Variable speed drives for asynchronous motors
DeviceNet communication manual
01/2010
www.schneider-electric.com
S1A10387Contents
Important Information__________________________________________________________________________________________ 4Before you begin______________________________________________________________________________________________ 5Documentation structure________________________________________________________________________________________ 6Introduction__________________________________________________________________________________________________ 7Hardware setup______________________________________________________________________________________________ 8Wiring to the network_________________________________________________________________________________________ 11Configuration_______________________________________________________________________________________________ 14Configuring by the drive HMI___________________________________________________________________________________ 16Integration of the ATV312 in a DeviceNet network___________________________________________________________________ 21Diagnostics by the drive HMI___________________________________________________________________________________ 27Supervision and control in LINE mode____________________________________________________________________________ 28Supported CIP objects________________________________________________________________________________________ 32
S1A10387 01/20103
Important Information
NOTICE
Read these instructions carefully, and look at the equipment to become familiar with the device before trying to install, operate, or maintainit. The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to callattention to information that clarifies or simplifies a procedure.
The addition of this symbol to a Danger or Warning safety label indicates that an electrical hazard exists, which will result inpersonal injury if the instructions are not followed.
This is the safety alert symbol. It is used to alert you to potential personal injury hazards. Obey all safety messages that followthis symbol to avoid possible injury or death.
DANGERDANGER indicates an imminently hazardous situation, which, if not avoided, will result in death or serious injury. WARNING
WARNING indicates a potentially hazardous situation, which, if not avoided, can result in death, serious injury orequipment damage.
CAUTION
CAUTION indicates a potentially hazardous situation, which, if not avoided, can result in injury or equipmentdamage.
CAUTION
CAUTION, used without the safety alert symbol, indicates a potentially hazardous situation which, if not avoided,can result in equipment damage.
PLEASE NOTE
The word \"drive\" as used in this manual refers to the controller portion of the adjustable speed drive as defined by NEC.
Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel. No responsibility is assumed bySchneider Electric for any consequences arising out of the use of this product.© 2009 SchneiderElectric. All Rights Reserved.
4S1A10387 01/2010
Before you begin
Read and understand these instructions before performing any procedure with this drive.
DANGERHAZARD OF ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH•Read and understand this manual before installing or operating the Altivar 312 drive. Installation, adjustment, repair, andmaintenance must be performed by qualified personnel.•The user is responsible for compliance with all international and national electrical code requirements with respect to grounding ofall equipment.•Many parts of this drive, including the printed circuit boards, operate at the line voltage. DO NOT TOUCH. Use only electricallyinsulated tools.•DO NOT touch unshielded components or terminal strip screw connections with voltage present.•DO NOT short across terminals PA/+ and PC/– or across the DC bus capacitors.•Before servicing the drive:-Disconnect all power, including external control power that may be present.-Place a “DO NOT TURN ON” label on all power disconnects.-Lock all power disconnects in the open position.-WAIT 15 MINUTES to allow the DC bus capacitors to discharge.-Measure the voltage of the DC bus between the PA/+ and PC/– terminals to ensure that the voltage is less than 42 Vdc.-If the DC bus capacitors do not discharge completely, contact your local Schneider Electric representative. Do not repair or operate the drive•Install and close all covers before applying power or starting and stopping the drive.Failure to follow these instructions will result in death or serious injury.DANGERUNINTENDED EQUIPMENT OPERATION•Read and understand this manual before installing or operating the Altivar 312 drive.•Any changes made to the parameter settings must be performed by qualified personnel.Failure to follow these instructions will result in death or serious injury.WARNING
DAMAGED DRIVE EQUIPMENT
Do not operate or install any drive or drive accessory that appears damaged.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
WARNING
LOSS OF CONTROL
•The designer of any control scheme must
-consider the potential failure modes of control paths and, for certain critical control functions, -provide a means to achieve a safe state during and after a path failure. Examples of critical control functions are emergency stop and overtravel stop.
•Separate or redundant control paths must be provided for critical control functions.
•System control paths may include communication links. Consideration must be given to the implications of unanticipated transmission delays or failures of the link.aFailure to follow these instructions can result in death, serious injury, or equipment damage.
a.For additional information, refer to NEMA ICS 1.1 (latest edition), “Safety Guidelines for the Application, Installation, and Maintenance of Solid State Control” and to NEMA ICS 7.1 (latest edition), “Safety Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive Systems.”
