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User's manual VW3A66301

1. ALTIAR 66 PCMCIA communication card UNI TELWAY MODBUS JBUS protocols VW3 A66301 Serial link via graphic keypad port User s manual GROUPE SCHNEIDER Although every care has been taken in the preparation of this document Schneider Electric SA cannot guarantee the contents and cannot be held responsible for any errors it may contain or for any damage which may result from its use or application The hardware software and services described in this document may be changed or modified at any time either from a technical point of view or in the way they are operated Their description can in no way be considered contractual Contents Hardware setup Introduction 2 Installing the card 3 and 4 Connection to multidrop bus 5to7 Software setup Configuration of the communication functions 8 to 10 Communication state 11 Diagnostics 12 Description of protocols UNI TELWAY requests 13 to 16 MODBUS JBUS protocol 17 to 28 Graphic keypad serial link 29 to 33 Communication principle 34 to 43 Altivar 66 variables Command and adjustment variables 44 to 47 Signalling variables 48 to 60 Configuration variables 61 to 93 Address zone common to Altivar 66 and Altivar 45 2 94 to 98 Index 99 to 111 1 4b a oe O2Z rrpzo n Cc ie N F l G U R A T l fe N
2. Auto Man yes W2031 2 no no Controlled stop on threshold no no no always active if enabled Controlled stop by LI yes no yes Shutdown yes yes yes Bypass no no no always activated locally PI regulator no no no Switch motor parameters es W2020 1 1 12 no es W2020 11 12 Stop command for orient yes no yes sensor input always on term block W2020 7 5 W2020 7 5 Cycles no no no Double ramp switching yes W2020 3 no yes W2020 3 Default current limit yes config yes W2024 yes W2024 always active word Current limit on freq threshold yes config yes W2024 yes W2024 word Current limit on LI yes config yes W2024 yes W2024 word W265 W2031 0 W2031 0 41 Communication principle Controlling the application functions via the bus depending on the various control modes continued terminal block Function which can be activated DLI FLI Total by the bus partial mode partial mode line mode Current limit on Al yes value at yes W2024 yes W2024 terminal block Default voltage reduction yes config yes W2028 yes W2028 word Voltage reduction on threshold yes config yes W2028 yes W2028 word Voltage reduction on LI yes config word yes W2028 yes W2028 W2020 10 W2020 10 Voltage reduction on Al yes value at yes W2028 yes W2028 Default torque limit yes default yes W2025 yes W2025
3. 35 Communication principle Loading a configuration This section deals with the complete loading of a configuration or a modification which requires several write messages To ensure consistency of the configuration carry out the following sequence Lock the Altivar 66 in stop mode W199 1 First write message Second write message etc Unlock the Altivar 66 W199 0 Locking is refused if the motor is operating or if the configuration semaphore is reserved see the section entitled Modifying the configuration on the next page When the speed controller is locked in stop mode itis not possible to start the motor the configuration consistency check is inhibited Unlocking starts the configuration consistency test and enables the motor to be restarted Unlocking is refused when the configuration is invalid W2049 1 1 If this occurs load a new configuration Note if the configuration semaphore is free before locking it is automatically reserved by the processor which locks it and is freed on unlocking During locking only the locked processor can write the configuration it is not possible to enter a graphic keypad configuration menu To load a valid configuration we recommend that you first read the value of the parameters having first established a suitable configuration using the graphic keypad or the PC software Nonsignificant words are read at 8000H Writing of nonsignificant words
4. value W2026 W2026 Torque limit on freq threshold yes config yes W2025 yes W2025 word W2026 W2026 Torque limit on LI yes config yes W2025 yes W2025 word W2031 3 W2026 W2026 W2031 3 Torque limit on Al yes value at yes W2025 yes W2025 terminal block W2026 W2026 Customer fault yes W2020 14 no yes W2020 14 Checking the communication bus Bit NTO of the command register W2020 4 is used to inhibit the communication check If bit NTO 1 the controller no longer takes account of communication errors from the communication bus or the serial link For safety reasons this should only be used in the debug phase 42 Altivar 66 variables Altivar 66 variables Certain Altivar 66 variables can be accessed at two different addresses in the 200 to 3000 address zone reserved for the Altivar 66 in the 0 to 127 address zone already used by the Altivar 45 2 1 Address zone reserved for the Altivar 66 200 to 3000 This address zone contains all the speed controller parameters for optimum use of the facilities of the Altivar 66 2 Address zone 0 to 127 common to the Altivar 66 and the Altivar 45 2 This address zone should only be used when integrating an Altivar 66 into acontrol system which until now has only included Altivar 45 2 controllers Not all of the Altivar 66 parameters appear here in particular those functions available using the Altivar 66 but not the Alt
5. 2 Logic output LO2 3 Reserved 4 Logic output R2 5 Logic output R3 I O card 6 Logic output R4 I O card W942 1 600 O 1s Low speed dwell time Preset at 1 0 s Configuration of Bypass WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W970 Bypass W970 0 0 Function not enabled preset W970 0 1 Function enabled w971 Start input OK W972 Process input 0 No logic input assigned preset 1 Reserved 2 Reserved 3 Logic input LI3 on basic product 4 Logic input LI4 on basic product 5 Logic input LI5 I O card 6 Logic input LI6 I O card 7 Logic input LI7 I O card 8 Logic input LI8 I O card W973 Contactor control logic output 0 No logic output assigned preset 1 Logic output LO1 2 Logic output LO2 3 Reserved 4 Logic output R2 5 Logic output R3 I O card 6 Logic output R4 I O card W974 2 100 O 1s Decay time Preset at 2 0 s W975 2 3000 O 1s Sequence time Preset at 5 0 s W976 2 3000 O 1s Process time Preset at 5 0 s 73 Cc 0 N F l G U R A T l 0 N Cc 0 N F l G U R A T l 0 N Altivar 66 variables Configuration of PI function rotation Preset WORD RANGE DESCRIPTION POSSIBLE VALUES W1040 Enabling of PI function W1040 0 1 Function enabled W1040 0 0 Not enabled preset
6. Ww1041 Authorizing the direction of W1041 0 1 Forward reverse direction permissible W1041 0 0 Only forward direction permissible Increase in the PI error W1041 1 1 Increase in the PI error decrease in the speed of the motor Preset W1041 1 0 Increase in the PI error increase in the speed of the motor PI set point via the Preset W1041 2 1 No PI set point via the graphic keypad keypad W1041 2 0 Pl set point via the graphic keypad Man set point via the Preset W1041 3 1 No speed reference via graphic keypad keypad W1041 3 0 Speed reference via the graphic keypad Management of PI alarm WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W1048 9999 Minimum value for Preset at 0 W1049 triggering the alarm W1049 9999 Maximum value for Preset at 1000 W1048 triggering the alarm Configuration of PI function WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W1043 9999 9999 Gain Preset at 9999 W1044 9999 9999 Offset Preset at 0 W1046 9999 9999 Min feedback value for the Preset at 0 sensor in user defined units W1047 9999 9999 Max feedback value for the Preset at 1000 sensor in user defined units W1053 0 1000 0 1 J Pl error ratio Preset at 100 W1054 0 9999 PI set point value for the Preset at 0 graphic keypad W1055 0 4000 0 1 Hz Speed reference value for Preset at 0 Hz the graphic keypad W1056 1
7. 1 Motor 0 75 kW 1 HP Only applicable to U41 rating 2 Motor 1 5 kW 2 HP preset 3 Motor 2 2 kW 3 HP W210 Direction of phase rotation W210 1 0 Phase rotation ABC preset W210 1 1 Phase rotation ACB Configuration of torque limit WORD RANGE UNIT DESCRIPTION COMMENTS W320 Torque limit type 0 Torque limit by fault 1 Torque limit by logic input 2 Torque limit by analog input W321 Torque limit assignment of 0 No logic input assigned activating logic input 1 Reserved 2 Reserved 3 Logic input LI3 on basic product 4 Logic input LI4 on basic product 5 Logic input LI5 I O card 6 Logic input LI6 I O card 7 Logic input LI7 I O card 8 Logic input LI8 I O card W322 Torque limit assignment of 0 No analog input assigned activating analog input 1 Analog input Al1 2 Analog input Al2 3 Analog input AI3 I O card 4 Analog input Al4 I O card C W215 0 200 1 Torque limit in generator Only in constant torque HIGH TORQUE Q or phase preset at 200 F W323 l W216 0 200 1 Torque limit in motor Only in constant torque HIGH TORQUE i or phase preset at 200 R W324 A T l 0 N 63 Altivar 66 variables CONFIGURATION WORDS read and write Configuration of slip compensation WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W225 Enabling of slip compensation W225 0 0 Function not enabled W225 0 1 Fun
8. 136 nom ATV Variable torque 110 nom ATV 66 Altivar 66 variables CONFIGURATION WORDS read and write Configuration of acceleration and deceleration WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W270 Enabling of ramp switching W270 0 0 Function not enabled preset alternate ramp W270 0 1 Function enabled W271 Acceleration type 0 Linear ramp preset 1 S ramp 2 U ramp W272 0 100 1 Rounding coefficient for Preset at 20 S acceleration ramps W273 0 100 1 Rounding coefficient for Preset at 50 U acceleration ramps W274 Deceleration type 0 Linear ramp preset 1Sramp 2Uramp W275 0 100 1 Rounding coefficient for Preset at 20 S deceleration ramps W276 0 100 1 _ Rounding coefficient for Preset at 50 U deceleration ramps W277 Ramp switching type 0 Not assigned preset alternate ramp 1 Switching by frequency level 2 Switching by logic input W278 Logic input for ramp 0 No logic input preset switching 1 Reserved 2 Reserved 3 Logic input LI3 on basic product 4 Logic input Ll4 on basic product 5 Logic input LI5 I O card 6 Logic input LI6 I O card 7 Logic input LI7 I O card 8 Logic input LI8 I O card W279 0 Fmax 0 1Hz Activation frequency level Preset at 30 0 Hz VAR W280 1 9999 0 1s Duration of first acceleration ramp Preset at 3 0 s
9. 45 2D 48 30 0 49 31 1 50 32 2 51 33 3 52 34 4 53 35 5 54 36 6 55 37 7 56 38 8 57 39 9 62 3E gt 63 3F 64 40 65 41 A 66 42 B 67 43 Cc 68 44 D M N Y 33 Communication principle Data structure The adjustment control supervision and monitoring of the Altivar 66 are performed using data or objects which are specific to this product This data essentially consists of e BITS named Bi i bit number which are used to execute logic commands Example B5 start stop command e WORDS of 16 bits named Wi i word number to be used for storing either integer values from 32768 to 32767 or 16 independent logic states these words are then called registers Examples W2021 frequency set point digital value W2040 register 16 status bits Notation W2040 2 designates the bit in row 2 of register W2040 Accessing data The tables in the section on ATV 66 variables list the parameters which can be accessed via the communication link The exact function of each parameter and its effect on the behavior of the speed controller are described in the speed controller programming manual and catalogue Certain data can be accessed in both read and write these are the bits and words corresponding to adjustments commands or the configuration This data is used by the speed controller However data generated by the speed controller can only be accessed in read signalling or fault dat
10. Altivar 66 or the card as necessary Description of protocols UNI TELWAY requests List of requests The following table describes the requests accepted by the Altivar 66 and their limits Details of the coding of the requests are given in the UNI TELWAY reference manual Request Code hex Altivar 66 Identification HOF Yes Protocol version H 30 Yes Status H 31 Yes Mirror H FA Yes Read error counters H A2 Yes Reset counters H A4 Yes Read a bit H 00 Yes Write a bit H 10 Yes Read a word H 04 Yes Write a word H 14 Yes Read objects H 36 63 words max Write objects H 37 60 words max Event Yes data 2 words Specific H F2 See later Identification request Response code H 3F Product type H 14 for Altivar Sub type H 66 Altivar 66 Product version H XX software version e g H 21 for V2 1 ASCII string product reference e g VAR 66U29N4 The first byte of an ASCII string always corresponds to the length of the string Status request Response code H 61 Current status H XX present at bit 0 internal fault high state bit 1 correctable fault bit 2 uncorrectable fault bit 3 not significant bit 4 not significant bit 5 not significant bit 6 speed controller stopped RDY or SLC or fault bit 7 speed controller in LOCAL control Status mask H C7 indicates the significant bits for the c
11. I O card 7 Logic input LI7 I O card 8 Logic input LI8 I O card W862 Automatic run logic input 0 No logic input assigned preset 1 Reserved 2 Reserved 3 Logic input LI3 on basic product 4 Logic input LI4 on basic product 5 Logic input LI5 I O card 6 Logic input LI6 I O card 7 Logic input LI7 I O card 8 Logic input LI8 I O card Configuration of local forcing WORD RANGE UNIT DESCRIPTION COMMENTS w910 Enabling of local forcing W910 0 Function not enabled preset W910 1 Function enabled w911 Local forcing via logic input 0 No logic input assigned 1 Reserved 2 Reserved 3 Logic input LI3 on basic product 4 Logic input LI4 on basic product 5 Logic input LI5 I O card 6 Logic input LI6 I O card 7 Logic input LI7 I O card 8 Logic input LI8 I O card Cc 0 N F l G U R A T l 0 N 71 Cc 0 N F l G U R A T l 0 N Altivar 66 variables CONFIGURATION WORDS read and write Configuration of controlled stop WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W920 Enabling of controlled stop W920 0 0 Function not enabled preset W920 0 1 Function enabled Activation input active level W920 1 0 active at 0 preset W920 1 1 active at 1 W921 Controlled stop type of 0 No controlled stop preset input activation 1 Activati
12. If the motor is operating W2040 8 1 or If the configuration semaphore is reserved W2049 3 1 e By another processor W198 1 or W199 1 or W2049 1 1 e By the keypad in a configuration menu e By OEM locking W2049 2 1 By local forcing W2040 5 1 The response is negative or exceptional if the configuration obtained is invalid See section on invalid configuration Configuration examples 1 Programming of the loss follower fault with skip to a frequency of 20 Hz Lock the configuration W199 1 Send the following 3 write requests W755 12 1 function enabled W767 200 skip frequency W768 1 skip to frequency enabled Unlock the configuration 2 Fast controlled stop via logic input Send a request to write an object to the following 4 words W920 0 1 enabling of controlled stop W921 1 activation by logic input W922 3 for LI3 W923 1 fast stop Note remember to disable LI3 before assigning it 3 Alternate ramps by frequency threshold Lock the configuration Send the following write requests W270 1 ramp switched W271 0 linear ramp acceleration W274 0 linear ramp deceleration W277 1 switching by frequency threshold W279 400 activation frequency threshold 400 x 0 1 or 40 Hz W282 100 duration of second acceleration ramp 100 x 0 1 or 10 Hz W283 100 duration of second deceleration ramp 100 x 0 1 or 10 Hz Unlock the configuration
13. Memorization of speed reference via logic input WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W850 Memorization of speed reference W850 0 0 Function not enabled preset W850 0 1 Function enabled w851 Memorization of speed reference 0 No logic input assigned preset 1 Reserved 2 Reserved 3 Logic input LI3 on basic product 4 Logic input LI4 on basic product 5 Logic input LI5 I O card 6 Logic input LI6 I O card 7 Logic input LI7 I O card 8 Logic input LI8 I O card 82 Altivar 66 variables CONFIGURATION WORDS read and write Configuration of the intermediate parameters with I O card Configuration of cycle function WORD RANGE DESCRIPTION POSSIBLE VALUES W1000 Enabling of cycle function W1000 0 0 Function not enabled preset W1000 0 1 Function enabled Step 1 frequency sign W1000 8 0 Positive sign preset W1000 8 1 Negative sign Step 2 frequency sign W1000 9 0 Positive sign preset W1000 9 1 Negative sign Step 3 frequency sign W1000 10 0 Positive sign preset W1000 10 1 Negative sign Step 4 frequency sign W1000 11 0 Positive sign preset W1000 11 1 Negative sign Step 5 frequency sign W1000 12 0 Positive sign preset W1000 12 1 Negative sign Step 6 frequency sign W1000 13 0 Positive sign preset W1000 13 1 Negative sign Step 7 frequency sign W1000 14
