 10, 12 2 - Switch X X X 0 X 0000 hex
voltage on
disabled
Quick stop 11 6 - Quick X X 0 1 X 0002 hex
stop
active
7, 10 2 - Switch
on
disabled
Fault 15 2 - Switch 0V1 X X X X 0080 hex
reset on
disabled
X: Value is of no significance for this command.
0V 1: Command on rising edge.

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Stop Commands

Halt Command
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, 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.

Fast Stop Command

A Fast Stop command at the terminals or using a bit of the control word assigned to Fast Stop causes
a change to the 4 - Switched on

Freewheel Command
A Freewheel Stop command using a digital input of the terminal or a bit of the control word assigned
to Freewheel Stop causes a change to operating state 2 - Switch on disabled.

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Assigning Control Word Bits

Function Codes
In the CiA402 profile, fixed assignment of a function input is possible using the following codes:

Bit Integrated Ethernet Modbus TCP adapter

Bit 11 C511
Bit 12 C512
Bit 13 C513
Bit 14 C514
Bit 15 C515

For example, to assign the DC injection braking to bit13 of embedded Ethernet, simply configure the[ DC
injection assign.] ( dCI) parameter with the [C513] ( C513) value.
Bit 11 is assigned by default to the operating direction command [Reverse assign.] ( rrS) .

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Status Word ( EtA)

Bit Mapping

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

Warning Switch on Quick stop Voltage Detected Operation Switched on Ready to
disabled enabled error enabled switch on
A warning is Power stage 0 = Quick Power stage Detected Running Ready 1 = Awaiting
active supply stop is active supply error power
disabled present Stage
supply

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

Manufacturer Manufacturer- Reserved Reserved Internal limit Target Remote Reserved (=0)
-specific specific Stop (=0) (=0) active reached
Direction of via STOP key
Reference Reference Command
rotation
value outside value or reference
limits reached value via
fieldbus

Operating Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 ETA

State Switch On Quick Voltage Fault Operation Switched Ready to Masked by
Disabled Stop Enabled Enabled On Switch On 006F H (1)
1 -Not 0 X X 0 0 0 0 −
ready to
switch on
2 -Switch 1 X X 0 0 0 0 0040 hex
on
disabled
3 -Ready 0 1 X 0 0 0 1 0021 hex
to switch
on
4 - 0 1 1 0 0 1 1 0023 hex
Switched
on
5 - 0 1 11 0 1 1 1 0027 hex
Operation
enabled
6 -Quick 0 0 0 1 1 1 0007 hex
stop
active
7 -Fault 0 X X 1 1 1 1 −
reaction
active
8 -Fault 0 X X 1 0 0 0 0008 hex(2)..
.0028 hex
(1)
This mask can be used by the PLC program to test the diagram state.
(2)detected error following operating state 6 - Quick stop active.
X: In this state, the value of the bit can be 0 or 1.

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Starting Sequence

Description
The command sequence in the state diagram depends on how power is being supplied to the drive.
There are 3 possible scenarios:

Power stage Direct Direct Mains contactor controlled by the

supply drive
Control stage Not separate (1) Separate Separate
supply
(1)
The power stage supplies the control stage.

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Sequence for a Drive Powered by the Power Stage Supply

Description
Both the power and control stages are powered by the power stage supply.
If power is supplied to the control stage, it has to be supplied to the power stage as well.
The following sequence must be applied:

Step 1
Apply the 2 - Shut down command

Step 2
z Check that the drive is in the operating state 3 - Ready to switch on.
z Then apply the 4 - Enable operation command.
z The motor can be controlled (send a reference value not equal to zero).

NOTE: It is possible, but not necessary to apply the 3 - Switch on command followed by the 4 -
Enable Operation command to switch successively into the operating states 3 - Ready to Switch
on, 4 - Switched on and then 5 - Operation Enabled. The 4 - Enable operation command
is sufficient.