S1A10387 01/20105
Documentation structure
The following Altivar 312 technical documents are available on the Schneider Electric website (www.schneider-electric.com) as well as onDVD-ROM (reference VW3A8200).
Installation manual
This manual describes how to install and wire the drive.
Programming manual
This manual describes the functions, parameters and use of the drive terminal (integrated display terminal, optional graphic display terminaland optional remote terminal).
The communication functions are not described in this manual, but in the manual for the bus or network used.
Simplified manual
This manual is a simplified version of the User manual. This manual is delivered with the drive.
Quick Start sheet
The Quick Start describes how to wire and configure the drive to start motor quickly and simply for simple applications. This document isdelivered with the drive.
Communication manuals: CANopen, DeviceNet, Modbus and Profibus
These manuals describe the assembly, connection to the bus or network, signaling, diagnostics, and configuration of the communication-specific parameters.
They also describe the protocol communication services.
Communication variables guide
This manual defines the drive control processes and the drive variables which can be accessed by the communication buses: Modbus,CANopen, ...
6S1A10387 01/2010
Introduction
Presentation
The DeviceNet communication card (catalog number VW3A312 09) is used to connect an Altivar 312 drive to a DeviceNet network.The communication card has an open-style 5-pin connector for connection to the network.Data exchanges give access to all Altivar 312 functions:•Command,•Monitoring,•Diagnostics.
DeviceNet cables and connecting accessories must be ordered separately.
The graphic display terminal or the integrated display terminal can be used to access numerous functions for communication diagnostics.
Notation
Drive terminal displays
The graphic display terminal menus, available with the remote graphic display terminal option are shown in square brackets.Example: [1.9 COMMUNICATION].
The integrated 7-segment display terminal menus are shown in round brackets.Example: (COM-).
Parameter names are displayed on the graphic display terminal in square brackets.Example: [Fallback speed]
Parameter codes are displayed on the integrated 7-segment display terminal in round brackets.Example: (LFF).
Formats
Hexadecimal values are written as follows: 16#Binary values are written as follows: 2#
Vocabulary
Depending on DeviceNet document and tools, equivalent wordings are used. The table below shows vocabulary used in the presentdocument and other corresponding definitions.In this documentNode addressData ratekbit/sSetpointPath
Other
DeviceNet address, MAC IDBaud ratekbps
Reference, targetObject Address
Comments
Class, instance, attribute
The reader should avoid mixing two terms:
-DeviceNet scanner, which is the master device on the DeviceNet network.-Communication scanner, which is a function inside the Altivar drive.
Abbreviations
Req. = RequiredOpt. = Optional
S1A10387 01/20107
Hardware setup
Presentation
Relay outputs
Analog inputs
Logic inputs
Addressingswitches, SW1
DeviceNet
RJ45 socket
D1 - MS / Module StatusD2 - NS / Network Status
LEDs
Receipt
•Check that the card reference printed on the label is the same as that on the delivery note corresponding to the purchase order.•Remove the option card from its packaging and check that it has not been damaged in transit.
Installing the card in the drive
DANGERUNINTENDED EQUIPMENT OPERATION•Do not plug or unplug the terminal board while drive is powered.•Check the tightening of the fixing screw after any manipulation on the terminal board.Failure to follow these instructions will result in death or serious injury.DANGERHAZARD OF ELECTRIC SHOCK, EXPLOSION, OR ARC FLASHDo not touch the terminal board before:•removing power on the drive,•removing any voltage on input and output terminals.Failure to follow these instructions will result in death or serious injury.8S1A10387 01/2010
Hardware setup
Install the card in ATV312 as follows:
1. Open the ATV312 front cover.
2 & 3. Remove the terminal board fixing screw and take off the ATV312 standard terminal board.(Be careful not to lose the terminal board fixing screw when removed since it may be used again.)This step does not apply if you are using an ATV312.... B (product without standard IO terminal).4. Install the DeviceNet card and secure it with the board fixing screw.(M3 tapping screw tightening torque: 0.7 to 0.8Nm)
5. Stick the new cabling label above the DeviceNet option card.
Stick the DeviceNet card nameplate near the ATV312 nameplate. (Be careful not to cover slits on the ATV312 enclosure)6. Perform wiring on the DeviceNet card (see page 11).