14. N 81 Cc 0 N F l G U R A T l 0 N Altivar 66 variables CONFIGURATION WORDS read and write Configuration of the intermediate parameters with I O card Configuration of tachogenerator feedback WORD RANGE DESCRIPTION POSSIBLE VALUES W870 Enabling of tachogenerator feedback W870 0 0 Function not enabled preset W870 0 1 Function enabled W871 Assignment of speed feedback input 0 No analog input preset 3 Analog input AI3 I O card Configuration of orient WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W950 Enabling of orient W950 0 0 Function not enabled preset W950 0 1 Function enabled W951 Assignment of logic input 0 No logic input assigned preset for command 1 Reserved W952 Assignment of synchronization 2 Reserved logic input 3 Logic input LI3 on basic product 4 Logic input LI4 on basic product 5 Logic input LI5 I O card 6 Logic input LI6 I O card 7 Logic input LI7 I O card 8 Logic input LI8 I O card W953 Orient signalling logic output 0 No logic output assigned preset to signal orient completed 1 Logic output LO1 2 Logic output LO2 3 Reserved 4 Logic output R2 5 Logic output R3 I O card 6 Logic output R4 I O card W954 0 100 0 1s Shutdown Preset at 1 0 s W955 50 150 1 Percentage of DC Preset at 70 injection W956 0 301 0 1s DC injection time Preset at 2 0 s
15. b lt TRAN SPEED 9 6 c lt FORMAT 8 1 STOP d lt PARITY ODD When a factory setting is made with the PCMCIA card present menu 11 remains configured Protocol UNI TELWAY Modbus RTU Jbus a Hodbus RTU Modbus ASC FIFIO MODBUS INTERBLIS Address The default address setting is to O not configured and the maximum is 31 Software setup Configuration of the communication functions Transfer speed Ae Transmission speed setting from 300 1 2 bits s to 19 200 bits s b 4 Default setting of 9 600 bits s 4 8 3 6 19 2 Frame format e Frame format There are 4 formats Th 1 stor 7 bits with 1 or 2 stop bits Th 2 stor 8 bits with 1 or 2 stop bits c 8h 1 stor Bh 2 stor Parity Parity assignment H d DDI EVEN The format is fixed for UNITELWAY 8 bits 1 stop ODD For Modbus RTU only the 8 bit format is available Only the following formats are permitted 8 bits 1 stop all selections are possible 8 bits 2 stop only NO 7 bits NO cannot be selected Software setup Communication state Menu 12 on the graphic keypad displays the communication state Card missing display 12 COMM STATE In this case the communication card is missing or not yet configured Card Missing See Menu 11 Communication card present display Note the UTW Modbus indication is unique l2 COMM ST
16. counter value oD 00 00 XX YY XXYY counter value 0E 00 00 XX YY XXYY counter value Read event counter function 11 H 0B Question Slave 0B CRC16 no 1 byte 1byte 2 bytes Response Slave 0B 00 00 Counter value CRC16 no Hi Lo 1 byte 1 byte 2 bytes 2 bytes 2 bytes Write N output words function 16 H 10 Question Slave 10 No of 1st word Number Number Value of 1st word __ CRC16 no Hi Lo ofwords of bytes Hi Lo 1 byte 1 byte 2 bytes 2bytes 1 byte 2 bytes 2 bytes Response Slave 10 No of 1st word Number of words CRC16 no Hi Lo Hi Lo 1 byte 1 byte 2 bytes 2 bytes 2 bytes Example write values 2 and 3 in words W3022 and W3023 of slave 2 Question 02 10 OBCE 0002 04 0002 0003 E3C6 Response 02 10 OBCE 0002 2220 26 Description of protocols MODBUS JBUS protocol Exception responses An exception response is given by a slave when it is unable to perform the request which is addressed to it Format of an exception response Slave Response Error CRC16 no code code 1 byte 1 byte 1 byte 2 bytes Response code function code of the request H 80 the most significant bit is set to 1 Error code 1 the function requested is not recognized by the slave 2 the bit and word numbers addresses indicated in the request do not exist in the slave 3 the bit and
17. nabled preset ed Enabling of input phase failure function W755 3 0 Not e W755 3 1 Enab nabled ed preset Enabling of motor phase fault function W755 4 0 Note W755 4 1 Enab nabled led preset Enabling of DB resistor protection W755 5 0 Not e W755 5 1 Enab nabled preset led Check presence of braking resistor W755 6 0 Not e W755 6 1 Enab nabled preset ed Enabling of speed controller reset W755 7 0 Note W755 7 1 Enab nabled preset ed External fault W755 8 0 Not e W755 8 1 Enab nabled preset ed Logic input active state 0 or 1 W755 9 0 Active at low state W755 9 1 Active at high state Current adaptation variable torque W755 10 0 Not W755 10 1 Ena enabled preset bled Enabling of flying restart function W755 11 0 Not W755 11 1 Ena enabled bled preset Enabling of loss follower W755 12 0 Not W755 12 1 Ena enabled preset bled Enabling of thermal protection W755 13 0 Not W755 13 1 Ena enabled bled preset 90 Altivar 66 variables CONFIGURATION WORDS read and write Configuration of faults WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W756 Stopping methods on a fault 0 Normal stop 1 Fast stop 2 Freewheel stop preset Configuration of automatic restart WORD RANGE UNIT DESCRIPTION COMMENT W7
18. 0 2 No of motor running or set parameter number 0 Motor 1 1 Motor 2 2 Motor 3 W2075 Current cycle step 1 step 1 2 step 2 3 step 3 4step 4 5 step 5 6 step 6 7 step 7 8 step 8 W2076 Current preset speed number 0 set point 1 preset speed 1 2 preset speed 2 3 preset speed 3 4 preset speed 4 5 preset speed 5 6 preset speed 6 7 preset speed 7 Depending on the configuration selected either multimotor or multiparameter WORD RANGE DESCRIPTION POSSIBLE VALUES W2200 0 22 Commercial rating for speed controller 0 Not significant in constant torque 1 Reserved 2 Reserved 3 Speed controller 2 2 kW 3 HP 4 Speed controller 3 kW 4 HP 5 Speed controller 4 kW 5 HP 6 Speed controller 5 5 kW 7 5 HP 7 Speed controller 7 5 kW 10 HP 8 Speed controller 11 kW 15 HP 9 Speed controller 15 kW 20 HP 10 Reserved 11 Speed control 12 Speed control 13 Speed control 14 Speed control 15 Speed control 16 Speed control 17 Speed control 18 Speed control 19 Speed control 20 Speed control 21 Speed control 22 Speed control 23 Reserved ler 22 kW 30 HP ler 30 kW 40 HP ler 37 kW 50 HP ler 45 kW 60 HP ler 55 kW 75 HP ler 75 kW 100 HP ler 90 kW 125 HP ler 110 kW 150 HP ler 132 kW 200 HP ler 160 kW 250 HP ler 200 kW 300 HP ler 220 kW 350 HP 54 Alti
19. 0 to F LRC longitudinal redundancy check end CR LF H 0D and H 0A 17 Description of protocols MODBUS JBUS protocol Principle The MODBUS protocol is a dialogue protocol which creates a hierarchical structure a master and several slaves The MODBUS protocol enables the master to interrogate one or more intelligent slaves A multidrop link connects the master and slaves Two types of dialogue are possible between master and slaves the master talks to a slave and waits for its response the master talks to all slaves without waiting for a response broadcasting principle The slaves are numbered from 1 to 31 and number 0 is reserved for broadcasting T The master manages the exchange and only it can take the initiative The master repeats the question when there is an incorrect exchange and declares the interrogated slave absent if no response is received within a given time envelope Only one device can transmit on the line at any time No slave can send a message itself unless it is invited to do so Master aoe d S Wd Slave i Slave j Slave k Note No lateral communication i e slave to slave can be performed directly The application software of the master must therefore be designed to interrogate a slave and send back data received to another slave Description of protocols MODBUS JBUS protocol
20. 2 reached with I O card 22 Reserved 23 Brake release 24 Shutdown 25 Orient complete 32 PI error exceeded 26 Cycle complete e 27 Cycle fault N 28 Bypass command F 29 JOG i 30 Reserved R 31 Reserved A o N 33 PI max error exceeded 34 PI min error exceeded 87 Altivar 66 variables CONFIGURATION WORDS read and write Configuration of the keypad WORD DESCRIPTION POSSIBLE VALUES W740 Assignment of F1 key 0 Not assigned preset 1 Direction of rotation 2 JOG 3 Reserved 4 Fault reset 5 Scrolling of bargraph 6 Preset speed 1 7 Preset speed 2 8 Start cycle function 9 Cycle function change to next cycle 10 Cycle function cycle reset 11 Local control WORD DESCRIPTION POSSIBLE VALUES W741 Assignment of a logic input to F2 key 0 Not assigned 1 Direction of rotation 2JOG 3 Terminal block keypad switching 4 Reset fault preset 5 Scrolling of bargraph 6 Preset speed 1 7 Preset speed 2 8 Start cycle function 9 Cycle function change to next cycle 10 Cycle function cycle reset 11 Reserved WORD DESCRIPTION POSSIBLE VALUES W742 Assignment of a logic input to F3 key 0 Not assigned 1 Direction of rotation preset 2 JOG 3 Reserved 4 Fault reset 5 Scrolling of bargraph 6 Preset speed 1 7 Preset speed 2 8 Start cycle function 9 Cycle fu
21. 6 Logic input LI6 I O card 7 Logic input LI7 I O card 8 Logic input LI8 I O card W823 Logic input for speed 0 No logic output assigned preset 1 Reserved 2 Reserved 3 Logic input LI3 on basic product 4 Logic input LI4 on basic product 5 Logic input LI5 I O card 6 Logic input LI6 I O card 7 Logic input LI7 I O card 8 Logic input LI8 I O card Cc 0 N F l G U R A T l oO N 69 Cc 0 N F l G U R A T l oO N Altivar 66 variables CONFIGURATION WORDS read and write Configuration of preset speeds WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W830 Enabling of preset W830 0 0 Function not enabled preset speeds W830 0 1 Function enabled preset with I O option W831 Choice of number of preset 0 No preset speed preset speeds 1 One preset speed 2 Three preset speeds 3 Seven preset speeds preset with I O option W832 Select via logic input a 0 No logic input assigned preset W833 Select via logic input b 1 Reserved W834 Select via logic input c 2 Reserved 3 Logic input LI3 on basic product 4 Logic input LI4 on basic product preset 5 Logic input LI5 I O card preset a with I O card 6 Logic input LI6 I O card preset b with I O card 7 Logic input LI7 I O card preset c with I O card 8 Logic input LI8 I O card W835 0 Fma
22. 9999 Proportional gain Preset at 100 W1057 0 9999 Integral gain Preset at 0 74 Altivar 66 variables Assignment of I O for the PI function output for the PI error WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W1042 0 4 Assignment of analog W1042 0 Not assigned input for the PI set point W1042 1 Analog input Al1 W1042 2 Analog input Al2 W1042 3 Analog input Al3 I O card W1042 4 Analog input Al4 I O card W1045 0 4 Assignment of analog W1045 0 Not assigned input for the sensor W1045 1 Analog input Al1 feedback W1045 2 Analog input Al2 W1045 3 Analog input AI3 I O card W1045 4 Analog input Al4 I O card W1050 0 4 Assignment of analog W1050 0 Not assigned input for the speed W1050 1 Analog input Al1 reference W1050 2 Analog input Al2 W1050 3 Analog input Al3 I O card W1050 4 Analog input Al4 I O card W1051 0 8 Assignment of logic W1051 0 Not assigned input switching between W1051 1 Reserved man auto mode W1051 2 Reserved W1051 3 Logic input LI3 W1051 4 Logic input Ll4 W1051 5 Logic input LI5 I O card W1051 6 Logic input LI6 I O card W1051 7 Logic input LI7 I O card W1051 8 Logic input LI8 I O card W1052 0 8 Assignment of logic W1052 0 Not assigned input for reversing the W1052 1 Reserved direction of rotation W1052 2 Reserved W1052 3 Logic input LI3 W1052 4 Logic input Ll4 W1052 5 Logic
23. Hardware setup Introduction The communication card reference VW3 A66301 is designed for use with Altivar 66 speed controllers fitted with VW3 A66205 VW3 A66201Q or VW3 A66202Q communication interfaces It is designed to integrate these power switching components into modern control system architectures by enabling them to be connected to a multidrop industrial bus Data exchanges enable all functions of the Altivar 66 to be used e function configuration e remote downloading of settings control and supervision monitoring e diagnostics The VW3 A66301 communication card in extended type 3 PCMCIA format has a 3 m connection cable fitted with a 15 pin SUB D connector This card manages the following communication protocols e UNI TELWAY e MODBUS RTU JBUS e MODBUS ASCII Note PCMCIA Personal Computer Memory Card International Association For optimum use of this manual we recommend that you read the section entitled Communication principle In addition use the index at the end of this manual to help you find Altivar 66 parameters Hardware setup Installing the card e Receipt Ensure that the card reference printed on the label is the same as that on the delivery note corresponding to the delivery advice Remove the packaging and check that the communication option card has not been damaged in transit Installing the card in the speed controller Before starting work on the control
24. O card G W813 Analog input 0 No analog input preset A frequency set point c 1 Analog input Al1 T o N 65 c 0 N F l G U R A T l 0 N Altivar 66 variables CONFIGURATION WORDS read and write Configuration of current limit WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W260 Enabling of current limit W260 0 0 Function not enabled preset W260 0 1 Function enabled W261 Current limit type 0 No current limit preset 1 Limit via frequency level 2 Limit via logic input 3 Limit via analog input W262 Logic input to activate current limit 0 No logic input assigned 1 Reserved 2 Reserved 3 Logic input LI3 on basic product 4 Logic input LI4 on basic product 5 Logic input LI5 I O card 6 Logic input LI6 I O card 7 Logic input LI7 I O card 8 Logic input LI8 I O card W263 Analog input for current limit 0 No analog input 1 Analog input Al1 2 Analog input Al2 3 Analog input AI3 I O card 4 Analog input Al4 I O card W264 0 Fmax VAR 0 1Hz Activation frequency level Preset at 60 Hz if 60 Hz supply 50 Hz if 50 Hz supply W265 40 of nom VAR wel XX 0 1A Limit current xx depends on torque type selected supply frequency and speed controller rating Constant torque 60Hz gt 150 nom ATV Constant torque 50Hz
25. Overspeed 13 Tachogenerator feedback loss 14 Serial link loss 15 Loss of 4 20 mA current input 16 Memory fault 17 DC bus load 18 Isolation timeout Bypass 19 Process timeout Bypass 20 Braking resistor missing 21 Thermal protection of braking resistor 22 Transistor short circuit 23 Transistor open 24 Motor phase fault 25 Control card supply 26 Peak current limit 27 Reserved 28 Disconnection of an I O card 29 Back driving fault 52 Altivar 66 variables SIGNALLING WORDS read only WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W2041 32768 32767 Output frequency 400 Hz 26478 W2042 0 1A Output current W2052 0 1 kW Output power W2053 1V Output voltage W2054 1V Supply voltage W2055 1V Bus voltage W2056 1 Motor thermal state value W2057 1 Speed controller thermal state value For rating gt 7 5 kW W2058 H Motor running time elapsed Total time W2058 W2059 hours W2059 min Motor running time elapsed minutes W2060 rpm Output speed W2061 Machine speed reference Frequency set point x scale customer unit factor W734 W2062 Machine frequency customer unit Output frequency x scale factor W734 S l G N A L L l N G 53 O2Z rrp gt zo n Altivar 66 variables SIGNALLING WORDS read only WORD RANGE UNIT DESCRIPTION COMMENTS W2074
26. SLC W2040 1 0 Speed controller not ready W2040 1 1 Speed controller ready Faulty FLT W2040 2 0 No speed controller fault W2040 2 1 Speed controller faulty Reset authorized W2040 3 0 Reset not authorized W2040 3 1 Reset authorized Brake release relay energized W2040 4 0 Brake release relay not energized W2040 4 1 Brake release relay energized Speed controller forced in LOCAL mode W2040 5 0 Speed controller not forced W2040 5 1 Speed controller forced in LOCAL mode Communication check inhibited NTO W2040 6 0 Communication fault monitoring W2040 6 1 No communication fault monitoring Resettable fault W2040 7 0 Speed controller has no resettable fault W2040 7 1 Speed controller has resettable fault Motor running W2040 8 0 Motor stopped W2040 8 1 Motor running Actual direction of rotation W2040 9 0 Forward operation W2040 9 1 Reverse operation DC injection braking W2040 10 0 No current injection W2040 10 1 Current injection in progress Steady state W2040 11 0 Speed controller not in steady state W2040 11 1 Speed controller in steady state Motor thermal overload alarm W2040 12 0 Speed controller has no motor overload fault W2040 12 1 Speed controller has motor overload fault Overbraking alarm W2040 13 0 Speed controller has no DC bus overvoltage fault W2040 13 1 Speed controller has DC bus overvoltag
27. Select orient stop W2020 7 0 select orient stop W2020 7 1 select normal stop warning operation reversed compared to freewheel and fast stops Select freewheel stop W2020 8 see table below Select fast stop W2020 9 see table below Voltage reduction command W2020 10 0 no voltage reduction W2020 10 1 voltage reduction according to the commanded or configured value Select motor a W2020 11 see table below Select motor b W2020 12 see table below Reserved W2020 13 External fault command EFL W2020 14 0 no external fault W2020 14 1 external fault present Reserved W2020 15 A Important it is imperative to set the bits 1 and 2 of word W2020 to 1 to access the logic commands and the ATV set point via serial link It is necessary to activate LI1 to start the motor The DLI and FLI bits are accepted first when writing Freewheel stop W2020 8 Fast stop W2020 9 Stop on stop request W2020 5 0 gt 1 0 0 Normal stop 1 1 Freewheel stop 1 0 Freewheel stop 0 1 Fast stop Select motor a W2020 11 Select motor b W2020 12 j 0 0 motor 1 1 parameter 1 0 motor 2 2 parameters 0 1 motor 3 3 parameters 1 1 No switching No switching Depending on the configuration selected multiparameter or multimotor 45 c oO M M A N D S MNOUZrPSESE00 Altivar 66 variables COMMAND WORDS r