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Sequence for a Drive with Separate Control Stage

Description
Power is supplied separately to the power and control stages.
If power is supplied to the control stage, it does not have to be supplied to the power stage as well.
The following sequence must be applied:

Step 1
z The power stage supply is not necessarily present.
z Apply the 2 - Shut down command

Step 2
z Check that the drive is in the operating state 3 - Ready to switch on.
z Check that the power stage supply is present (Voltage enabled of the status word).

Power Stage Supply Terminal Display Status Word

Absent nLP 21 hex
Present rdY 31 hex

z Apply the 3 - Switch on command

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Step 3
z Check that the drive is in the operating state 4 - Switched on.
z Then apply the 4 - Enable operation command.
z The motor can be controlled (send a reference value not equal to zero).
z If the power stage supply is still not present in the operating state 4 - Switched on after a time delay
[Mains V. time out] ( LCt) , the drive triggers an error [input contactor] ( LCF) .

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Sequence for a Drive with Mains Contactor Control

Description
Power is supplied separately to the power and control stages.
If power is supplied to the control stage, it does not have to be supplied to the power stage as well. The
drive controls the mains contactor.
The following sequence must be applied:

Step 1
z The power stage supply is not present as the mains contactor is not being controlled.
z Apply the 2 - Shutdown command.

Step 2
z Check that the drive is in the operating state 3 - Ready to switch on.
z Apply the 3 - Switch on command, which closes the mains contactor and switch on the power stage
supply.

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Embedded Webserver

Section 4.5
Embedded Webserver

What Is in This Section?

This section contains the following topics:
Topic Page
Overview 81
Connection to the Webserver 82

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Overview

Webserver
The Ethernet adapter provides an integrated Web server which allows several functions like: display,
parameter settings, and diagnostics. This chapter describes the services provided by this webserver.
The webserver can be accessed from standard browsers like Internet Explorer, chrome, safari, or Firefox.

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Connection to the Webserver

Access
The webserver can be accessed from standard browsers.
In the following example, the drive has received the IP address 10.0.0.5:

First connect the computer to the drive by typing http:// followed by the drive IP address.
You are asked to first enter a User Name and a Password.
By default the user name is ADMIN and the password is also ADMIN.
Once connected, the webserver home page is displayed.
Using IPV6 network discovery service, there is no need to set IP parameters. The drive appears
automatically in the network explorer of the PC while physically connected.
The drive is identified as ATV6ppppppp-MMMM where MMMM is the two last bytes of the MAC address.
Right-click and select Display device web page to open the webserver.

User Rights - Password and User Names

A new password is required if you are connecting to the webserver for the first time. Default security access
rule requires minimum eight characters for the new password.
The user names and the password of both level can be modified from the administration section.

Web Server Site Map

My Dashboard Widget-based page to be customized

Display Drive Drive parameters for display.Customised tab can be
created.
Energy Dashboard Trend view and energy report.
Pump Dashboard Pump and process data, pump curves
Chart Viewer Charts for display. Customized chart can be created.
Diagnostics Drive Drive related diagnostics.
Fieldbus Fieldbus-related diagnostics
Drive Drive parameter Drive configuration
Drive communication Fieldbus configuration
Setup Fieldbus Ethernet services configuration
File transfer Data transfer management
My Preference Webserver configuration

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Chapter 5
Operations

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
5.1 Operating States 84
5.2 Operating Modes 86

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Operating States

Section 5.1
Operating States

Configuring Communication Detected Error Response

Description
The response of the drive in the event of an Ethernet communication interruption can be configured.
Configuration can be performed using the display terminal from the [Complete settings] (CSt-),
[Error/warning handling] (CSWM) menu, [Fieldbus monitoring] ( CLL-) submenu, via the [Eth
Error Response] ( EtHL) .
The values of the [Eth Error Response] ( EtHL) parameter, which triggers a drive detected error
[Embedded Eth Com Interrupt] (EtHF) , 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 [Eth Error Response] ( EtHL) parameter, which does not trigger a drive detected
error, are:

Value Meaning
[Ignore] (nO) Detected error ignored
[Per STT] (Stt) Stop according to configuration of [Type of stop] (Stt)
[fallback spd] (LFF) Change to fallback speed, maintained as long as the detected error persists
and the run command has not been removed
[Spd maint.] (rLS) The drive maintains the speed at the time the detected error occurred, as
long as the detected error persists, and the run command has not been
removed

The fallback speed can be configured in the [Complete settings] (CSt-), [Error/warning handling]
(CSWM) menu, [Fallback speed] ( LFF-) submenu, using the [Fallback speed] (LFF) parameter.