7. Wire and screw the EMC clamps for the DeviceNet cables (and control wires if required).Note: To install or remove the terminal board, make it slide in or out in parallel with board.
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9
Hardware setup
Characteristics and functions of the terminals
TerminalR2AR2BR2C
FunctionConfigurable relay outputs:1 relay logic output, one “N/C” contact and one “N/O” contact with common point.
SCR(Screen)COM+10Analog I/O common
Power supply for reference potentiometer (2.2 to 10 kΩ)Analog voltage input
AI2
AI3+24LI1LI2LI3
Analog current inputLogic input power supplyLogic inputsRJ45SW1
DeviceNetD1 - MSD2 - NSCommunication portAddressing switchesCommunicationModule Status LEDNetwork Status LED
Electrical characteristics• Minimum switching capacity: 10 mA for 5 V c
• Maximum switching capacity on resistive load (cos ϕ = 1 and L/R = 0 ms): 5 A for 250 V a and 30 V c
• Maximum switching capacity on inductive load (cos ϕ = 0.4 and L/R = 7 ms): 2 A for 250 V a and 30 V c• Sampling time: 8 ms
• Service life: 100,000 operations at maximum switching powerCommunication shield terminal.
This terminal is not connected to other circuits in this board.
Ground this terminal in a location separated from the ground of power line.0 V
• +10 V (+ 8% - 0%)• 10 mA max
• Protected against short-circuits and overloads
Bipolar analog input 0 ± 10 V (maximum safe voltage ± 30 V)
The + or - polarity of the voltage on AI2 affects the direction of the setpoint and therefore the direction of operation.• Impedance: 30 kΩ
• Resolution: 0.01 V, 10-bit + sign converter
• Precision ± 4.3%, linearity ± 0.2%, of maximum value• Sampling time: 8 ms
• Operation with shielded cable 100 m maximum
Analog current input X-Y mA by programming X and Y from 0 to 20 mA:• Impedance: 250 Ω
• + 24 V protected against short-circuits and overloads, minimum 19V, maximum 30 V• Maximum customer current available: 100 mAProgrammable logic inputs• Impedance: 3.5 kΩ
• + 24 V internal or 24 V external power supply (min. 19 V, max. 30 V)• Max. current: 100 mA• Max. sampling time: 4 ms
Source position: Positive logic State 0 if < 5 V or logic input not wired, state 1 if > 11 VSink position: Negative logic State 0 if > 19 V or logic input not wired, state 1 if < 13 VCLI position: Connection to PLC output
Connection for SoMove software, Modbus, remote display, loader tools.See page 15.
DeviceNet open style connector for connection to the fieldbus, see page 11.See page 27.See page 27.
10S1A10387 01/2010
Wiring to the network
Connection to the Modbus base port
12345678Not connectedNot connectedNot connectedD1D0Not connectedVP(1)Common(1) Reserved for RS232/RS485 converter
Wiring the DeviceNet connector
The figures and the table below show the pin-outs of the card connectors. The removable DeviceNet female connector attaches to thenetwork cable.
DeviceNetconnectorEMC clamps
Pin12345
NameGNDCAN_LSHIELDCAN_HV+
ColorBlackBlueBareWhiteRed
Line termination: If the drive is the first or the last device on the DeviceNet network, a line terminator (121 Ohm resistor) must be wired onthe removable DeviceNet female connector, between pins 2 and 4 (CAN_L and CAN_H).
S1A10387 01/201011
Wiring to the network
Cable routing practices
When wiring Altivar 312 drives to a DeviceNet network, follow all wiring practices required by national and local electrical codes.Also observe the following guidelines:
•Avoid areas of high temperature, moisture, vibration, or other mechanical stress.
•Secure the cable where necessary to prevent its weight and the weight of other cables from pulling or twisting the cable.
•Use cable ducts, raceways, or other structures to protect the cable. Use these structures for signal wiring paths. They must not contain power wiring.