28. W2004 1 9999 0 1s 2nd acceleration ramp time 5s W2005 1 9999 0 1s 2nd deceleration ramp time 5s W2006 1 100 0 1Hz Slip compensation motor value 3 Hz c W2007 0 800 1 IR compensation 100 o W2008 0 100 1 Profile 20 M W2009 0 100 1 BOOST voltage 20 A W2010 0 800 1 Damping 20 N we2011 0 100 0 1 Bandwidth 20 x W2012 45 lnvar 115 lnvar 0 1 A Thermal protection Nominal motor current 1 W214 W Max between W247 and W250 Depends on torque type High torque 150 Special 800 Other 100 In Var W2205 44 Altivar 66 variables COMMAND WORDS read and write Command register WORD DESCRIPTION POSSIBLE VALUES W2020 Speed controller reset W2020 0 0 no request W2020 0 1 reset request Assignment of logic commands in line mode DLI W2020 1 0 logic commands in local mode W2020 1 1 logic commands in line mode Assignment of set points in line mode FLI W2020 2 0 set point in local mode W2020 2 1 set point in line mode Ramp 2 command W2020 3 0 ramp 1 command W2020 3 1 ramp 2 command Communication check inhibited NTO W2020 4 0 communication check activated W2020 4 1 communication check disactivated Start Stop command RUN W2020 5 0 stop request W2020 5 1 start request DC injection braking command DCB W2020 6 0 no DC injection W2020 6 1 DC injection command
29. duration 84 W1024 Step 4 Frequency 84 W1025 Step 4 Ramp time 84 W1026 Step 4 Step duration 84 W1027 Step 5 Frequency 84 W1028 Step 5 Ramp time 84 W1029 Step 5 Step duration 84 W1030 Step 6 Frequency 84 W1031 Step 6 Ramp time 84 W1032 Step 6 Step duration 84 W1033 Step 7 Frequency 84 W1034 Step 7 Ramp time 84 W1035 Step 7 Step duration 84 W1036 Step 8 Frequency 84 W1037 Step 8 Ramp time 84 W1038 Step 8 Step duration 84 W1040 Enabling of PI function 74 W1041 Authorizing the direction of rotation 74 Increase in the PI error 74 PI set point value by the terminal 74 Man set point by the terminal 74 W1042 Assignment of analog input for the PI set point 75 W1043 Gain 74 W1044 Offset 74 W1045 Assignment of analog input for the sensor feedback 75 W1046 Min feedback value for the sensor in user defined units 74 W1047 Max feedback value for the sensor in user defined units 74 W1048 Minimum value for triggering the alarm 74 W1049 Maximum value for triggering the alarm 74 W1050 Assignment of analog input for the speed reference 75 Ww1051 Assignment of logic input for switching between man auto mode 75 W1052 Assignment of logic input for reversing the direction of rotation 75 W1053 PI error ratio 74 W1054 PI set point value for the graphic keypad 74 W1055 Speed reference value for the graphic keypad 74 105 INDEX Start End Descri
30. frame which generally comprises the following Heading Address Request Data Check End Each protocol defines the presence the format and the contents of the various groups of variables which surround the data zone This structuring makes it possible to define the start and the size of messages if necessary the system to which the data is addressed the type of function required the variables themselves a control parameter and an end code which validates the whole message The form and content of this frame are different for each type of protocol In the remainder of this document the MODBUS and JBUS functions will be referred to under the term MODBUS MODBUS frames Two transmission modes can be used only one of them being used in a system RTU mode The frame defined for the MODBUS protocol has neither message heading bytes nor end of message bytes It is defined as follows Address Request Data CRC16 The data is transmitted in binary code CRC16 cyclical redundancy check The end of the frame is detected on a silence of 3 characters or more ASCII mode The frame is complete and defined in the following way Heading Address Request Data LRC End CRLF heading H 3A data is coded in ASCII each byte is divided into 2 four bit bytes each of which is coded by an ASCII character
31. has no effect If you have to write nonsignificant words to limit the number of messages when loading the configuration they must be written at 8000H This ensures that the configuration you have loaded will be compatible with future versions of ALTIVAR 66 software Example the speed controller I O are always assigned by default to functions LI4 is assigned to JOG If you wish to assign the preset speed function to LI4 you must 1 lock the controller 2 disable the JOG function W890 0 3 disable input LIl4 W891 0 4 enable the preset speed function W830 1 W831 1 5 assign this function to Ll4 W832 4 Make sure that the resource input output used for the new function is free Otherwise completely disable the function using this resource Invalid configuration There are 4 main causes of invalid configurations An incorrect parameter value Two inputs or two outputs assigned to the same application function brake control etc Not all of the compulsory parameters forming a function have been configured Several incompatible functions have been enabled In each case the speed controller adapts the configuration and changes to invalid configuration state 36 Communication principle Modifying the configuration To make a simple modification to the configuration send a request to the Altivar 66 to Write words Write an object or a table Writing is refused
32. input LI5 I O card W1052 6 Logic input LI6 I O card W1052 7 Logic input LI7 I O card W1052 8 Logic input LI8 I O card W1058 0 3 Assignment of analog W1058 0 Not assigned output for the PI set point W1058 1 Analog output AO1 W1058 2 Analog output AO2 W1058 3 Analog output AO3 W1059 0 3 Assignment of analog W1059 0 Not assigned output for the PI feedback W1059 1 Analog output AO1 W1059 2 Analog output AO2 W1059 3 Analog output AO3 W1060 0 3 Assignment of analog W1060 0 Not assigned W1060 1 Analog output AO1 W1060 2 Analog output AO2 W1060 3 Analog output AO3 75 c oO N F l G U R A T l oO N Cc 0 N F l G U R A T l 0 N Altivar 66 variables Assignment of I O for the PI function WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W1061 0 3 Assignment of analog output W1061 0 Not assigned for the PI integrator W1061 1 Analog output AO1 W1061 2 Analog output AO2 W1061 3 Analog output AO3 W1062 0 8 Assignment of logic output W1062 0 Not assigned indicating that the error has W1062 1 Logic output LO1 exceeded the set value W1062 2 Logic output LO2 W1062 3 Reserved W1062 4 Logic output R2 W1062 5 Logic output R3 I O card W1062 6 Logic output R4 I O card W1063 0 8 Assignment of logic output W1063 0 Not assigned indicating that the process W1063 1 Logic output LO1 feedback is greater than th
33. no 15 16 Page no 16 Command to be used for the transfer W1700 8 to W1700 15 0 Word W2191 update page identification 1_ Reinitializion of the transfer status register W2190 2 Request a transfer from the memory card to the speed controller 3 Request a transfer from the speed controller to the memory card Cc 0 N F l G U R A T l 0 N 79 Altivar 66 variables PCMCIA memory card ATV66 transfer via line Transfer status register WORD DESCRIPTION POSSIBLE VALUES W2190 Status of memory card ATV66 transfer W2190 0 to W2190 7 0 Ready to transfer 1_ Transfert correct 2 No PCMCIA card present 3 PCMCIA card incompatible 4 Transfert incorrect eg page no or transfer order incorrect 5 Transfer error eg write protection by PCMCIA card switch 6 Page incompatible 7 Blank page PCMCIA memory card removed W2190 8 1 card removed or changed W2190 8 0 no card change Page identification 9 Pageno 0 1 12 Pageno 12 10 Page no WORD DESCRIPTION POSSIBLE VALUES W2191 No of selected page W2191 0 to W2191 7 1 Pageno 1 2 Pageno 2 3 Pageno 3 4 Page no 4 5 Pageno 5 6 Pageno 6 7 Pageno 7 8 Pageno 8 9 1 1 11 Page no 13 Page no 13 14 Page no 14 15 Page no 15 16 Page no 16 Cc 0 N F l G U R A T l oO N Blank page W2191 8 8 1 blank page W2191 8 8 0 p
34. or word does not exist Question code does not exist Incorrect question format but with first character Write while the speed controller is not in LINE mode Change of operating mode while the motor is not stopped Change of operating mode which does not correspond to chart Request E enables 10 words to be read or written consecutively Communication test mirror The mirror request returns the character string sent and can be used for the communication test Question 2M12345 lt LF gt lt CR gt Response gt M12345 lt LF gt lt CR gt Read bit Bit to inhibit communication check Read bit B4 Question 2A4 lt LF gt lt CR gt or 2A 00004 lt LF gt lt CR gt Response gt A0 lt LF gt lt CRz gt if bit 0 check active Response gt A1 lt LF gt lt CRz gt if bit 1 check inactive Write bit Change to LINE mode write value 1 in bit B3 Question 2B38 lt SP gt 1 lt LF gt lt CR gt Response gt Y lt LF gt lt CR gt Read word Value of analog input Al1 read word W2044 Question 2C2044 lt LF gt lt CR gt Response gt C 00100 lt LF gt lt CR gt Al1 value 100 Write word Frequency set point at 50 Hz write word W2021 Question 2D2021 lt SP gt 3310 lt LF gt lt CR gt Response gt Y lt LF gt lt CR gt 32 Description of protocols Graphic keypad serial link Table of ASCII codes used Dec Hex Character 10 OA LF line feed 13 oD 32 20 SP space 43 2B
35. the current control mode After a stop ordered by the keypad the bus is restarted on the rising edge of the Run bit of the command register which changes from state 0 to state 1 Local forcing It is possible to force operation to terminal block or keypad local mode depending on the state of the T K function Any write request or command received by the bus is thus prohibited Only requests to read the configuration or monitoring parameters are permitted To do this the Forced Local function in menu 7 2 must be configured or the F1 key of the keypad must be assigned to this function in menu 5 1 LOCAL FORCING NO YES LOGI NO forced local not enabled YES selection of the associated logic input Local forcing via the terminal block activating the LI assigned to local forcing causes a switch to terminal block forced local mode Logic commands and set points are taken via the terminal block On exiting local forcing deactivation of LI the controller returns to the previous control mode maintaining the operating direction Local forcing via the graphic keypad pressing the F1 key assigned to local forcing causes a switch to keypad forced local mode Logic commands and set points are taken at the keypad the operating direction is maintained On exiting local forcing F1 pressed again the controller returns to the previous control mode maintaining the operating direction 40 Communication principle Sw
36. the end The switches in the socket must be positioned in the following manner switch number switch position 2 OFF 3 OFF 5 OFF the position of the other switches has no effect Example of connection to UNI TELWAY bus TSX SCA62 Vw3 A66205 or VW3 A66201Q VW3 A66202Q Note itis imperative that the earths are connected between the TSX SCA unit and the Altivar 66 to ensure the system operates correctly In addition these connections must be as short as possible Hardware setup Connection to multidrop bus Connection to standard RS 422 bus Pins to be used RS 232 C connection Pins to be used 5 15 14 data i T transmission 2 H 3 SG common Ax data reception Software setup Configuration of the communication functions Initial power up To gain a good understanding of accessing the various menus we recommend that you consult the speed controller programming manual A message appears on the screen on initial power up which enables identification of the option OPT VWSAG6285 INSTALLED REMEMBER YOU NEED T CONFIGURE THE OPTION ENT to continue ENT ESC DRIVE IDENTIFICATION ATWESU4ING DC U i Power i 22kW 3HF In 5 8A Imax 8 66 SUPPLY 460 415 TI DPT 1 WW3A66205 FAULT OFT SWWSAGG 205 IS NOT RECOGNIZED OR HAS BEEN REMOVED ENT to continue en fes
37. 0 1 Function enabled W246 Brake control logic output 0 No logic output assigned 1 Logic output LO1 2 Logic output LO2 3 Reserved 4 Logic output R2 5 Logic output R3 I O card 6 Logic output R4 I O card W247 0 W303 0 1Hz Brake dwell frequency From 0 to LS low speed Preset at 0 Hz W248 0 W214 0 1 A Brake dwell current level From 0 to In In motor nominal current Preset at 0 A W249 0 50 0 1s Brake dwell time Preset at 0 0 s W250 0 W303 0 1Hz Brake release frequency Preset at 0 0 Hz W251 0 50 0 1s Brake release time Preset at 0 0 s W252 50 150 1 DC injection level Preset at 70 W253 0 301 0 1s DC injection time Preset at 2 s Summary of analog inputs WORD RANGE DESCRIPTION POSSIBLE VALUES W810 Limitation to 0 of the summing of W810 2 0 Function not enabled analog inputs assigned to the W810 2 1 Function enabled preset frequency set point W811 Analog input 0 No analog input frequency set point a 1 Analog input Al1 preset 2 Analog input Al2 3 Analog input AI3 I O card 4 Analog input Al4 I O card 2 Analog input Al2 3 Analog input Al3 I O card 4 Analog input Al4 I O card preset W812 Analog input 0 No analog input Cc frequency set point b 1 Analog input Al1 oO 2 Analog input Al2 preset 3 Analog input AI3 I O card l 4 Analog input Al4 I
38. 0 Positive sign preset W1000 14 1 Negative sign Step 8 frequency sign W1000 15 0 Positive sign preset W1000 15 1 Negative sign w1001 Logic input for 0 No logic input assigned cycle start 1 Reserved W1002 Logic input for 2 Reserved cycle reset 3 Logic input LI3 on basic product W1003 Logic input for 4 Logic input LI4 on basic product cycle pause 5 Logic input LI5 I O card W1004 Logic input for 6 Logic input LI6 I O card change to next step 7 Logic input LI7 I O card 8 Logic input LI8 I O card W1005 Logic output for 0 No logic input assigned cycle over 1 Logic output LO1 W1006 Logic output for 2 Logic output LO2 cycle fault 3 Reserved 4 Logic output R2 5 Logic output R3 I O card 6 Logic output R4 I O card 83 Cc 0 N F l G U R A T l 0 N Altivar 66 variables CONFIGURATION WORDS read and write Configuration of the intermediate parameters with I O card Configuration of cycle function continued WORD RANGE UNIT DESCRIPTION PRESET W1007 0 250 Step 1 number of sub cycles 0 W1008 0 250 Step 2 number of sub cycles 0 w1009 0 250 Step 3 number of sub cycles 0 W1010 0 250 Step 4 number of sub cycles 0 W1011 0 250 Step 5 number of sub cycles 0 W1012 0 250 Step 6 number of sub cycles 0 W1013 0 250 Step 7 number of sub cycles 0 W1
39. 014 0 250 Step 8 number of sub cycles 0 W1015 0 Fmax VAR 0 1Hz Step 1 Frequency 30 0 Hz W1016 1 9999 0 1s Step 1 Ramp time 3 0s W1017 0 6000 1s Step 1 Step duration 30s W1018 0 F max VAR 0 1Hz Step 2 Frequency 30 0 Hz W1019 1 9999 0 1s Step 2 Ramp time 3 0s W1020 0 6000 1s Step 2 Step duration Os W1021 0 Fmax VAR 0 1Hz Step 3 Frequency 30 0 Hz W1022 1 9999 0 1s Step 3 Ramp time 3 0s W1023 0 6000 1s Step 3 Step duration Os W1024 0 Fmax VAR 0 1Hz Step 4 Frequency 30 0 Hz W1025 1 999 0 1s Step 4 Ramp time 3 0s W1026 0 6000 1s Step 4 Step duration Os W1027 0 F max VAR 0 1Hz Step 5 Frequency 30 0 Hz W1028 1 999 0 1s Step 5 Ramp time 3 0 s W1029 0 6000 1s Step 5 Step duration Os W1030 0 Fmax VAR 0 1Hz Step 6 Frequency 30 0 Hz W1031 1 999 0 1s Step 6 Ramp time 3 0 s W1032 0 6000 1s Step 6 Step duration Os W1033 0 Fmax VAR 0 1Hz Step 7 Frequency 30 0 Hz N W1034 1 999 0 1s Step 7 Ramp time Os i W1035 0 6000 1s Step 7 Step duration Os G W1036 0 Fmax VAR 0 1Hz Step 8 Frequency 30 0 Hz A W1037 1 999 0 1s Step 8 Ramp time 3 0s T W1038 0 6000 1s Step 8 Step duration Os o N F max VAR Constant torque 400 Hz for Altivar 66 U41N4 to D79N4 Altivar 66 U41M2 to D46M2 200 Hz for Altivar 66 C10N4 to C31N4 Variable torque 75 90 Hz 50 Hz 60Hz supply 84 Altivar 66 variables CONFIGURATION WORDS read and write I O configuration Assignment of negati
40. 052 Output power 53 W2053 Output voltage 53 W2054 Supply voltage 53 W2055 Bus voltage 53 W2056 Motor thermal state value 53 W2057 Speed controller thermal state value 53 W2058 Motor running time elapsed hours 53 W2059 Motor running time elapsed minutes 53 W2060 Output speed 53 W2061 Machine speed reference customer unit 53 W2062 Machine frequency customer unit 53 W2063 Value of analog input Al2 57 W2064 Value of analog input Al3 57 W2065 Value of analog input Al4 57 W2071 Motor nominal voltage 55 W2074 No of motor running or no of set parameter 54 W2075 Current cycle step 54 W2076 Current preset speed number 54 W2100 Assignment of analog input Al1 57 W2101 Assignment of analog input Al2 57 W2102 Assignment of analog input Al3 57 W2103 Assignment of analog input Al4 57 W2104 Assignment of analog output AO1 58 W2105 Assignment of analog output AO2 58 W2106 Assignment of analog output AO3 58 W2107 Preset assignment of LO1 set point reached 59 W2108 Preset assignment of LO2 current limit 59 W2111 Preset assignment of R1 fault 59 W2112 Preset assignment of R2 run 59 W2113 Preset assignment of R3 thermal state level 1 59 109 INDEX Start End Description Page address address W2114 Preset assignment of R4 speed controller ready 59 W2115 Assignment of LI1 Stop not reconfigura
41. 1 Type of signal of analog output AO2 Output 4 20 mA W782 Type of signal of analog output AO3 Output 0 20 mA preset 0 1 0 Output 0 20 mA preset 1 0 1 Output 4 20 mA WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W783 Assignment of analog output AO1 Not assigned Motor current Motor frequency preset Motor power Motor torque Motor voltage Motor thermal state Ramp output PI set point Sensor feedback 0 PI error W784 Assignment of analog output AO2 Not assigned Motor current preset Motor frequency Motor power Motor torque Motor voltage Motor thermal state Ramp output PI set point Sensor feedback 0 PI error 11 Pl error integrator 0 1 2 3 4 5 6 7 8 9 1 11 PI error integrator 0 1 2 3 4 5 6 7 8 9 1 W785 Assignment of analog output AO3 0 Not assigned preset 1 Motor current 2 Motor frequency 3 Motor power preset with I O card 4 Motor torque 5 Motor voltage 6 Motor thermal state 7 Ramp output 8 PI set point 9 Sensor feedback 10 Pl error 11 Pl error integrator W786 0 Fmax VAR 0 1Hz Logic output activation frequency level 1 Preset at 25 0 Hz W787 0 Fmax VAR 0 1Hz Logic output activation frequency level 2 Preset at 0 0 Hz W788 10 150 1 Logic output activation current level 1 Preset at 100 W789 10 150 1 Logic output activation current l