WARNING
LOSS OF CONTROL
If this parameter is set to nO, Modbus communication monitoring is disabled.
z Only use this setting after a thorough risk assessment in compliance with all regulations and standards
that apply to the device and to the application.
z Only use this setting for tests during commissioning.
z Verify that communication monitoring has been re-enabled before completing the commissioning
procedure and performing the final commissioning test.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

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Detected Errors

Parameter Description Possible Values Terminal Display

[Embedded Eth Com This parameter is used to 1: Modbus TCP timeout [1] ( 1)
Interrupt] ( EtHF) indicate that fieldbus error has
Written to the device been detected.
When the detected error is
active, the value of ETHF
corresponds to the cause of the
error.
When the cause of the error is no
longer active, ETHF is reset to 0.
[int. com.link]( ILF) This parameter is used to 1: Flash error [1] ( 1)
indicate that an internal error has 2: Internal error [2] ( 2)
been detected. The error can
only be reset by switching off the
product.
[External − 1: Invalid IP address [1] ( 1)
Error]( EPF1) 2: Duplicate IP address [2] ( 2)
4: FDR service error [4] ( 4)

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Operating Modes

Section 5.2
Operating Modes

What Is in This Section?

This section contains the following topics:
Topic Page
Configuring the Control Channel 87
Configuration of the Drive for Operation in I/O Profile 88
Configuration of the Drive for Operation with CiA 402 Profile in Combined Mode 89
Configuration of the Drive for Operation with CiA 402 Profile in Separate Mode 90

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Configuring the Control Channel

Overview
This chapter explains how to configure the drive for operation from communication network through three
following examples.
z I/O mode - a simple command word (based on forward, reverse, and reset binary commands).
z Combined mode (with native profile CiA 402) - Both reference value and command word come from the
communication network.
z Separate (with native profile CiA 402) - reference value and command come from separate sources: for
example, the command (in CiA 402) comes from the communication network and the reference value
from the HMI.

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Configuration of the Drive for Operation in I/O Profile

Description
The I/O profile, here is a simple example, which can be extended with additional features. The command
word is made of run forward (bit 0 of CMd), run reverse (bit 1 of CMd), and the function fault reset (bit 7 of
CMd).

The settings are the following:

[Ref.1 channel] (Fr1) [HMI] (HMI)

[RV Inhibition] (rIn) Default
[Stop Key priority] (PSt) Default
[Profile] (CHCF) [I/O profile] IO
[Cmd switching] (CCS) Default
[Cmd channel 1] (Cd1) [Ethernet] (EtH)

The bits of the command word can now be configured.

In the [Command and Reference] ( CrP-) menu configure:

[Reverse assign.] (rrS [Cd01] (Cd01)

In the [Error/warning handling] ( CSWM) menu, [Fault Reset] ( rSt-) submenu, configure:

[Fault Reset Assign] (rSF) [Cd07] (Cd07)

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

Description
This section describes how to configure the settings of the drive if it is controlled in CiA 402 mode. The
example focuses on the not separate mode. Additional modes are detailed in the drive programming
manual.
In the [Complete settings] ( CSt-) menu, [Command and reference] ( CrP-) submenu:):
z [Ref.1 Channel] (Fr1): is set on according to the communication source you can choose in the
following table:

Origin of the Control Ref1 Channel Setting

Modbus TCP [Ethernet] (EtH)

z [Profile] (CHCF): defines if the drive operates in combined mode (reference value and command from
the same channel).