•Avoid sources of electrical interference that can induce noise into the cable. Use the maximum practicable separation from such sources.When planning cable routing within a building, follow these guidelines:
•Maintain a minimum separation of 1 m (40 in) from the following equipment:
-air conditioners and large blowers,- elevators and escalators,-radios and televisions,
-intercom and security systems,
-fluorescent, incandescent, and neon lighting fixtures.
•Maintain a minimum separation of 3 m (118 in) from the following equipment:
-line and motor power wiring,-transformers,-generators,-alternators.
When wiring in electrical equipment rooms or large electrical equipment line-ups, observe the following guidelines for cable segregationand separation of circuits:
•Use metallic conduit for drive wiring. Do not run control network and power wiring in the same conduit.
•Separate non-metallic conduits or cable trays used to carry power wiring from metallic conduit carrying low-level control network wiring by at least 300 mm (11.9 in).
•Separate metallic conduits carrying power wiring or low-level control network wiring by at least 80 mm (3.15 in).
•Cross the metallic conduits and non-metallic conduits at right angles whenever power and control network wiring cross.
•Attenuate conducted emissions from the drive to the line in some installations to prevent interference with telecommunication, radio, and sensitive electronic equipment. Such instances may require attenuating filters. Consult the Altivar catalog for selection and application of these filters.The ODVA standards (Release 2.0) specify 7 types of cables for use in DeviceNet networks:
•Thick cable•Thin cable•Flatcable•Cable I•Cable II•Cable IV•Cable V
The table below lists main specifications of cables. For more information, refer to the ODVA specifications. Type of cableThick cableThin cableFlat cableCable ICable IICable IVCable V
Data conductor pair size18 AWG24 AWG16 AWG24 AWG18 AWG18 AWG18 AWG
Power conductor pair size15 AWG22 AWG16 AWG22 AWG15 AWG16 AWG16 AWG
Data impedance
120 Ohm +/- 10 % (at 1 MHz)120 Ohm +/- 10 % (at 1 MHz)120 Ohm +/- 10 % (at 500 kHz)120 Ohm +/- 10 % (at 1 MHz)120 Ohm +/- 10 % (at 1 MHz)120 Ohm +/- 10 % (at 500 kHz)120 Ohm +/- 10 % (at 500 kHz)
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Wiring to the network
The maximum permissible length of the network cable depends an the data rate and the type of cable.Type of cable
Data rate125 kbit/s
Thick cableThin cableFlat cableCable ICable IICable IVCable V
500 m (10 ft)100 m (328 ft)420 m (1378 ft)100 m (328 ft)500 m (10 ft)-420 m (1378 ft)
250 kbit/s250 m (820 ft)100 m (328 ft)200 m (656 ft)100 m (328 ft)250 m (820 ft)-200 m (656 ft)
500 kbit/s100 m (328 ft)100 m (328 ft)75 m (246 ft)100 m (328 ft)100 m (328 ft)-75 m (246 ft)
For maximum length of the drops refer to table, whatever type of cable:Data rate125 kbit/s250 kbit/s500 kbit/s
Cumulative drop156 m (516 ft)78 m (256 ft)39 m (128 ft)
Maximum drop6 m (20 ft)6 m (20 ft)6 m (20 ft)
S1A10387 01/201013
Configuration
Coding the switches
Switches description
High = OFF = 0Low = ON = 1
Node addressData rate
Overriding the switches
When switches 2 and 1 are set in position low (ON = 1), the data rate of the drive must be set by a network tool (refer to the chapter\"Integration of the ATV312 in a DeviceNet network\21). Default values are 125 kbit/s and node address 63.
Coding the data rate
All devices connected to the DeviceNet network must communicate at the same data rate: 125, 250, or 500 kbit/s. The table below showsthe switch settings that configure the DeviceNet data rate on the drive.Switch 2
0011
Switch1
0101
125 kbit/s250 kbit/s500 kbit/s
The DeviceNet data rate of the drive must be set by a network tool.
Data rate
Any change to the switch setting takes effect at the next power-up.