42. 57 1 5 Number of possible restarts Preset at 5 W758 1 600 1s Locking time Preset at 30 s Type of motor overload WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W759 0 3 Type of motor overload 0 No protection 1 Motor self cooled 2 Motor force cooled 3 Manual tuning of motor minimum speed at full load preset at 50 W761 W760 45 115 0 1A Thermal tripping current of W214 Factory preset at 0 9 times speed controller nominal current W761 0 100 1 Minimum speed at full load Preset at 50 W762 0 100 1 Maximum current at zero frequency Preset at 50 W763 0 12 Value of braking resistor W764 1W Power of braking resistor WORD RANGE UNIT DESCRIPTION COMMENT W765 Reset speed controller via 0 No logic input assigned logic input 1 Reserved W766 External fault activation logic 2 Reserved input 3 Logic input LI3 4 Logic input L14 5 Logic input LI5 I O card 6 Logic input LI6 I O card 7 Logic input LI7 I O card 8 Logic input LI8 I O card 91 Cc 0 N F l G U R A T l oO N Cc 0 N F l G U R A T l 0 N Altivar 66 variables CONFIGURATION WORDS read and write Configuration of faults Loss follower WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W767 0 FmaxVAR 0 1 Hz Frequency set point i
43. ATE and corresponds to the name of the option card 1 It is irrelevant whether the protocol is AIF A UNI TELWAY or Modbus Not configured indicates that the card has Not configured been identified but the protocol has not been configured See Heny 11 Configuration error indicates that the identified card does not correspond to the protocol configured Card display during operation 12 COMM STATE Bus active s Different network states are possible with the CPT Messate HAHAH communication card initializing bus active bus inactive 11 Software setup Diagnostics Fault For the communication fault codes refer to the user s manual for the PCMCIA communication card interface Additional diagnostics Check the state of the 2 indicator lamps on the front panel of the VW3 A66301 communication card ERR COM Cable Lamp status 0 off 1 2 flashing 1 on COM lamp ERR lamp Probable cause Corrective action green red 1 0 Normal operation 1 2 0 Incorrect communication Check configuration configuration or communication Ensure software is compatible fault with the Altivar 66 0 1 Bus communication fault Check position of the switches of the TSX SCA 62 subscriber connector of the Altivar 66 when off Check connections presence configuration and operation of link master 0 0 PCMCIA card or speed controller Remove the PCMCIA card and fault check the Altivar 66 Replace the
44. Accessible data The MODBUS protocol enables data bits and words to be exchanged between a master and several slaves and checks these exchanges Consequently bit areas are defined in each slave unit which will be read or written by the master An input object can only be read An output object can be read or written i I Slave i I Slave j Master MODBUS addressing E S Input 2 s8 Fs Output bits E Input o S words 5O t Q Fe K g o 8 Fe Output cf words ip aks ey ee I Slave k 1 Exchanges The master or supervision device takes the initiative in exchanges This master addresses a slave by supplying it with four types of data the address of the slave the function required of the slave the data area variable depending on the request the exchange check The link master waits for the response of the slave before transmitting the next message thus avoiding any conflict on the line Operation in half duplex is therefore authorized 19 Description of protocols MODBUS JBUS protocol Control and monitoring All control of exchanges between two units which are communicating via asynchronous serial link naturally includes exception messages when exchange faults occur Various incorrect messages may be sent to a slave In this event the slave
45. ING WORDS read only WORD DESCRIPTION POSSIBLE VALUES W2043 Disp ay of activation of LI1 W2043 1 0 Input inactive W2043 1 1 Input active Disp ay of activation of LI2 W2043 2 0 Input inactive W2043 2 1 Input active Disp ay of activation of LI3 W2043 3 0 Input inactive W2043 3 1 Input active Disp E ay of activation of L W2043 4 0 Input inactive W2043 4 1 Input active Disp ay of activation of LI5 W2043 5 0 Input inactive W2043 5 1 Input active Disp ay of activation of LI6 W2043 6 0 Input inactive W2043 6 1 Input active Disp IJ ay of activation of L W2043 7 0 Input inactive W2043 7 1 Input active Disp ay of activation of LI8 W2043 8 0 Input inactive W2043 8 1 Input active Disp ay of activation of LO1 W2043 9 0 Input inactive W2043 9 1 Input active Disp ay of activation of LO2 W2043 10 0 Input inactive W2043 10 1 Input active Disp ay of activation of R1 W2043 11 0 Input inactive W2043 11 1 Input active Disp ay of activation of R2 W2043 12 0 Input inactive W2043 12 1 Input active Disp ay of activation of R3 W2043 13 0 Input inactive W2043 13 1 Input active Disp ay of activation of R4 W2043 14 0 Input inactive W2043 14 1 Input active 56 Altivar 66 variables SIGNALLING WORDS read only
46. Note The configuration must be locked if the addresses are not consecutive 37 Communication principle Before transmitting the PLC configuration to the speed controller use the table below to check that the functions selected are compatible Table showing application functions which are not compatible The indicates incompatibility SWITCH MOT SEL PAR TACH FEEDBACK ORIENT SET POINT MEMORY CYCLE PRESET SPEEDS SPEED REFERENCE AUTO MANUAL TERMINAL KEYPAD CONTROLLED STOP BYPASS SHUTDOWN BRAKE SEQUENCE RUN REVERSE DOUBLE RAMP JOG SPEED RUN REVERSE JOG SPEED SET POINT MEMORY PRESET SPEEDS SPEED REFERENCE e e eee 0o PF AUTO MANUAL CONTROLLED STOP SHUTDOWN TERMINAL KEYPAD BYPASS BRAKE SEQUENCE Pl SWITCH MOT SEL PAR TACH FEEDBACK ORIENT CYCLE DOUBLE RAMP 38 Communication principle Table showing parameters which are not compatible Constant torque Variable torque NORMAL HIGH TORQUE SPECIAL NORMAL NOLD control control control control control Nominal current Nominal frequency Nominal voltage IR compensation e Damping Rotation normalization ABC Curren
47. S i TER upply D B TX D A 100 kQ 5 RC232 __ RD B Rx __ g z B H p t RDA 2 3 s 100 ka A Side view of external av ov contacts Connection to standard RS 485 bus Pins to be used ov 4 Recommendations e use a shielded cable with 2 pairs of twisted conductors connect the reference potentials between them D B 7 cable routing keep the bus away from the power cables at least 30 cm with any crossovers at right angles and connect the cable D A 3 shielding to the ground of each device e fit a line terminator at both ends of the line 29 Description of protocols Graphic keypad serial link 1202 if Zt line terminator recommended 1 nf at both ends of the line a Connection to standard RS 422 Pins to be used Connection to standard RS 232 C 1 4 Pins to be used 6 lee data PP TX transmission 7H 5 SG common a RX data reception 30 Description of protocols Graphic keypad serial link Definition of the link 9600 Baud asynchronous link Format1 start bit 8 data bits 1 odd parity bit 1 stop bit All these parameters are fixed The link is of the master slave type with the speed controller as slave Only one of the two stations can transmit at any given moment half duplex link Definition of the protocol Dialogue is in question response form The master asks a questi
48. VAR 66 AND ALTIVAR 45 2 Configuration words read and write WORDSINAME RANGE RANGE UNITS DESCRIPTION ATV45 2 ATV66 W53 0 2 990 s 1 9999 0 1s Acceleration time 2 W54 0 2 990 s 1 9999 0 1s Deceleration time 2 W61 W62 10Hz 0 LSP 0 1 Hz Brake application level W62 0 Hz W61 0 LSP 0 1 Hz Brake release level W63 0 4s 0 50 0 1s_ Brake application time REGISTER OF PAST FAULTS read only Configuration words read only WORDSINAME RANGE RANGE UNITS DESCRIPTION ATV45 2 ATV66 W120 Register of 1st past fault W121 Register of 2nd past fault W121 Register of 3rd past fault W121 Register of 4th past fault W121 Register of 5th past fault W121 Register of 6th past fault W121 Register of 7th past fault W127 Register of 8th past fault 96 Altivar 66 variables ADDRESS ZONE COMMON TO ALTIVAR 66 AND ALTIVAR 45 2 read only Status register ORDS NAME RANGE DESCRIPTION ATV45 2 corresponding to state 1 W20 STR Status register LOC 1 W20 0 All commands assigned in LOCAL mode RDY 2 W20 1 Speed controller ready FAI 4 W20 2 Faulty REN 8 W20 3 Reset authorized BOR 16 W20 4 Brake release relay energized FLO 32 W20 5 Speed controller forced in LOCAL mode NTO 64 W20 6 Commu
49. W281 1 9999 0 1s Duration of first deceleration ramp Preset at 3 0 s W282 1 9999 0 1s Duration of second acceleration Preset at 5 0 s ramp W283 1 9999 0 1s Duration of second deceleration Preset at 5 0 s ramp Configuration of skip frequencies WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W290 Skip frequency range 1 W290 1 0 2 Hz default W290 1 1 5 Hz Skip frequency range 2 W290 2 0 2 Hz default W290 2 1 5 Hz Skip frequency range 3 W290 3 0 2 Hz default W290 3 1 5 Hz W291 0 Fmax VAR 0 1Hz Skip frequency value 1 Preset at 0 0 Hz W292 0 Fmax VAR 0 1Hz Skip frequency value 2 Preset at 0 0 Hz W293 0 Fmax VAR 0 1Hz Skip frequency value 3 Preset at 0 0 Hz 67 Cc 0 N F l G U R A T l 0 N Altivar 66 variables CONFIGURATION WORDS read and write Configuration of reverse operation function WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W880 Enabling of reverse function W880 0 0 Function not enabled W880 0 1 Function enabled preset W881 Logic input for enabling 0 No logic input assigned Run Reverse 1 Reserved 2 Reserved Preset 3 Logic input LI3 on basic product 4 Logic input LI4 on basic product 5 Logic input LI5 I O card 6 Logic input LI6 I O card 7 Logic input LI7 I O card 8 Logic input LI8 I O card Configuration of JOG function WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES w890 Enabling of JOG fu
50. WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W2044 0 100 1 Value of analog input Al1 0 for 0 V and 100 for 10 V W2063 100 1 Value of analog input Al2 0 for 0 mA and 100 for 20 mA W2064 1 Value of analog input Al3 0 for 0 V and 100 for 10 V W2065 0 0 100 0 100 1 Value of analog input Al4 0 for 0 mA and 100 for 20 mA W2100 Assignment of analog input Al1 preset 0 Not assigned 1 Current limit 2 Voltage reduction 3 Frequency set point a 4 Frequency set point b 5 Frequency set point c 8 PI Man set point 9 Sensor feedback 10 PI set point 11 Torque limit W2101 Assignment of analog input Al2 preset 0 Not assigned 1 Current limit 2 Voltage reduction 3 Frequency set point a 4 Frequency set point b 5 Frequency set point c 8 PI Man set point 9 Sensor feedback 10 PI set point 11 Torque limit w2102 Assignment of analog input Al3 0 Not assigned preset without 1 0 1 Current limit 2 Voltage reduction 3 Frequency set point a 4 Frequency set point b 5 Frequency set point c preset with I O 6 Tachogenerator speed feedback 8 PI Man set point 9 Sensor feedback 10 PI set point 11 Torque limit W2103 Assignment of analog input Al4 0 Not assigned preset 1 Current limit 2 Voltage reduction 3 Frequency set poi
51. a for example If written they have no meaning and are rejected Order in which data is processed Where several types of parameter are written by the same request the order in which parameters are processed is important in order to determine their validity This order is as follows configuration parameters writing to 1 of bits W2020 1 and W2020 2 DLI and FLI adjustment parameters command parameters except W2020 1 and W2020 2 ie ie 1 2 3 4 34 Communication principle Protection of access to configuration and settings The configuration semaphore write protects the access to the configuration adjustment and locking parameters W199 The processor which writes word W198 1 reserves the semaphore and prohibits all write access to the parameters write protected by other processors graphic keypad PC software and devices connected to buses The configuration semaphore W198 0 must be freed by the processor which reserved it The speed controller can operate normally when the configuration semaphore is reserved Only the locking W199 1 prevents starting The semaphore will return to its free state in the event of a communication fault or if after 60 seconds no request has been transmitted to the Altivar 66 by the processor which reserved it The configuration semaphore is reserved by the keypad in a configuration menu by the forced local function in this case the reserving pr
52. age 230 V Preset supply voltage 3 Nominal voltage 240 V 4 Nominal voltage 380 V Preset 50Hz supply 5 Nominal voltage 400 V 6 Nominal voltage 415 V 7 Nominal voltage 440 V Preset 60 Hz supply 8 Nominal voltage 460 V WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W214 45 Inom VAR 0 1A Motor nominal current Preset at In 0 9 speed controller 105 Inom VAR VAR nominal current depends on the torque type supply frequency speed controller rating and motor rating F max VAR Constant torque 400 Hz for Altivar 66 U41N4 to D79N4 Altivar 66 U41M2 to D46M2 200 Hz for Altivar 66 C10N4 to C31N4 Variable torque 75 90 Hz 50 Hz 60Hz supply c oO N F l G U R A T l 0 N WORD RANGE UNIT DESCRIPTION W219 300 24000 rom Motor nominal speed configuration When the multi motor function is being used nominal speed configuration by motor 2 is done via word W419 and for motor 3 via word W619 62 Altivar 66 variables CONFIGURATION WORDS read and write Basic configuration of speed controller and motor WORD DESCRIPTION POSSIBLE VALUES W200 2 or 3 wire control 0 2 wire control preset 1 3 wire control W201 Torque type 0 Constant torque preset 1 Variable torque 2 Low noise variable torque W206 Control type 0 Normal control preset 1 NOLD control 2 High torque control 3 Special motor control W202 Motor power
53. age not blank 80 Altivar 66 variables CONFIGURATION WORDS read and write Configuration of the intermediate parameters with I O card Configuration of voltage reduction WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W310 Voltage reduction W310 0 0 Function not enabled preset W310 0 1 Function enabled W311 Choice of reduction type 0 No reduction preset 1 Activation on frequency threshold 2 Activation via logic input 3 Level of analog input W312 Voltage reduction via logic input 0 No logic output assigned preset 1 Reserved 2 Reserved 3 Logic input LI3 on basic product 4 Logic input LI4 on basic product 5 Logic input LI5 I O card 6 Logic input LI6 I O card 7 Logic input LI7 I O card 8 Logic input LI8 I O card W313 Voltage reduction via analog 0 No logic output assigned preset input 1 Analog input Al1 2 Analog input Al2 3 Analog input Al3 I O card 4 Analog input Al4 I O card W314 0 Fmax VAR 0 1Hz Voltage reduction via frequency Preset at 60 Hz if 60 Hz supply threshold Preset at 50 Hz if 50 Hz supply W315 20 100 1 Voltage reduction coefficient Preset at 100 F max VAR W2204 Constant torque 400 Hz for Altivar 66 U41N4 to D79N4 Altivar 66 U41M2 to D46M2 200 Hz for Altivar 66 C10N4 to C31N4 Variable torque 75 90 Hz 50 Hz 60Hz supply c oO N F l G U R A T l oO
54. and DCB 45 Select orient stop 45 106 INDEX Start End Description Page address address Select freewheel stop 45 Select fast stop 45 Voltage reduction command 45 Select motor a 45 Select motor b 45 External fault command EFL 45 Ww2021 Frequency set point on line 46 W2022 State of logic output LO1 47 State of logic output LO2 47 State of output relay RO2 47 State of output relay RO3 47 State of output relay RO4 47 W2023 Value of output AO1 47 W2024 Current limit value 46 W2025 Motor torque limit value 46 W2026 Generator torque limit value 46 W2028 Motor voltage reduction value 46 W2029 Value of output AO2 47 W2030 Value of output AO3 47 W2031 Current limit command 46 Operating direction 46 Auto man command 46 Motor and generator torque limit command 46 Preset speeds selection a 46 Preset speeds selection b 46 Preset speeds selection c 46 W2040 All commands assigned in LOCAL mode 48 Speed controller ready RDY or SLC 48 Faulty FLT 48 Reset authorized 48 Brake release relay energized 48 Speed controller forced in LOCAL mode 48 Communication check inhibited NTO 48 Resettable fault 48 Motor running 48 Actual direction of rotation 48 DC injection braking 48 Steady state 48 107 INDEX Start End Description Page address address Motor thermal overload alarm 48 Overbraking alarm 48 Current limit 48 No power pres