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

Description
Alternate combinations are possible, see the drive programming manual for the list of possible settings.
For example:

The drive is controlled from the communication (Ethernet) but the reference value is adjusted on display
terminal. The control word comes from the controller and is written according to CiA 402 profile.
The settings are as shown in the table:

[Ref.1 channel] (Fr1) [HMI] (LCC)

[RV Inhibition] (rIn) Default
[Stop Key priority] (PSt) Default
[Profile] (CHCF) [Separate] (SEp)
[Cmd switching] (CCS) Default
[Cmd channel 1] (Cd1) [Ethernet] EtH

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Chapter 6
Diagnostic and Troubleshooting

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Fieldbus Status LEDs 92
Connection for Fieldbus Mode 94
Fieldbus Functions Test 95

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Fieldbus Status LEDs

LED Indicators
The following figure describes the LEDs status for fieldbus monitoring

LED Description

Item LED Description

1 ETH LINK ETH LNK: Connection
2 ETH NS ETH NS: Network status

LED 1 ETH LNK: Link Activity

This LED indicates the status of the Modbus TCP port:

Color & Status Description

OFF No link
Flashing Green/Yellow Power on testing
Green ON Link established at 100 Mbit/s
Yellow ON Link established at 10 Mbit/s
Green Blinking Fieldbus activity at 100 Mbit/s
Yellow blinking Fieldbus activity at 10 Mbit/s

LED 2 ETH NS: Network Status

This LED indicates the status of Modbus TCP

Color & Status Description

OFF The device does not have an IP address or powered off
Flashing Green/Red Power on testing
Green ON A modbus connection is established to control the command word.
Green flashing Device has a valid IP, but no modbus command word connection.
Red ON Duplicated IP
Red flashing An established modbus connection to control the command word is closed or timed
out

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LED Behaviour
LED behavior

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Diagnostic and Troubleshooting

Connection for Fieldbus Mode

Description
If the product cannot be addressed via the fieldbus, first check the connections. The product manuals
contains the technical data of the device and information on fieldbus and device installation.
Verify the following:
z Power connections to the device
z Fieldbus cable and fieldbus wiring
z Fieldbus connection to the device

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Fieldbus Functions Test

Channels for Commands and Reference Values

All the drive commands and reference value parameters are managed on a channel-by-channel basis.

Parameter Name Parameter Code

Taken Into Modbus CANopen Fieldbus Module Ethernet
Account by the Serial Embedded
Drive
Control word ( CMd) ( CMd1) ( CMd2) ( CMd3) ( CMd5)
Extended control word ( CMI) ( CMI1) ( CMI2) ( CMI3) ( CMI5)
Reference speed (rpm) ( LFrd) ( LFrd1) ( LFrd2) ( LFrd3) ( LFrd5)
Reference frequency ( LFr) ( LFr1) ( LFr2) ( LFr3) ( LFr5)
(0.1 Hz)
Reference value ( PISP) ( PIr1) ( PIr2) ( PIr3) ( PIr5)
supplied by PI
controller
Reference value ( MFr) ( MFr1) ( MFr2) ( MFr3) ( MFr5)
supplied by analog
multiplier function

Fieldbus Monitoring Criteria

The fieldbus is monitored according to the protocol-specific criteria.

Protocol Criteria Related Detected Error

Integrated Modbus serial port Adjustable time-out for received [Modbus Com Interruption] ( SLF1)
requests destined for the drive.
Embedded Ethernet FDR detected error [External Error] ( EPF1)
IP address duplication detected error [Embedded Eth Com Interrupt]
Adjustable time-out for received control ( EtHF)
word (I/O scanning or messaging)
Fieldbus overload