14S1A10387 01/2010
Configuration
Coding the node address
All devices connected to the DeviceNet network must have a unique address, ranging from 0 to 63 (decimal).The table below lists the switch setting for each valid node address.Any change to the switch setting takes effect at the next power-up.Node address00010203040506070809101112131415
Switches876300 000000 000100 001000 001100 010000 010100 011000 011100 100000 100100 101000 101100 110000 110100 111000 1111
Node address16171819202122232425262728293031
Switches876301 000001 000101 001001 001101 010001 010101 011001 011101 100001 100101 101001 101101 110001 110101 111001 1111
Node address3233343536373839404142434447
Switches876310 000010 000110 001010 001110 010010 010110 011010 011110 100010 100110 101010 101110 110010 110110 111010 1111
Node address484950515253555657585960616263
Switches876311 000011 000111 001011 001111 010011 010111 011011 011111 100011 100111 101011 101111 110011 110111 111011 1111
Examples
Data rate = 250 kbit/s (switches 1 and 2 = 2#01)Node address = 25 (switches 3 to 8 = 2#01 1001)
Data rate = 500 kbit/s (switches 1 and 2 = 2#10)Node address = 52 (switches 3 to 8 = 2#11 0100)
S1A10387 01/201015
Configuring by the drive HMI
Configuring the control
Principle
By the configuration of the control, it is possible to decide from what channel the drive receives its commands and setpoint, eitherpermanently or depending on a switching command.
Numerous configurations are possible. For more information, refer to the Programming manual and Communication parameters manual.The following configurations are some of the possibilities available.
The choice of the assembly set is defined by the application at the DeviceNet scanner level. It cannot be set at the device level. See theparagraph \"Assembly Selection\" in the chapter \"Integration of the ATV312 in a DeviceNet network\26.
M Control with native profile
•100: Native profile control input made of CMD and LFR•101: Native profile control output made of ETA and RFR
Please refer to the chapter \"Supervision and control in LINE mode\28.
M Control according to ODVA AC drive profile
The ODVA AC drive profile is activated when one of the following assemblies is selected:
•20: Basic speed control output•21: Extended speed control output•70: Basic speed control input•71: Extended speed control input
The advantage of using the ODVA drive profile standard is the interchangeability with other brands.
The DeviceNet card translates the commands, behaviour and monitoring information from of ODVA profile (on the network) to the Drivecomprofile (in the drive).
Available configurations
M If you use the native profile:
•100: Native command Word and speed reference (CMD and LFR)•101: Native status and current speed (ETA and RFR)
The examples below are only possible if you use the communication scanner.
M If you use the ODVA AC drive profile, that is, the assemblies:
•20: Basic speed control outputByte0123
•21: Extended speed control outputByte0123
Speed reference (Low byte)Speed reference (High byte)
Bit 7
Bit 6NetRef
Bit 5NetCtrl
Bit 4
Bit 3
Bit 2Fault reset
Bit 1Run rev
Bit 0Run fwd
Speed reference (Low byte)Speed reference (High byte)
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2Fault reset
Bit 1
Bit 0Run fwd
16S1A10387 01/2010
Configuring by the drive HMI
•70: Basic speed control inputByte0123
•71: Extended speed control inputByte0123
Bit 7At reference
Bit 6Ref from net
Bit 5Ctrl from net
Bit 4Ready
Bit 3Running2 (Rev)
Bit 2Running1 (Fwd)
Bit 1Warning
Bit 0Faulted
Speed actual (Low byte)Speed actual (High byte)
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2Running1
Bit 1
Bit 0Faulted
Drive state
Speed actual (Low byte)Speed actual (High byte)
Control signal of an ATV312 from DeviceNet or from a communication card
There are several ways to control an ATV 312 from a communication card:
•The control word and the speed reference are controlled from the network in the same time. •The control word and the speed reference come from separate sources.
However separate mode is only allowed when the [ACCESS LEVEL] (LAC) parameter in the [COMMAND] (CtL-) menu is set to L3.The Control of the drive is also detailed in the programming manual of the ATV312 in the chapter \"Control Menu\".
Control of the drive when LAC = L1 or L2
There is now particular settings, the channels are managed in order of priority.
Terminals/Keypad
Remote display terminal
Forced local mode
NET:
DeviceNet
or any communicationoption
Control of the drive when LAC = L3
When configured with LAC = L3 several configurations are possible:
Control and reference come from the communication card
The command and the target come from DeviceNet.Control is in native profile (CiA402).