55. atio Adjustment word Voltage adjustment coefficient Boost W10 ITH 0 45 1 05 In 50 115 0 1 A Motor thermal protection W11 GBF 0 100 0 100 0 1 Frequency loop gain W12 FR1 0 HSP 0 HSP 0 1 Hz Skip frequency 1 W13 FR2 0 HSP 0 HSP 0 1 Hz Skip frequency 2 W14 LSP 0 HSP 0 HSP 0 1 Hz Minimum frequency W15 HSP LSP f max LSP f max 0 1 Hz Maximum frequency W16 ACC 0 2 990s 1 9999 0 1s Acceleration time W17 DEC 0 2 990 s 1 9999 0 1s Deceleration time 94 Altivar 66 variables ADDRESS ZONE COMMON TO ALTIVAR 66 AND ALTIVAR 45 2 Command register WORDS NAME RANGE RANGE UNITS DESCRIPTION ATV66 ATV 45 2 W18 COM Command register W18 0 Speed controller reset DLI W18 1 Assignment of logic commands in LINE mode FLI W18 2 Assignment of set points in LINE mode W18 3 Reserved NTO W18 4 Inhibit communication check RUN W18 5 Stop Start command DCB W18 6 DC injection braking control W18 7 Reserved CAL W18 8 Selection of freewheel stop CAR W18 9 Selection of fast stop RTM W18 10 Motor voltage reduction control W18 11 Reserved W18 12 Reserved W18 13 Reserved W18 14 Reserved W18 15 Storage in EEPROM w19 FRH LSP 0 1 Hz Frequency set point HSP 95 Altivar 66 variables ADDRESS ZONE COMMON TO ALTI
56. ation frequency level M 66 W265 Limit current M 66 W270 W283 Enabling of ramp switching M P 67 High torque available on motor 1 only M Multimotor P Multiparameter 99 INDEX Start End Description Page address address W271 Acceleration type M P 67 W272 Rounding coefficient for S acceleration ramps M P 67 W273 Rounding coefficient for U acceleration ramps M P 67 W274 Deceleration type M P 67 W275 Rounding coefficient for S deceleration ramps M P 67 W276 Rounding coefficient for U deceleration ramps M P 67 W277 Ramp switching type M P 67 W278 Logic input for ramp switching 67 W279 Activation frequency level M P 67 W280 Duration of first acceleration ramp M P 67 W281 Duration of first deceleration ramp M P 67 W282 Duration of second acceleration ramp M P 67 W283 Duration of second deceleration ramp M P 67 W290 Skip frequency range 1 M P 67 Skip frequency range 2 67 Skip frequency range 3 67 W291 Skip frequency value 1 M P 67 W292 Skip frequency value 2 M P 67 W293 Skip frequency value 3 M P 67 W301 Motor maximum frequency M P 62 W302 High speed M P 62 W303 Low speed M P 62 W310 W315 Voltage reduction M P 81 W311 Choice of reduction type M P 81 W312 Voltage reduction via logic input 81 W313 Voltage reduction via analog input 81 W314 Voltage reduction via frequency level M P 81 W315 Voltage reduction coeffici
57. ber of possible restarts 91 W758 Locking time 91 W759 Type of motor overload 91 W760 Thermal tripping current 91 W761 Minimum speed at full load 91 W762 Maximum speed at zero frequency 91 W763 Value of braking resistor 91 W764 Power of braking resistor 91 W765 Reset speed controller via logic input 91 W766 External fault activation logic input 91 W767 Frequency set point if loss follower occurs 92 W768 Type of action in the event of loss of current input 92 W769 Type of flying restart 92 W775 Assignment of negative sign to Al2 85 Assignment of negative sign to Al3 85 101 INDEX Start End Description Page address address Assignment of negative sign to Al4 85 W776 Current type of input Al2 85 W777 Voltage type of input Al3 85 W778 Current type of input Al4 85 W779 Entry of a value for Al2 85 W780 Type of signal of analog output AO1 86 W781 Type of signal of analog output AO2 86 W782 Type of signal of analog output AO3 86 W783 Assignment of analog output AO1 86 W784 Assignment of analog output AO2 86 W785 Assignment of analog output AO3 86 W786 Logic output activation frequency level 1 86 W787 Logic output activation frequency level 2 86 W788 Logic output activation current level 1 86 W789 Logic output activation current level 2 86 W790 Logic output activation thermal state 1 86 W791 Logic output activation therma
58. ble 60 W2116 Assignment of LI2 Forward operation not reconfigurable 60 W2117 Assignment of LI3 Reverse operation 60 W2118 Assignment of LI4 JOG 60 W2119 Assignment of LI5 Preset speed a 60 W2120 Assignment of LI6 Preset speed b 60 W2121 Assignment of LI7 Preset speed c 60 W2122 Assignment of LI8 Fault reset 60 W2140 Indicates position of marker on 1 of the 8 past faults 52 W2141 Past fault 1 speed controller status 52 W2142 Past fault 1 fault name 52 W2143 Past fault 2 speed controller status 52 W2144 Past fault 2 fault name 52 W2145 Past fault 3 speed controller status 52 W2146 Past fault 3 fault name 52 W2147 Past fault 4 speed controller status 52 W2148 Past fault 4 fault name 52 W2149 Past fault 5 speed controller status 52 W2150 Past fault 5 fault name 52 W2151 Past fault 6 speed controller status 52 W2152 Past fault 6 fault name 52 W2153 Past fault 7 speed controller status 52 W2154 Past fault 7 fault name 52 W2155 Past fault 8 speed controller status 52 W2156 Past fault 8 fault name 52 W2190 Status of memory card ATV66 transfer 80 W2191 No of selected page 80 Blank page 80 W2200 Commercial rating for speed controller in constant torque 54 W2201 Configured speed controller rating 55 W2202 Speed controller voltage range 55 W2203 AC frequency recognized or not 55 W2205 Altivar nominal current 55 W2206 Speed controller maximum current 55 W2211 Memory card present 55 W2212 Communication I
59. coded in the form of 2 ASCII characters as above Example write value 1 in bit B3 of slave 2 Question and response Hexadecimal 3A 30 32 3035 30303033 46463030 4637 oD 0A ASCII 02 05 0003 FFOO F7 CR LF LRC calculation Sum of the bytes in the frame H 02 H 05 H 00 H 03 H FF H 00 H 109 265 Modulo sum 256 H 09 9 Modulo sum 256 2 s complement H 100 H 09 256 9 247 H F7 28 Description of protocols Graphic keypad serial link General Communication via serial link from the ALTIVAR 66 keypad port enables all data generated by the microprocessor controlling the speed controller to be accessed Data is always available in read only form The speed controller can be controlled change frequency set point start etc either via the serial link in LINE mode or by local commands in LOCAL mode NOTE In the description of the keypad port serial link all characters are in ASCII code see ASCII code table on page 88 Connection SUB D connector pin configuration The transmission interface is electrically isolated from the speed controller in accordance with the RS 485 and RS 422 RS 232 C compatible standards It is available on a 9 pin SUB D connector TX transmis sion enable 5V
60. configurable 2 Run not reconfigurable W2116 Assignment of LI2 Forward operation not reconfigurable 3 Forward operation not reconfigurable W2117 Assignment of LI3 Reverse operation W2118 Assignment of LI4 JOG W2119 Assignment of LI5 Preset speed a W2120 Assignment of LI6 Preset speed b W2121 Assignment of LI7 Preset speed c W2122 Assignment of LI8 Fault reset 0 Not assigned 4 Reverse operation 5 Current limit 6 Voltage reduction 7 Ramp switching 8JOG 9 speed 10 speed 11 Controlled stop 12 Start cycle with I O card 13 Reset cycle with I O card 14 Cycle blocked with I O card 15 Cycle next stop with I O card 16 Set point memory 17 Preset speed a command 18 Preset speed b command 19 Preset speed c command with I O card 20 Indexing command with I O card 21 Indexing pulse with I O card 22 Local control 23 Auto man 24 Terminal block keypad 25 Input assigned to process Bypass 26 Input assigned to starting Bypass 27 Parameter selection motor a 28 Parameter selection motor b 29 Customer fault 30 Reset fault RAZ fault 31 Run Auto 32 Reserved 33 Auto Man PI 34 Reverse direction PI 35 Reserved 36 Torque limit 60 Altivar 66 variables CONFIGURATION WORDS read and write Access to variables management Semaphores and locking whe
61. ction enabled W226 Slip compensation type 0 No compensation preset 1 Automatic compensation 2 Manual compensation W227 1 100 0 1Hz Slip compensation value Preset at 3 0 Hz WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W228 0 IR 1 IR compensation value Only for constant torque preset at 100 Comp max Max IR comp Depends on control type High torque 150 Special 800 Normal 100 WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W229 0 100 1 Profile Only for variable torque and if NORMAL has been selected preset at 20 WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W230 0 100 1 Voltage boost Only for constant torque HIGH TORQUE or SPECIAL preset at 20 WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W231 1 Stab 1 Damping Preset at 20 C max Oo N i Max damping 800 for Normal control variable torque and Special control constant torque G 100 otherwise U R A WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES l W232 0 100 1 Bandwidth Only for constant torque control oO N HIGH TORQUE preset at 20 64 Altivar 66 variables CONFIGURATION WORDS read and write Configuration of braking sequence WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W245 Enabling of braking sequence W245 0 0 Function not enabled preset W245
62. d in the slave by the master Code 02 read N input bits As above but applies to input bits bits which the master can only read Code 03 read N output words This function is used to read output words words which can be written and read in the slave by the master Code 04 read N input words As above but applies to input words words which the master can only read Code 05 write an output bit Used to set an output bit to 0 or 1 can only be accessed in write Code 06 write an output word Used to write a 16 bit output word can only be accessed in write 21 Description of protocols MODBUS JBUS protocol Diagnostic function code 08 is always accompanied by a sub code Code 08 00 Code 08 01 Code 08 03 Code 08 04 Code 08 0A Code 08 0B Code 08 0C Code 08 0D Code 08 0E Code 08 0F Code 08 10 Code 08 11 Code 08 12 echo This function requests the interrogated slave to send back the whole message sent by the master channel reinitialization This function is used to reinitialize communication of a slave and in particular to make it leave listen only mode LOM by sending data item H 0000 or H FFOO change of ASCII delimiter In ASCII mode messages are delimited by the line feed character LF H 0A This function is used to change this character change to LOM mode This function is used to command a slave to change to listen onl
63. d from the speed controller in accordance with the RS 485 and RS 422 RS 232 C compatible standards It is available on a 15 pin SUB D connector 5 ay ov Hi5 TX transmis sion enable RX oV OV m Side view of external contacts Connection to standard RS 485 bus Pins to be used Recommendations e use a shielded cable with 2 pairs of twisted conductors connect the reference potentials to each other D A 7 e maximum length of line 1000 meters maximum length of drop cable 20 meters e do not connect more than 28 stations to one bus e cable routing keep the bus away from the power cables at least 30 cm with any crossovers at right angles and connect the cable shielding to the ground of each device e fit a line terminator at both ends of the line 120Q Zt line terminator recommended 1nF at both ends of the line Hardware setup Connection to multidrop bus Various accessories are available to facilitate connection of equipment Cables for TSX CSA bus sold in lengths of 100 200 or 500 m TSX SCA62 subscriber connector This passive unit consists of a printed circuit fitted with screw terminal blocks and enables two devices to be connected to the bus It includes an end of line terminator when the connector is at
64. e W1063 2 Logic output LO2 maximum set value W1063 3 Reserved W1063 4 Logic output R2 W1063 5 Logic output R3 I O card W1063 6 Logic output R4 I O card W1064 0 8 Assignment of logic output W1064 0 Not assigned indicating that the process W1064 1 Logic output LO1 feedback is greater than the W1064 2 Logic output LO2 minimum set value W1064 3 Reserved W1064 4 Logic output R2 W1064 5 Logic output R3 I O card W1064 6 Logic output R4 I O card 76 Altivar 66 variables Multimotor and multiparameter functions The use of multimotor and multiparameter functions can be dangerous especially when switching motors it is therefore advisable to read the instructions in the ATV66 user manual thoroughly To simplify this document a list of multimotor and multiparameter functions and parameters is provided at the end of the manual indicated by the letters M and P The multimotor function is used to configure up to three motors These motors can be configured using the same data or independently However even though the functions or parameters are multimotor the inputs and outputs of the speed controller are not In fact if the user decides to configure different I O for each motor then only the last assignment will actually be taken into account Data structure e The configuration of motor 1 is between words W206 and W324 e The configuration of motor 2 is between words W406 and W524 same as mot
65. e fault Current limit W2040 14 0 Speed controller not in current limit W2040 14 1 Speed controller in current limit No power present NLP W2040 15 0 Speed controller has no AC phase failure W2040 15 1 Speed controller has AC phase failure 48 Altivar 66 variables SIGNALLING WORDS read only Complimentary status register WORD DESCRIPTION POSSIBLE VALUES W2047 Local control mode terminal block keypad W2047 0 0 Local control via terminal block W2047 0 1 Local control via keypad On line logic commands W2047 1 0 On line logic commands not activated W2047 1 1 On line logic commands activated On line set point commands W2047 2 0 On line set point commands not activated W2047 2 1 On line set point commands activated Dynamic braking BRK W2047 3 0 Braking not active W2047 3 1 Braking active Fast stop in progress W2047 4 0 Fast stop not in progress W2047 4 1 Fast stop in progress Controlled stop on loss of AC supply W2047 5 0 Stop not in progress W2047 5 1 Stop in progress Output voltage deactivated freewheel stop W2047 6 0 Power bridge controlled W2047 6 1 Power bridge not controlled Orient complete W2047 7 0 Oriented stop is incomplete or not in progress W2047 7 1 Oriented stop is complete function operates for 1 sec Decelerating DEC W2047 8 0 Speed controller not in decelera
66. ead and write Additional command register WORD DESCRIPTION POSSIBLE VALUES W2031 Current limit command W2031 0 0 default limit W2031 0 1 current limit depending on the configured or commanded value Operating direction W2031 1 0 run forward W2031 1 1 run reverse Auto man command W2031 2 0 auto set point W2031 2 1 man set point Motor and generator torque limit command W2031 3 0 default limit W2031 3 1 torque limit depending on the configured or commanded values Preset speeds selection a W2031 4 see table below Preset speeds selection b W2031 5 see table below Preset speeds selection c W2031 6 see table below Reserved W2031 7 gt W2031 15 Selection a Selection b Selection c Number of preset speeds 0 0 0 no preset speed 1 0 0 1 preset speed 0 1 0 2 preset speeds 1 1 0 3 preset speeds 0 0 1 4 preset speeds 1 0 1 5 preset speeds 0 1 1 6 preset speeds 1 1 1 7 preset speeds Frequency set point in line mode WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W2021 32767 32767 frequency set point in line mode 26478 represents 400 Hz 26478 represents 400 Hz Current and torque limit and voltage reduction value WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W2024 400 1500 0 1 Current limit value value expressed as a of the nominal motor c
67. ent 48 W2043 Display of activation of LO1 56 Display of activation of LO2 56 Display of activation of R1 56 Display of activation of R2 56 Display of activation of R3 56 Display of activation of R4 56 W2044 Value of analog input Al1 57 W2047 Local control mode terminal block keypad 49 On line logic commands 49 On line reference commands 49 Dynamic braking BRK 49 Fast stop in progress 49 Controlled stop on loss of AC supply 49 Output voltage deactivated freewheel stop 49 Orient complete 49 Decelerating DEC 49 Accelerating ACC 49 Motor selection 49 Motor selection 49 Speed controller thermal alarm 49 Stopped via the keypad 49 W2048 JOG in progress 50 Shutdown completed 50 Cycle completed 50 Ramp 2 in progress 50 Auto Man state 50 Frequency threshold 1 reached 50 Frequency threshold 2 reached 50 Current threshold 1 reached 50 Current threshold 2 reached 50 Thermal threshold 1 reached 50 Thermal threshold 2 reached 50 No ramp follow 50 External contactor in active state 50 108 INDEX Start End Description Page address address Direction of rotation requested 50 W2049 Speed controller locked when stopped 50 Invalid configuration 50 OEM access protection indicator 50 State of configuration semaphore 50 State of command semaphore 50 W2050 Register of faults 51 W2051 Register of faults present 51 W2
68. ent M P 81 W320 Torque limit type M 63 W321 Assignment of torque limit activating logic input 63 W322 Assignment of torque limit activating analog input 63 W323 Torque limit in generator phase M 63 W324 Torque limit in motor phase M 63 W730 Configuration of graphics 93 W731 Configuration of bargraph 1 93 W732 Configuration of bargraph 2 93 W734 Scale factor of machine units 93 W740 Assignment of F1 key 88 M Multimotor P Multiparameter 100 INDEX Start End Description Page address address W741 Assignment of a logic input to F2 key 88 W742 Assignment of a logic input to F3 key 88 W743 Terminal block keypad control 89 W744 Logic input for Terminal block keypad switching 89 W745 Keypad preset speed 1 89 W746 Keypad preset speed 2 89 W747 JOG 89 W748 Type of access to speed controller data via keypad 61 W749 Language 93 W755 Automatic restart 90 Enabling of power loss function 90 Enabling of input phase failure function 90 Enabling of motor phase fault fuction 90 Enabling of DB resistor protection 90 Check presence of braking resistor 90 Enabling of speed controller reset 90 External fault 90 Logic input active state 0 or 1 90 Current adaptation Variable torque 90 Enabling of flying restart function 90 Enabling of loss follower 90 Enabling of thermal protection 90 W756 Stopping methods on a fault 91 W757 Num