Monitoring of Communication Channels

Communication channels are monitored if they are involved in one of the following parameters:
z The control word ([Cmd value] ( CMd) ) from the active command channel
z The control word containing the command switch (bit configured on [Cmd switching] ( CCS) )
z The control word containing the switch for reference value 1’1B (bit configured on [Ref 1B switching]
( rCb) )
z The control word containing the switch for reference value 1’2 (bit configured on [Ref. 2 switching]
( rFC) )
z The reference frequency or reference speed ([HMI Frequency ref.] ( LFr) or LFRD: Nominal speed
value) from the active channel for reference value
z Summing reference frequency or reference speed ([HMI Frequency ref.] ( LFr) or LFRD: Nominal
speed value) 2 (assigned to [Summing ref. 2] ( SA2) )
z Summing reference frequency or reference speed ([HMI Frequency ref.] ( LFr) or LFRD: Nominal
speed value) 3 (assigned to [Summing ref. 3] ( SA2) )
z Subtracting reference frequency or reference speed ([HMI Frequency ref.] ( LFr) or LFRD: Nominal
speed value) 2 (assigned to [Subtract ref. 2] ( dA2) )
z Subtracting reference frequency or reference speed ([HMI Frequency ref.] ( LFr) or LFRD: Nominal
speed value) 3 (assigned to [Subtract ref. 3] ( dA3) )
z The reference value given by the PID controller (PISP)
z The PID controller feedback ([AI Virtual 1] ( AIU1) )
z The multiplication coefficient of the reference values ([Multiplying coeff.] ( MFr) ) 2 (assigned to
[Multiplier ref. 2] MA2)
z The multiplication coefficient of the reference values ([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.

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If a communication warning is sent (in accordance with the protocol criteria) by a monitored port or fieldbus
module, the drive triggers a communication interruption.
The drive reacts according to the communication interruption configuration (operating state Fault,
maintenance, fallback, and so on)
If a communication warning occurs on a channel that is not being monitored, the drive does 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 value are enabled.
For example:
A drive in DSP402 profile is connected to an active communication channel.
It is mandatory to write at least 1 time the reference value and the command in order to switch from 4-
Switched on to operating state 5-Operation enabled.
A communication channel is disabled:
z In the event of a communication warning.
z In forced local mode.

NOTE: On exiting forced local mode:

z The drive copies the run commands, the direction, and the forced local reference to the active channel
(maintained).
z Monitoring of the active channel for commands and/or reference value resumes following a time delay
[Time-out forc. local] ( FLOt) .
z Drive control only takes effect once the drive has received the reference value and the command from
the active channel.

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A
Abbreviations
Req. = Required
Opt. = Optional

D
Display terminal
The display terminal menus are shown in square brackets.
For example: [Communication]
The codes are shown in round brackets.
For example: (CON-)
Parameter names are displayed on the display terminal in square brackets.
For example: [fallback spd]
Parameter codes are displayed in round brackets.
For example: (LFF)

E
Error
Discrepancy between a detected (computed, measured, or signaled) value or condition and the specified
or theoretically correct value or condition.

F
Factory setting
Factory settings when the product is shipped
Fault
Fault is an operating state. If the monitoring functions detect an error, a transition to this operating state is
triggered, depending on the error class. A "Fault reset" is required to exit this operating state after the
cause of the detected error has been removed. Further information can be found in the pertinent standards
such as IEC 61800-7, ODVA Common Industrial Protocol (CIP).
Fault Reset
A function used to restore the drive to an operational state after a detected error is cleared by removing
the cause of the error so that the error is no longer active.

M
Monitoring function
Monitoring functions acquire a value continuously or cyclically (for example, by measuring) in order to
check whether it is within permissible limits. Monitoring functions are used for error detection.

P
Parameter
Device data and values that can be read and set (to a certain extent) by the user.
PELV
Protective Extra Low Voltage, low voltage with isolation. For more information: IEC 60364-4-41
PLC
Programmable logic controller

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Glossary

Power stage
The power stage controls the motor. The power stage generates current for controlling the motor.

Q
Quick Stop
The Quick Stop function can be used for fast deceleration of a movement as a response to a detected error
or via a command.

W
Warning
If the term is used outside the context of safety instructions, a warning alerts to a potential problem that
was detected by a monitoring function. A warning does not cause a transition of the operating state.

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08/2014