69. er word W2051 15 Description of protocols UNI TELWAY requests Summary the use of event data with a TSX PLC requires Correct configuration of the UNI TELWAY link master module Regular monitoring of the indicators which display changes in the value of the data Acquisition of this data via the request to read event data Specific control request This request is used to control the Altivar 66 and to obtain in return the data essential for controlling the speed controller Request format Request code byte H F2 Category byte 0 7 Specific request code byte Reserved byte Command word COM Set point word FRH Acceleration word ACC Deceleration word DEC Confirm format Request code byte H F2 Specific response code byte H 30 Reserved byte Set point word FRH Status register word STR Fault register word FLT Motor current word LCR Negative response Response code byte H FD Cause incorrect number of parameters Description of protocols MODBUS JBUS protocol General The exchange of data between computer systems PLCs and other intelligent systems must be performed using a common language This language should be as simple as possible and understood by everyone involved Nevertheless it must be possible to check every exchange to ensure the integrity of the transfers The variables exchanged are therefore inserted in a
70. erved W2051 15 Precharge failure 51 S l G N A L L l N G O2Z rrp gt zo n Altivar 66 variables SIGNALLING WORDS read only WORD DESCRIPTION POSSIBLE VALUES W2140 Indicates position of marker from 0 to 9 on 1 of the 8 past faults W2141 Past fault 1 speed controller status 0 No fault W2143 Past fault 2 speed controller status 1 Acceleration W2145 Past fault 3 speed controller status 2 Deceleration W2147 Past fault 4 speed controller status 3 Steady state W2149 Past fault 5 speed controller status 4 Dynamic braking W2151 Past fault 6 speed controller status 5 Ready W2153 Past fault 7 speed controller status 6 DC injection W2155 Past fault 8 speed controller status 7 Current limit 8 Reserved 9 Reserved 10 Locking on run permitted 11 Faulty 12 Jog W2142 Past fault 1 fault name 0 No fault W2144 Past fault 2 fault name 1 AC supply overvoltage W2146 Past fault 3 fault name 2 DC bus overvoltage W2148 Past fault 4 fault name 3 DC bus undervoltage W2150 Past fault 5 fault name 4 Earth fault W2152 Past fault 6 fault name 5 Phase short circuit W2154 Past fault 7 fault name 6 Power supply 15 V W2156 Past fault 8 fault name 7 Rating not recognized 8 One phase missing 9 Motor overload 10 User fault 11 Speed controller thermal overload 12
71. eted 82 W954 Shutdown 82 W955 Percentage of DC injection 82 W956 DC injection time 82 w970 W976 Bypass 73 W971 Start input OK 73 W972 Process input 73 W973 Contactor control logic output 73 W974 Decay time 73 W975 Sequence time 73 W976 Process time 73 W1000 W1038 Enabling of cycle function 83 Step 1 frequency sign 83 Step 2 frequency sign 83 Step 3 frequency sign 83 Step 4 frequency sign 83 Step 5 frequency sign 83 Step 6 frequency sign 83 Step 7 frequency sign 83 Step 8 frequency sign 83 w1001 Logic input for cycle start 83 W1002 Logic input for cycle reset 83 W1003 Logic input for cycle pause 83 W1004 Logic input for change to next step 83 W1005 Logic output for cycle end 83 W1006 Logic output for cycle fault 83 W1007 Step 1 number of sub cycles 84 W1008 Step 2 number of sub cycles 84 W1009 Step 3 number of sub cycles 84 W1010 Step 4 number of sub cycles 84 W1011 Step 5 number of sub cycles 84 W1012 Step 6 number of sub cycles 84 W1013 Step 7 number of sub cycles 84 W1014 Step 8 number of sub cycles 84 W1015 Step 1 Frequency 84 W1016 Step 1 Ramp time 84 104 INDEX Start End Description Page address address W1017 Step 1 Step duration 84 W1018 Step 2 Frequency 84 W1019 Step 2 Ramp time 84 W1020 Step 2 Step duration 84 w1021 Step 3 Frequency 84 W1022 Step 3 Ramp time 84 W1023 Step 3 Step
72. evel 2 Preset at 50 W790 0 200 1 Logic output activation thermal state 1 Preset at 100 w791 0 200 1 Logic output activation thermal state 2 Preset at 10 W792 0 100 1 Logic output activation torque level Preset at 100 F max VAR Constant torque 400 Hz forAltivar 66 U41N4 to D79N4 Altivar 66 U41M2 to D46M2 200 Hz for Altivar 66 C10N4 to C31N4 Variable torque 75 90 Hz 50 Hz 60Hz supply 86 Altivar 66 variables CONFIGURATION WORDS read and write I O configuration WORD DESCRIPTION POSSIBLE VALUES W793 Assignment of logic output LO1 0 Not assigned W794 Assignment of logic output LO2 1 Speed controller ready W798 Assignment of logic output R2 2 Speed controller running W799 Assignment of logic output R3 3 Set point reached w800 Assignment of logic output R4 4 Forward operation 5 Reverse operation 6 Keypad control 7 Auto Man automatic position 8 Current limit 9 Torque limit 10 Fault 11 Speed controller thermal alarm 12 Loss of Al2 13 No ramp follow with I O card 14 Tachogenerator feedback fault with I O card 15 Overspeed with I O card 16 Frequency threshold 1 reached 17 Frequency threshold 2 reached with I O card 18 Current threshold 1 reached 19 Current threshold 2 reached with I O card 20 Thermal state threshold 1 reached 21 Thermal state threshold
73. f Programming of a reference speed loss follower occurs preset at 0 Hz W768 Type of action in the event of 0 No detection preset loss of current input 1 Skip to frequency 2 Change to fault mode Type of flying restart WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W769 Type of flying restart 0 On ramp preset 1 Current limit 2 No restart F max VAR Constant torque 400 Hz for Altivar 66 U41N4 to D79N4 Altivar 66 U41M2 to D46M2 200 Hz for Altivar 66 C10N4 to C31N4 Variable torque 75 90 Hz 50 Hz 60Hz supply 92 Altivar 66 variables CONFIGURATION WORDS read and write Configuration of the keypad display WORD DESCRIPTION POSSIBLE VALUES W730 Configuration of graphics 0 One bargraph preset 1 Two bargraphs 2 Four parameters W731 Configuration of bargraph 1 0 Set point frequency preset W732 Configuration of bargraph 2 1 Output frequency 2 Output current 3 Motor torque 4 Output power 5 Output voltage 6 Supply voltage 7 Bus voltage 8 Motor thermal state 9 Speed controller thermal state 10 Motor speed 11 Machine set point user unit 12 Machine speed user unit 15 PI feedback 16 PI set point WORD RANGE UNIT DESCRIPTION W734 1 100 Scale factor of machine units The machine units of the set point and machine speed variables are entered via the graphic keypad see display configuration in the progra
74. ignment of LO1 set point reached 0 No assignment W2108 Preset assignment of LO2 current limit 1 Speed controller ready W2111 Preset assignment of R1 fault 2 Run W2112 Preset assignment of R2 run 3 Set point reached W2113 Preset assignment of R3 thermal state level 1 4 Forward operation W2114 Preset assignment of R4 speed controller ready 5 Reverse operation 6 Graphic keypad command 7 Auto Man automatic position 8 Current limit 9 Torque limit 10 Fault 11 Speed controller thermal alarm 12 Loss of Al2 13 No ramp follow 14 TACH feedback fault 15 Overspeed frequency 16 Frequency threshold 1 reached 17 Frequency threshold 2 reached 18 Current threshold 1 reached 19 Current threshold 2 reached 20 Thermal threshold 1 reached 21 Thermal threshold 2 reached 22 Reserved 23 Braking command 24 Shutdown completed 25 Orient complete 26 Cycle complete 27 Cycle fault 28 Run command signal BYPASS 29 JOG in progress 30 Reserved 31 Reserved 32 Pl error exceeded 33 PI max error exceeded 34 PI min error exceeded 59 S l G N A L L l N G O2Z rrp gt zo n Altivar 66 variables SIGNALLING WORDS read only Display of assignment of logic inputs WORD DESCRIPTION POSSIBLE VALUES W2115 Assignment of LI1 Stop not reconfigurable Depends on the 2 wire 3 wire configuration 1 Stop not re
75. itching between control modes DLI FLI T K Current control mode depending on the state of the bits 0 0 0 Terminal block local 0 0 1 Graphic keypad local 0 1 Oor 1 Analog set point in line mode and terminal block logic command 1 0 Oor 1 Analog set point in term block local mode and logic command in line mode 1 1 Oor1 Total line T K state of the terminal block keypad configuration in local mode DLI state of the on line logic commana bit in word W2020 1 FLI state of the on line set point bit in word W2020 2 Switching between terminal block and keypad modes always causes the motor to stop Switching between local mode and line mode total or partial takes account of logic commands and set points of the new command source Note whatever the current mode if the logic input assigned to the Forced Local function is in a high state or if the F1 key on the keypad is selected the controller switches to Forced Local mode Controlling the application functions via the bus depending on the various control modes terminal block Function which can be activated DLI FLI Total by the bus partial mode partial mode line mode Reverse operation yes W2031 1 yes sign of yes set point W2021 Jog no no no speed no no no Set point memory no no no Preset speeds yes W2031 4 5 6 yes no Speed reference no value at yes W2021 yes W2021
76. ivar 45 2 In certain cases using these addresses avoids the necessity of modifying the program Any small differences in comparison with the Altivar 45 2 are indicated in the comments Range The range permitted by the speed controller is specified for each parameter Writing of an incorrect value is always accepted but will be automatically adjusted by the speed controller Unit Words are always expressed as integer values either signed 32768 to 32767 or unsigned 0 to 65535 The unit is defined for each of them Example W2000 high speed unit 0 1 Hz W2000 455 corresponds to high speed 45 5 Hz Values on switching on Each time it is switched on the Altivar 66 is initialized with the configuration and adjustments stored in its EEPROM memory 43 Altivar 66 variables ADJUSTMENT WORDS read and write These parameters may be adjusted with the motor stopped or running WORD RANGE UNIT DESCRIPTION PRESET W1993 0 9999 Proportional gain 100 Ww1994 0 9999 Integral gain 0 W1995 9999 9999 Gain 9999 W1996 4096 4096 Offset 0 W1997 0 9999 Fault ratio 100 Ww1998 0 9999 Keypad PI set point value 0 w1999 0 600 0 1Hz Keypad speed reference value 0 W2000 W2001 W301 0 1Hz High speed w2001 W W2000 0 1Hz Low speed w2002 1 9999 0 1s 1st acceleration ramp time 3s W2003 1 9999 0 1s 1st deceleration ramp time 3s
77. l state 1 86 W792 Logic output activation torque level 86 W793 Assignment of logic output LO1 87 W794 Assignment of logic output LO2 87 W798 Assignment of logic output R2 87 W799 Assignment of logic output R3 87 w800 Assignment of logic output R4 87 W810 W813 Limitation to 0 of the summing of analog inputs 65 assigned to the frequency set point W811 Analog input frequency set point a 65 W812 Analog input frequency set point b 65 W813 Analog input frequency set point c 65 W820 W823 Enabling of speed speed function 69 W821 Type of speed 69 W822 Logic input for speed 69 W823 Logic input for speed 69 W830 W841 Enabling of preset speeds 70 W831 Choice of number of preset speeds 70 W832 Select via logic input a 70 W833 Select via logic input b 70 W834 Select via logic input c 70 W835 Speed 1 value 70 102 INDEX Start End Description Page address address W836 Speed 2 value 70 W837 Speed 3 value 70 W838 Speed 4 value 70 W839 Speed 5 value 70 W840 Speed 6 value 70 W841 Speed 7 value 70 W850 w851 Memorization of speed reference 82 W851 Memorization of speed reference via logic input 82 w860 W862 Auto Man 71 W861 Switching auto manual logic input 71 W862 Auto Run logic input 71 W870 Enabling of tachogenerator feedback 82 W871 Assignment of speed feedback inp
78. ler disconnect the power supply and wait for the capacitors to discharge around 1 minute after switching off Red LED indicating presence of voltage on DC bus Captive screws Before mounting remove the cover from the J10 connector on the control card The example opposite is a VWW3 A66205 card Mounting precautions To access the slot for mounting the extension card unlock the protective cover and pivot it from right to left Check that there is no voltage on the DC bus red LED off Remove the IP20 protective cover from the J10 connector on the control card Mount the option card on the control card by plugging it into the J10 terminal block press on both sides of the J10 connector with your fingers to plug it in securely and fix it using the two captive screws Hardware setup Installing the card Once the communication interface VW3 A66205 VW3 A66201Q or VW3 A66202Q has been mounted in the speed controller e Insert the VW3 A66301 communication card into its slot so that the 3 meter connection cable is pointing to the left outside the speed controller Note For ratings of ATV66 U41N4 to D12N4 ATV66 U41M2 to U90M2 break off the precut 1 tab Hardware setup Connection to multidrop bus SUB D connector pin configuration The transmission interface is electrically isolate
79. lue of speed controller analog input W311 Reserved W32 Reserved 98 INDEX Start End Description Page address address W198 Configuration semaphore 61 W199 Speed controller locked when stopped 61 W200 2 or 3 wire control 63 W201 Torque type 63 W202 Motor power 63 W206 Control type M 63 W210 Direction of phase rotation M 63 W211 Motor nominal frequency type M 62 W212 Motor nominal frequency M 62 W213 Motor nominal voltage M 62 W214 Motor nominal current M 62 W215 Torque limit in generator phase M 63 W216 Torque limit in motor phase M 63 W219 Motor nominal speed configuration M 62 W225 W227 Slip compensation value M 64 W226 Slip compensation type M 64 W227 Slip compensation value M 64 W228 IR compensation value M 64 W229 Profile M 64 W230 Voltage boost M 64 W231 Damping M 64 W232 Bandwidth 64 W245 W253 Enabling of braking sequence M 65 W246 Brake control logic output 65 W247 Brake release frequency M 65 W248 Brake dwell current threshold M 65 W249 Brake dwell time M 65 W250 Brake release frequency M 65 W251 Brake release time M 65 W252 DC injection threshold M 65 W253 DC injection time M 65 W260 W265 Enabling of current limit M 66 W261 Current limit type M 66 W262 Logic input to activate current limit 66 W263 Analog input for current limit 66 W264 Activ
80. mming manual c WORD DESCRIPTION POSSIBLE VALUES 9 W749 Language 1 German F 2 English G 3 Spanish A 4 French T 5 Italian I 0 6 Reserved N 7 Swedish 93 Altivar 66 variables ADDRESS ZONE COMMON TO ALTIVAR 66 AND ALTIVAR 45 2 Command bits read and write of words WO and W1 BIT NAME DESCRIPTION NOTES BO TST De energization of speed controller safety relay Always read at 0 B1 RST Speed controller reset active on transition B2 CLO Assignment of commands in LOCAL mode from 0 to 1 B3 CLI Assignment of commands in LINE mode B4 NTO Inhibition of communication check B5 RUN Start stop command B6 REV Reverse direction of rotation change frequency set point sign B7 DCB Braking control B8 CAL Selection of freewheel stop B9 CAR Selection of fast stop B10 RTM Motor voltage reduction Adjustment words read and write WD NAMR RANGE RANGE UNITS DESCRIPTION COMMENTS ATV45 2 ATV66 W2 CGL 0 5 0 100 0 1 Hz Slip compensation W4 RLI 5 150 50 1360 0 10 Reduction of current limit W6 IBR 0 2 1 5 In 50 150 0 1 A Braking current amplitude W7 IAR 0 2 1 5 In 50 150 0 1 A DC amplitude when stopping Ws TAR 0 5 4s 0 301 0 1s DC injection time when stopping wg UFR 0 100 0 100 1 Voltage frequency r
81. n 5 Question Slave 05 Bit no Bit value CRC16 no Hi Lo 1 byte 1 byte 2 bytes 2 bytes 2 bytes The bit value field has two possible values only and can take no other value bit at 0 0000 bit at 1 FFOO Response Slave 05 Bit no Bit value CRC16 no Hi Lo 1 byte 1 byte 2 bytes 2 bytes 2 bytes Example write value 1 in bit B3 of slave 2 Question 02 05 0003 FFOO 7C09 and response Write an output word function 6 Question Slave 06 Word number Word value CRC16 no Hi Lo Hi Lo 1 byte 1 byte 2 bytes 2 bytes 2 bytes Response Slave 06 Word number Word value CRC16 no Hi Lo Hi Lo 1 byte 1 byte 2 bytes 2 bytes 2 bytes Example write value H 0315 789 in word W3022 of slave 2 ACC 78 9 s Question 02 06 OBCE 0315 2B1D and response 25 Description of protocols MODBUS JBUS protocol Diagnostic function 8 Question and response Slave 08 Sub code Data CRC16 no 1 byte 1 byte 2 bytes 2 bytes 2 bytes Sub code Question data Response data Function executed 00 XX YY XX YY Echo 01 00 00 00 00 Reinitialization 03 XX 00 XX 00 XX new delimiter 04 00 00 No response Change to LOM mode 0A 00 00 00 00 Reset counters to 0 0B 00 00 XX YY XXYY counter value 0c 00 00 XX YY XXYY
82. n stopped WORD RANGE DESCRIPTION COMMENTS W198 Configuration semaphore 0 Free 1 Reserved W199 Speed controller locked 0 Not locked when stopped 1 Locked W2235 Command semaphore 0 Free 1 Reserved See section Communication principle Access to speed controller adjustments WORD RANGE UNIT DESCRIPTION COMMENTS W748 Type of access to speed controller data 0 Partial access via keypad 1 Total access c 0 N F l G U R A T l oO N 61 Altivar 66 variables CONFIGURATION WORDS read and write Basic configuration of speed controller and motor WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W211 Motor nominal frequency type 0 Frequency 50 Hz 1 Frequency 60 Hz 2 Special frequency WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W212 25 Fmax VAR 1Hz Motor nominal frequency WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W301 W212 Fmax VAR 0 1Hz Motor maximum frequency High speed WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W302 W303 W301 0 1Hz High speed 50 Hz if 50 Hz supply 60 Hz if 60 Hz supply Low speed WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W303 0 W302 0 1Hz Low speed Preset at 0 0 Hz WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W213 Motor nominal voltage 0 Nominal voltage 208 V 1 Nominal voltage 220 V 2 Nominal volt
83. nction change to next cycle 10 Cycle function cycle reset 11 Reserved Cc 0 N F l G U R A T l 0 N 88 Altivar 66 variables CONFIGURATION WORDS read and write Configuration of the keypad WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W743 Terminal block keypad 0 Control via terminal block preset control 1 Control via keypad 2 Switching via logic input 3 Switching via F2 key W744 Logic input for Terminal block 0 No logic input assigned Graphic keypad switching preset 1 Reserved 2 Reserved 3 Logic input LI3 on basic product 4 Logic input LI4 on basic product 5 Logic input LI5 I O card 6 Logic input LI6 I O card 7 Logic input LI7 I O card 8 Logic input LI8 I O card W745 0 Fmax VAR 0 1Hz Keypad preset speed 1 Preset at 0 0 Hz W746 0 Fmax VAR 0 1Hz Keypad preset speed 2 Preset at 0 0 Hz W747 2 100 0 1Hz JOG frequency Preset at 5 0 Hz W747 and W893 same word Cc 0 N F l G U R A T l oO N 89 Cc 0 N F l G U R A T l 0 N Altivar 66 variables CONFIGURATION WORDS read and write Configuration of faults Fault configuration register WORD DESCRIPTION POSSIBLE VALUES W755 Automatic restart W755 1 0 Note W755 1 1 Enab nabled preset ed Enabling of power loss function W755 2 0 Note W755 2 1 Enab
84. nction Ww890 0 0 Function not enabled W890 0 1 Function enabled preset w891 Logic input for JOG activation 0 No logic input assigned 1 Reserved 2 Reserved 3 Logic input LI3 on basic product Preset 4 Logic input LI4 on basic product 5 Logic input LI5 I O card 6 Logic input LI6 I O card 7 Logic input LI7 I O card 8 Logic input LI8 I O card W892 Logic output for signalling 0 No logic output assigned preset enabling of JOG 1 Logic output LO1 2 Logic output LO2 3 Reserved 4 Logic output R2 G 5 Logic output R3 I O card N 6 Logic output R4 I O card l W893 2 100 0 1Hz JOG set point frequency Preset at 5 0 Hz G W894 2 100 0 1s Dead time between two Preset at 0 5 s R JOG pulses A T l 0 N 68 Altivar 66 variables CONFIGURATION WORDS read and write Configuration of speed speed function WORD DESCRIPTION POSSIBLE VALUES W820 Enabling of speed speed function W820 0 0 Function not enabled preset W820 0 1 Function enabled W821 Type of speed 0 Function not enabled preset 1 Enabling with memorization of speed reference 2 Enabling without memorization of speed reference W822 Logic input for speed 0 No logic output assigned preset 1 Reserved 2 Reserved 3 Logic input LI3 on basic product 4 Logic input LI4 on basic product 5 Logic input LI5 I O card
85. nication check inhibited CFA 128 W20 7 Resettable fault RNG 256 W20 8 Motor running RVE 512 W20 9 Actual direction of rotation BRE 1024 W20 10 DC injection braking SST 2048 W20 11 Steady state OVL 4096 W20 12 Motor thermal overload alarm OBR 8292 W20 13 Overbraking alarm LIM 16384 W20 14 Current limit PWD 32768 W20 15 Power not present Fault register BIT NAME RANGE DESCRIPTION ATV45 2 W21 FLT Fault register INF 1 W21 0 Internal fault SLP 2 W21 1 Serial link break 4 W21 2 Reserved SRF 8 W21 3 Reserved USF 16 W21 4 DC bus undervoltage OSF 32 W21 5 AC line overvoltage PHF 64 W21 6 Phase break OHF 128 W21 7 Speed controller overtemperature SPF 256 W21 8 Speed feedback not present overspeed OCF 512 W21 9 Phase short circuit or ground short circuit OBF 1024 W21 10 DC bus overvoltage OBF 2048 W21 11 DC bus overvoltage OLF 4096 W21 12 Motor overload OLF 8192 W21 13 Output phase loss 16384 W21 14 Reserved CRF 32768 W21 15 Precharge failure 97 Altivar 66 variables ADDRESS ZONE COMMON TO ALTIVAR 66 AND ALTIVAR 45 2 Signalling words read only ORDS NAME RANGE RANGE UNIT DESCRIPTION ATV45 2 ATV66 W22 LCR 0 1A Motor current W23 RFR 0 1 Hz Rotation frequency W24 THR 0 10 Motor thermal state W25 ULN 0 1V_ AC supply voltage W26 CHM 0 10 Motor load W27 Reserved W28 Reserved W30 DAI 0 1000 0 100 Va
86. nt a 4 Frequency set point b 5 Frequency set point c 8 PI Man set point 9 Sensor feedback 10 PI set point 11 Torque limit 57 S l G N A L L l N G O2Z rrp gt zo n Altivar 66 variables SIGNALLING WORDS read only Display of assignment of analog outputs WORD RANGE DESCRIPTION POSSIBLE VALUES W2104 Assignment of analog output AO1 preset 0 Not assigned 1 Motor current 2 Motor frequency 3 Output power 4 Motor torque 5 Output voltage 6 Motor thermal state 7 Ramp output 8 PI set point 9 Sensor feedback 10 Pl error 11 Pl error integrator W2105 Assignment of analog output AO2 preset 0 Not assigned 1 Motor current 2 Motor frequency 3 Output power 4 Motor torque 5 Output voltage 6 Motor thermal state 7 Ramp output 8 PI set point 9 Sensor feedback 10 Pl error 11 Pl error integrator W2106 Assignment of analog output AO3 preset 0 Not assigned 1 Motor current 2 Motor frequency 3 Output power 4 Motor torque 5 Output voltage 6 Motor thermal state 7 Ramp output 8 PI set point 9 Sensor feedback 10 Pl error 11 Pl error integrator 58 Altivar 66 variables SIGNALLING WORDS read only Display of assignment of logic outputs WORD DESCRIPTION POSSIBLE VALUES W2107 Preset ass
87. nterface Option 55 W2213 Graphic keypad present 55 110 INDEX Start End Description Page address address W2214 I O option present 55 W2216 PCMCIA communication card type 55 W2235 Command semaphore 61 111 112 80 V90D00A 1997 05 70369
88. o TO RESET THE FAULT OU NEED TO REINSTALL OFT WWSA66 285 or initialize drive to factory settings ENT to initialize The reference number of the chosen card and its version appear after OPT Confirm acknowledgment of the option by pressing ENT This reconfigures the speed controller to its factory settings In the drive identification menu itis possible to check the reference number the drive number and option 3 selected using the directional V A keys This screen appears on power up if an option has been removed which was configured during a previous power up Cut the general power supply to the speed controller before reinstalling the extension card see page 3 Software setup Configuration of the communication functions MAIN MENU PARAMETER SETTING 1 0 MAP FAULT HISTORY DISPLAY CONFIGURATION KEYPAD CONFIGURATION DRIVE CONFIGURATION GENERAL CONFIGURATION DIAGNOSTIC MODE a DRIVE INITIALIZATION gt l ACCESS LOCK y ACCESS LOCK ENT i COMMUNICATION PARTIAL UNLOCK COMM STATE y Configuration After installing the option select menu 11 Communication to access the card configuration To move around use the W A keys To access menu 11 remember to unlock the access to menus ENT li COMMUNICATION This menu includes 5 parameters for configuring FROTOCOL UTH the address protocol transmission speed a ADDRESS i a frame format and parity
89. ocessor loses the semaphore by the OEM locking function Using configuration semaphore is optional as it is automatically reserved on locking when a controller stops W199 1 Protection of access to commands The command semaphore write protects the access to the command objects bits or words The processor which writes word W2235 to 1 reserves the semaphore and prohibits all write access to commands by other processors PC software The command semaphore W2235 0 must be freed by the processor which reserved it Note It is possible to control the speed controller without having reserved the command semaphore The command semaphore is freed in the event of a communication fault if after 60 seconds no request has been transmitted to the Altivar by the processor which reserved the semaphore The command semaphore is reserved by the forced local function in this case the reserving processor loses the semaphore Protection of access in forced local mode No writing is permitted during local forcing when using the graphic keypad or logic input The forced local function automatically reserves the command and configuration semaphores even if they have already been reserved Protection of access in OEM locked mode function accessed by PC software Access locking signaled by W2049 2 1 prohibits reading of the configuration and adjustments It also prohibits writing by reserving the configuration semaphore
90. on and waits for the response within a given time 50 to 350 ms If there is any uncertainty parity or frame error etc the speed controller will not respond If this occurs check that all of the link parameters are correct The messages are delimited by the start characters for a question and gt for a response and the end characters LF or CR Question Start Question Data 1 Separator Data 2 End code 2 See table Number of 1 or 2 characters Value either lt LF gt on page 28 word or bit lt SP gt or or lt CR gt write only Data 1 Number of word or bit integer between 0 and 32767 The sign is optional as are zeroes to the left of the number Example 55 or 00055 Data 2 Value of word or bit Word integer between 32768 and 32767 The sign is optional as are zeroes to the left of the number Example 55 or 00055 2345 or 02345 Bit Oor1 Response Start Response Data 3 End code gt See table Value lt LF gt on page 28 lt CR gt read only Data 1 Word 6 characters fixed format Examples 00034 21254 Bit Oor 1 31 Description of protocols Graphic keypad serial link Table of requests Question Response code code Positive Negative Read bit A A N Write bit B Y N Read word C C N Write word D Y N Mirror M M N Read 10 words E E N If response is negative Number of bit
91. on via logic input 2 Activation on frequency level 3 Activation via logic input or frequency level W922 Stop command via logic input 0 No logic input assigned preset 1 Reserved 2 Reserved 3 Logic input LI3 on basic product 4 Logic input LI4 on basic product 5 Logic input LI5 I O card 6 Logic input LI6 I O card 7 Logic input LI7 I O card 8 Logic input LI8 I O card W923 Type of controlled stop activated 0 Freewheel stop preset via logic input 1 Fast stop 2 DC injection stop W924 Type of controlled stop activated 0 Freewheel stop preset via frequency level 1 Fast stop 2 DC injection stop W925 0 Fmax VAR 0 1 Hz Frequency level adjustment Preset at 0 Hz w926 50 150 1 Percentage of DC current Preset at 70 same as W955 injected W927 0 301 0 1 s Adjustment of DC current injection Preset at 2 s same as W956 time F max VAR W2204 Constant torque 400 Hz for Altivar 66 U41N4 to D79N4 Altivar 66 U41M2 to D46M2 200 Hz for Altivar 66 C10N4 to C31N4 Variable torque 75 90 Hz 50 Hz 60Hz supply 72 Altivar 66 variables CONFIGURATION WORDS read and write Configuration of shutdown WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W940 Shutdown W940 0 0 Function not enabled preset W940 0 1 Function enabled W941 Logic output to signal shutdown completed 0 No logic output assigned preset 1 Logic output LO1
92. or 1 200 e The configuration of motor 3 is between words W606 and W724 same as motor 1 400 Example W214 nominal current for motor 1 W414 nominal current for motor 2 W614 nominal current for motor 3 The display variables monitor the motor which is currently running word W2074 gives the parameter set or the number of the current motor Similarly for the multiparameter function the functions and parameters which can be accessed using this function are indicated at the end of this manual by the letter P Cc 0 N F l G U R A T l oO N 77 Cc 0 N F l G U R A T l 0 N Altivar 66 variables Configuration of multimotor and multiparameter functions WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES w901 0 9 Configuration of multimotor 1 motor and multiparameter 2 motors functions a 2 parameter sets 3 motors 5 3 parameter sets Assignment of logic inputs for multimotor and multiparameter functions WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W902 0 8 Assignment of Lla selecting the set of parameters or motor W902 0 Not assigned preset W902 1 Reserved W902 2 Reserved W902 3 Logic input LI3 W902 4 Logic input L14 W902 5 Logic input LI5 W902 6 Logic input LI6 W902 7 Logic input LI7 I O card W902 8 Logic input LI8 I O card I O card I O card W903 Assignment of Llb selecting the set of
93. ore reserved 50 Altivar 66 variables SIGNALLING WORDS read only Registe r of faults WORD POSSIBLE VALUES W2050 0 No fault 1 AC line overvoltage 2 DC bus overvoltage 3 DC bus undervoltage 4 Ground fault 5 Phase short circuit 6 15 V supply 7 Rating not recognized 8 AC supply phase failure 9 Motor overload 10 Customer fault 11 Speed controller thermal overload 12 Overspeed 13 Tachogenerator feedback loss 14 Serial link loss 15 Loss follower 16 Memory failure 17 DC bus load 18 Isolation timeout Bypass 19 Process timeout Bypass 20 DB resistor absent 21 DB resistor thermal protection 22 Transistor short circuit 23 Open transistor 24 Output phase loss 25 Control card supply 26 Peak current limit 27 Reserved 28 Disconnection of an I O card 29 Backdriving fault Registe r of faults present bit at 1 fault present WORD POSSIBLE VALUES W2051 W2051 0 Unlisted internal other ATV66 fault W2051 1 Serial link break W2051 2 Reserved W2051 3 Reserved W2051 4 DC bus undervoltage W2051 5 AC supply overvoltage W2051 6 In phase loss W2051 7 Speed controller overtemperature W2051 8 Speed feedback not present overspeed W2051 9 Phase short circuit or ground short circuit W2051 10 DC bus overvoltage W2051 11 Reserved W2051 12 Motor overload W2051 13 Output phase loss W2051 14 Res
94. ot reached W2048 5 1 Frequency threshold 1 reached Frequency threshold 2 reached W2048 6 0 Frequency threshold 2 not reached W2048 6 1 Frequency threshold 2 reached Current threshold 1 reached W2048 7 0 Current threshold 1 not reached W2048 7 1 Current threshold 1 reached Current threshold 2 reached W2048 8 0 Current threshold 2 not reached W2048 8 1 Current threshold 2 reached Thermal threshold 1 reached W2048 9 0 Thermal threshold 1 not reached W2048 9 1 Thermal threshold 1 reached Thermal threshold 2 reached W2048 10 0 Thermal threshold 2 reached s W2048 10 1 Thermal threshold 2 reached l No ramp follow W2048 11 0 Ramp follow G W2048 11 1 No ramp follow i External contactor in active state W2048 12 0 Contactor not activated Bypass mode L W2048 12 1 Contactor activated Bypass mode N Direction of rotation requested W2048 13 0 Forward operation G W2048 13 1 Reverse operation WORD DESCRIPTION POSSIBLE VALUES W2049 Speed controller locked when W2049 0 0 Speed controller not locked when stopped W2049 0 1 Speed controller locked when stopped Invalid configuration W2049 1 0 Valid configuration W2049 1 1 Invalid configuration OEM access protection indicator W2049 2 0 not protected W2049 2 1 protected State of configuration semaphore W2049 4 0 Semaphore free W2049 4 1 Semaphore reserved State of command semaphore W2049 5 0 Semaphore free W2049 5 1 Semaph
95. parameters or motor W903 0 Not assigned preset W903 2 Reserved W903 3 Logic input LI3 W903 4 Logic input L14 W903 5 Logic input LI5 W903 6 Logic input LI6 W903 7 Logic input LI7 W903 8 Logic input LI8 I O card I O card I O card I O card 78 Altivar 66 variables PCMCIA memory card ATV66 transfer via line A configuration that is saved ona PCMCIA memory card is called a page A card consists of up to 16 different configurations or pages To transfer from the memory card to the ATV66 Initialize the transfer status register W21 90 optional This places the transfer data in one of the following states no card card incompatible or ready to transfer Request a transfer from the memory card to the ATV66 or a transfer from the ATV66 to the memory card W1700 The transfer is performed immediately Consult the status register W2190 to confirm the transfer has been successful Process the response obtained if the reponse is NO this means that there are insufficient access rights motor running or semaphore configuration already reserved Transfer WORD DESCRIPTION POSSIBLE VALUES W1700 Selection of range to transfer W1700 0 to W1700 7 1 Page no 1 2 Page no 3 Page no 4 Page no 5 Page no 6 Page no 7 Page no 8 Page no oAN Da A OMNI 9 Page no 10 Page no 10 11 Page no 11 12 Page no 12 13 Page no 13 14 Page no 14 15 Page
96. ption Page address address W1056 Proportional gain 74 W1057 Integral gain 74 W1058 Assignment of analog output for the PI set point 75 W1059 Assignment of analog output for the PI feedback 75 W1060 Assignment of analog output for the PI error 75 W1061 Assignment of analog output for the PI integrator 76 W1062 Assignment of logic output indicating that the error has exceeded the set value 76 W1063 Assignment of logic output indicating that the process feedback is greater than the maximum set value 76 W1064 Assignment of logic output indicating that the process feedback is greater than the minimum set value 76 W1700 Selection of range to transfer 79 Command to be used for the transfer 79 W1993 Proportional gain 44 W1994 Integral gain 44 W1995 Gain 44 W1996 Offset 44 W1997 Fault ratio 44 W1998 Terminal PI set point value 44 W1999 Terminal speed reference value 44 W2000 High speed 44 w2001 Low speed 44 W2002 1st acceleration ramp time 44 W2003 1st deceleration ramp time 44 W2004 2nd acceleration ramp time 44 W2005 2nd deceleration ramp time 44 W2006 Slip compensation motor value 44 W2007 IR compensation 44 W2008 Profile 44 W2009 BOOST voltage 44 W2010 Damping 44 Ww2011 Bandwidth 44 W2012 Thermal protection 44 W2020 Speed controller reset 45 Assignment of logic commands on line DLI 45 Assignment of references on line FLI 45 Ramp 2 command 45 Communication check inhibited NTO 45 Start Stop command RUN 45 DC injection braking comm
97. t except for exception messages Code 16 write N output words This function enables the master to write output words to the slave words which can be written or read 23 Description of protocols MODBUS JBUS protocol Details of frames RTU mode Read N bits function 1 or 2 Question Slave 01o0r02 No of ist bit Number of bits CRC16 no Hi Lo Hi Lo 1 byte 1 byte 2 bytes 2 bytes 2 bytes Response Slave 01 or 02 Number of Value Value CRC16 no bytes read 1 byte 1 byte 1 byte 2 bytes Example read bit B4 of slave 2 Question 02 01 0004 0001 BC38 Response 02 01 01 00 51CC ifB4 0 02 01 01 01 900C if B4 1 Bit B4 can always be used and can be read at 1 or at 0 Read N words function 3 or 4 Question Slave 03 o0r04 No of first word Number of words CRC16 no Hi Lo Hi Lo 1 byte 1 byte 2 bytes 2 bytes 2 bytes Response Slave 03 or 04 Number of Value of 1st word Value of CRC16 no bytes read see last word Hi Lo Hi Lo 1 byte 1 byte 1 byte 2 bytes 2 bytes 2 byte Example read words W3020 to W3023 of slave 2 Question 02 04 OBCC 0004 33E1 Response 02 04 08 XXXX eee xxxx CRC16 Value Value of W3020 of W3023 24 Description of protocols MODBUS JBUS protocol Write an output bit functio
98. t limit Slip compensation Brake sequence Voltage boost e Motor torque limit Generator torque limit Bandwidth e Profile Voltage reduction Current limit adaptation b Multimotor PAR M1 M2 M3 39 Communication principle Controlling the speed controller Control mode The Altivar 66 speed controller can be controlled in local mode via the terminal block or the graphic keypad or remotely via the communication bus However it is possible to control set points and logic commands of the controller separately The possible sources of commands are thus e Terminal block gt local mode e Graphic keypad gt local mode e Communication bus gt total or partial line mode Menu 5 Keypad Config is used to select the command source for local mode see the product programming guide The communication bus can at any moment request that the control mode is changed by setting bits DLI and FLI of the command register DLI 1 partial line mode on the logic run commands set points are enabled via the terminal block FLI 1 partial line mode on the set points logic commands are enabled via the terminal block The control mode thus depends on both the state of bits DLI and FLI and the configuration of the keypad supplied with menu 5 Caution the STOP key on the graphic keypad and Run Permitted LI1 are always active irrespective of
99. tion of protocols UNI TELWAY requests Using byte type object H 06 Transmission text block Reception text block TxTi C H 0736 category request TxTi V H 66 confirm TxTi L 6 TxTi S 10 10 bytes received Transmission table Reception table Internal word segment Type of byte W2019 Hi H 06 T W2020 H 06 H 68 we2021 7037 W2022 9 W2023 L Qbytes to read most significant bit of W2019 8 bytes comprising W2020 to W2023 Number of first byte most significant bit of W2019 has address 2 x 2019 1 4039 gt This programming enables words to be correctly positioned in the reception table Event data The Altivar 66 transmits data on its own initiative to the UNI TELWAY link master without having first received a question This data is sent via the unsolicited data request and does not require a response from the receiver Data is transmitted in the following two cases When a fault appears or disappears rising or falling edge at status register bit W2040 2 When the speed controller is controlled locally via one of its logic inputs if the input is assigned to this function rising or falling edge at this input or via the local key on the interface for the PCMCIA communication card Size of event data 2 words of 16 bits sent in the following order STR status register word W2040 FLT fault regist
100. tion phase W2047 8 1 Speed controller in deceleration phase Accelerating ACC W2047 9 0 Speed controller not in acceleration phase W2047 9 1 Speed controller in acceleration phase Motor selection W2047 10 State of motor selection or parameter set a Motor selection W2047 11 State of motor selection or parameter set b Reserved W2047 12 Speed controller thermal W2047 13 0 Speed controller has no thermal overload fault alarm W2047 13 1 Speed controller has thermal overload fault Reserved W2047 14 Stopped via the keypad W2047 15 0 Speed controller has not been stopped by keypad W2047 15 1 Speed controller has been stopped by keypad valid from the deceleration phase 49 S l G N A L L l N G Altivar 66 variables SIGNALLING WORDS read only Complimentary status register stopped WORD DESCRIPTION POSSIBLE VALUES W2048 JOG in progress W2048 0 0 JOG function not in progress W2048 0 1 JOG function in progress Shutdown completed W2048 1 0 Shutdown not completed W2048 1 1 Shutdown completed Cycle completed W2048 2 0 Cycle function not completed W2048 2 1 Cycle function completed Ramp 2 in progress W2048 3 0 Ramp 1 W2048 3 1 Ramp 2 Auto Man state W2048 4 0 Manual activated W2048 4 1 Automatic activated Frequency threshold 1 reached W2048 5 0 Frequency threshold 1 n
101. urrent W2025 0 200 1 Motor torque limit value W2026 0 200 1 Generator torque limit value W2027 Reserved W2028 20 100 1 Motor voltage reduction value expressed as a of the nominal motor voltage 46 Altivar 66 variables COMMAND WORDS read and write Analog and logic output command WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES Ww2022 Reserved W2022 0 State of logic output LO1 W2022 1 0 low state W2022 1 1 high state State of logic output LO2 W2022 2 0 low state W2022 2 1 high state Reserved W2022 3 and W2022 4 State of output relay RO2 W2022 5 0 low state W2022 5 1 high state State of output relay RO3 W2022 6 0 low state W2022 1 1 high state State of output relay RO4 W2022 7 0 low state W2022 1 1 high state W2023 0 4095 Value of output AO1 Depends on type of signal configured W2029 0 4095 Value of output AO2 0 corresponds to 0 mA or 4mA W2030 0 4095 Value of output AO3 4095 corresponds to 20 mA A Important outputs LO RO and AO must be deactivated before use c Oo M M A N D S 47 Altivar 66 variables SIGNALLING WORDS read only Status register WORD DESCRIPTION POSSIBLE VALUES W2040 O2Z rrp gt zo n All commands assigned in LOCAL mode W2040 0 0 Commands assigned in line mode W2040 0 1 All commands assigned in local mode terminal block or keypad Speed controller ready RDY or
102. urrent status 13 Description of protocols UNI TELWAY requests Requests to read and write objects These requests are used to access several words within the limits described on the previous page These requests can be coded by specifying Question code TXTi C H 36 read or H 37 write Category 0 7 Segment H 68 internal word Object type H 06 for a byte 8 bits in read only or H 07 for a word 16 bits in read and write Object address H xxxx Etc Reserved or unused words are read as 0 and if written they have no meaning The response to the write objects request is accepted if at least one word is written Example programming on a TSX7 PLC using a text block READ words W2020 to W3023 of the Altivar 66 Using word type object H 07 Transmission text block Reception text block TxTi C H 0736 category request TxTi V H 66 confirm TxTi L 6 TxTi S 9 9 bytes received transmission table reception table Internal word segment Word type W2020 Lo H 07 w2021 Lo W2020 Hi H 07 H 68 W2022 Lo w2021 Hi 2020 W2023 Lo W2022 Hi 4 W2023 Hi L__ 4 words to read Le Number of first word The data received in the reception table is offset by one byte It is the application program which must correct the data for example by successive offsets before using it Descrip
103. ut 82 w880 W881 Enabling of reverse function 68 W881 W894 Logic input for enabling Run Reverse 68 w890 Enabling of JOG function 68 w891 Logic input for JOG activation 68 W892 Logic output for signalling enabling of JOG 68 W893 JOG reference frequency 68 W894 Dead time between two JOG pulses 68 w901 Configuration of multimotor and multiparameter functions 78 W902 Assignment of Lla selecting the set of parameters or motors 78 W903 Assignment of LIb selecting the set of parameters or motors 78 W910 W911 Enabling of local forcing 71 W911 Local forcing via logic input 71 W920 W927 Enabling of controlled stop 72 Activation input active level 72 W921 Controlled stop type of input activation 72 W922 Stop command via logic input 72 W923 Type of controlled stop activated via logic input 72 W924 Type of controlled stop activated via frequency level 72 W925 Frequency level adjustment 72 W926 Percentage of DC current injected 72 W927 Adjustment of DC current injection time 72 W940 W942 Shutdown 73 W941 Logic output signalling shutdown completed 73 W942 Low speed dwell time 73 W950 W956 Enabling of orient 82 103 INDEX Start End Description Page address address W951 Assignment of logic input for command 82 W952 Assignment of synchronization logic input 82 W953 Orient signalling logic output to signal orient compl
104. var 66 variables SIGNALLING WORDS read only WORD RANGE UNIT DESCRIPTION COMMENTS W2201 0 23 Configured speed controller rating Same as previous rating with 1 Speed controller 0 75 kW 1HP 2 Speed controller 1 5 kW 2 HP 10 Speed controller 18 5 kW 20 HP 23 Speed controller 250 kW 400 HP W2202 Speed controller voltage range 0 Not significant 1 Voltage 208 240 V 2 Voltage 380 460 V W2203 AC frequency recognized or not 0 Not known 1 50 Hz 260 Hz W2205 0 1A Altivar nominal current Depending on the rating AC voltage and torque type W2206 0 1A Speed controller maximum current Depending on the rating AC voltage and torque type W2071 Motor nominal voltage 0 Voltage 208 240 V 1 Voltage 380 415 V 2 Voltage 440 460 V S l WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES G W2211 0 1 Memory card present 0 Absent i 1 Present L W2212 0 1 Communication Interface Option 0 Non connected N 1 Connected W2213 0 1 Graphic keypad present 0 Non connected 1 Connected W2214 0 3 I O option present 0 No option 124 V DC option card 2 115 V AC option card W2216 1 5 PCMCIA communication card type 0 No option 1 UNI TELWAY Modbus Jbus 2 Reserved 3FIP I O 4 Modbus 5 INTERBUS S 1 Unknown option 55 O2Z rrp gt zo n Altivar 66 variables SIGNALL
105. ve signs to analog inputs Al2 Al3 and Al4 WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W775 Assignment of negative sign to Al2 W775 2 0 Negative sign not enabled preset W775 2 1 Negative sign enabled Assignment of negative sign to Al4 W775 3 0 Negative sign not enabled preset W775 3 1 Negative sign enabled Assignment of negative sign to Al4 W775 4 0 Negative sign not enabled preset W775 4 1 Negative sign enabled Analog input Al2 Al3 Al4 current input type WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W776 Current type of input Al 2 W776 0 Input 0 20 mA W776 1 Input 4 20 mA preset W776 2 Input 20 4 mA W776 3 Input X 20 mA see W779 W777 Voltage type of input Al 3 W777 4 Input 10 V preset W777 5 Input 0 10 V W777 6 Input 0 10V W778 Current type of input Al 4 W778 0 Input 0 20 mA W778 1 Input 4 20 mA preset W778 2 Input 20 4 mA WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W779 0 200 0 1mA Entry of a value for Al2 Preset at 4 0 mA for X 20 mA c oO N F l G U R A T l oO N 85 Cc 0 N F l G U R A T l 0 N Altivar 66 variables CONFIGURATION WORDS read and write I O configuration WORD RANGE UNIT DESCRIPTION POSSIBLE VALUES W780 Type of signal of analog output AO1 Output 0 20 mA preset Output 4 20 mA W78
106. will tell the master that it does not understand and the master will decide whether or not to repeat the exchange Master LN La ATV 66 The master has access to acertain amount of data which is stored and managed by the slave The master can access this data using special function codes diagnostic mode read event counter etc 20 Description of protocols MODBUS JBUS protocol MODBUS functions MODBUS functions include main functions for exchanging data additional functions for exchange diagnostics The following table shows the functions which are managed by the ALTIVAR 66 communication option and specifies its limits Definitions of read and write functions are understood from the point of view of the master Code Type of functions B ALTIVAR 66 01 Read N output bits 1 max 02 Read N input bits 1 max 03 Read N output words 63 max 04 Read N input words 63 max 05 Write one output bit B Yes 06 Write one output word B Yes 08 Diagnostics see details below Yes 11 Read event counter Yes 16 Write N output words B 60 max Functions marked B can be broadcast The message transmitted by the master must specify slave number 0 A response message is never returned Detailed information on functions Code 01 read N output bits This function is used to read output bits bits which can be written and rea
107. word values indicated in the request are not permissible in the slave 4 the slave has started to execute the request but cannot continue to execute it completely CRC16 calculation The CRC16 is calculated on all the bytes of the message by applying the following method Initialize the CRC 16 bit register to H FFFF Enter the first to the last byte of the message CRC XOR lt byte gt gt CRC Enter 8 times Move the CRC one bit to the right If the output bit 1 enter CRC XOR H A001 gt CRC End enter End enter The low order byte of the CRC obtained will be transmitted first followed by the high order ones XOR exclusive OR 27 Description of protocols MODBUS JBUS protocol ASCII mode In this mode the MODBUS frame has the following structure Slave no Function Data LRC CR LF code Hi Lo Data identical to RTU mode but coded differently Delimiters H 3A CR H 0D LF H 0A Data the data field is analogous to the RTU frames but coded in ASCII characters Each byte is divided into 2 four bit bytes each of which is coded by its ASCII equivalent Example the byte containing the slave number 06 will be coded by 2 ASCII characters 0 and 6 i e by H 30 and H 36 LRC modulo 256 hexadecimal sum of the contents of the frame without the delimiters before ASCII coding 2 s complement The byte obtained is then
108. x VAR 0 1Hz Speed 1 value Preset at 5 0 Hz W836 W835 Fmax VAR 0 1Hz Speed 2 value Preset at10 0 Hz W837 W836 Fmax VAR 0 1Hz Speed 3 value Preset at 15 0 Hz W838 W837 Fmax VAR 0 1Hz Speed 4 value Preset at 20 0 Hz W839 W838 Fmax VAR 0 1Hz Speed 5 value Preset at 25 0 Hz W840 W839 Fmax VAR 0 1Hz Speed 6 value Preset at 30 0 Hz W841 W840 Fmax VAR 0 1Hz Speed 7 value Preset at 35 0 Hz F max VAR Constant torque 400 Hz for Altivar 66 U41N4 to D79N4 Altivar 66 U41M2 to D46M2 200 Hz for Altivar 66 C10N4 to C31N4 Variable torque 75 90 Hz 50 Hz 60Hz supply The value of preset speed 1 must be less than the value of preset speed 2 which must be less than the value of preset speed 3 which must be less than the value of preset speed 4 which must be less than the value of preset speed 5 which must be less than the value of preset speed 6 which must be less than the value of preset speed 7 whatever the number of preset speeds As 70 Altivar 66 variables CONFIGURATION WORDS read and write Configuration of Auto Man function WORD DESCRIPTION POSSIBLE VALUES W860 Auto Man W860 0 0 Not enabled preset W860 0 1 Enabled via logic input W861 Auto manual switching logic input 0 No logic input assigned preset 1 Reserved 2 Reserved 3 Logic input LI3 on basic product 4 Logic input LI4 on basic product 5 Logic input LI5 I O card 6 Logic input LI6
109. y mode LOM In this mode the slave does not process messages which are addressed to it and only transmits a response when the channel is reinitialized counter reset This function resets to zero all the counters monitoring the exchanges of a slave number of correct messages seen on the line without CRC or checksum error This function reads a 16 bit counter incremented from 0 to H FFFF which totals the messages seen on the line and processed by the slave number of messages received with checksum error reads a 16 bit counter number of exception responses Reads a 16 bit counter which totals the number of exception messages transmitted to the master by a slave following an incorrect frame number of messages addressed to the slave except for broadcasts Reads a 16 bit counter which totals the number of all types of messages addressed to the slave number of broadcast messages received Reads a 16 bit counter which totals the number of all types of messages addressed to the slave reads number of NAQ responses The value read is always 0 reads the number of non ready responses from the slave The value read is always 0 reads the number of characters which are not processed incorrect 22 Description of protocols MODBUS JBUS protocol Code 11 read event counter a status always zero a counter which is incremented each time a correct message sent to the slave is received form and conten

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