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Configuring by the drive HMI
Configure the following parameters:ParameterProfile
Target 1 configuration
Value
Combined native profile (CiA402)Network card
Comment
The run commands are in native profile (CiA402), the command and the target come from the same channel.
The command comes from DeviceNet.
Configuration via the graphic display terminal or the integrated display terminal:Menu
[COMMAND] (CtL-)
Parameter
[Profile] (CHCF)
[Ref.1 channel] (Fr1)
Value
[Not separ.] (SIM) (factory setting)[Network] (nEt)
Control via DeviceNet or the terminals in native profile (CiA402)
The command and the target both come from DeviceNet or the terminals. Input LI3 at the terminals is used to switch between DeviceNetand the terminals.
Control is in native profile (CiA402).Configure the following parameters:ParameterProfile
Target 1 configurationTarget 2 configurationTarget switching
ValueComment
Combined native profile (CiA402)The run commands are in native profile (CiA402), the command and the
target come from the same channel.
Network cardTarget 1 comes from DeviceNet.Analog input 2 on the terminalsTarget 2 comes from input AI2 on the terminals.Input LI3Input LI3 switches the target (1 ↔ 2) and the command.
Configuration via the graphic display terminal or the integrated display terminal:Menu
[COMMAND] (CtL-)
Parameter
[Profile] (CHCF)
[Ref.1 channel] (Fr1)[Ref.2 channel] (Fr2)[Ref 2 switching] (rFC)
Value
[Not separ.] (SIM)[Network] (nEt)[AI2] (AI2)[LI3] (LI3)
Control is separated from reference channel
Control via DeviceNet or the terminals in native profile (CiA402)
The command and the target both come from DeviceNet or the terminals. Input LI3 at the terminals is used to switch between DeviceNetand the terminals.
Control is in native profile (CiA402).Configure the following parameters:ParameterProfile
Target 1 configurationTarget 2 configurationTarget switching
Command 1 configurationCommand 2 configuration Command switching
Value
Separate native profile (CiA402)Network card
Analog input 2 on the terminalsInput LI3Network cardTerminalsInput LI3
Comment
The run commands are in Drivecom profile, the command and the setpoint can come from different channels.Target 1 comes from DeviceNet.
Target 2 comes from input AI2 on the terminals.
Input LI3 switches the target (1 ↔ 2) and the command.Command 1 comes from DeviceNet.Command 2 comes from the terminals.Input LI3 switches the command.
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Configuring by the drive HMI
Menu
[COMMAND] (CtL-)
Parameter
[Profile] (CHCF) is configured in not separate mode
[Cmd channel 1] (Cd1) Channel 1 is used with the communication[Cmd channel 2] (Cd2) Channel 2 is used with the terminal blocks
[Cmd switching] (CCS) LI3 is used for switching between channel 1 and 2.(see also the programming manual of the ATV312 for more details)[Ref.1 channel] (Fr1)[Ref.2 channel] (Fr2)[Ref 2 switching] (rFC)
Value
[Not separ.] (SIM)[Network] (nEt)[Terminal] (tEr)[LI3] (LI3)[Network] (nEt)[AI2] (AI2)[LI3] (LI3)
For more information, see the chapter \"Assembly selection\26.
Control and reference with assembly sets 20/70 or 21/71
The ODVA profile 20/70 or 21/71 integrates a control/reference switching.See command word 20 and 21 page 16, and status word 70 or 71 page 17.Configure the drive as described below.
NetRef and NetCtrl need to be associated to a command bit (C2XX).Menu
[COMMAND] (CtL-)
Parameter
[Ref.1 channel] (Fr1)[Ref.2 channel] (Fr2)
Value
[Network] (nEt): Reference via network communication protocol[AI2] (AI2): Analog input AI2OR
[AI3] (AI3): Analog input AI3
[C213] (C213): Bit 13 of network control word[Separate] (SEP): Separate mode
[Network] (nEt): Control via the network[Terminal] (tEr): Control via terminals
[C212] (C212): Bit 12 of network control word
(See the ATV312 programming manual for more details)
[Ref.2 switching] (rFC)[Profile] (CHCF)
[Cmd channel 1] (Cd1)[Cmd channel 2] (Cd2)[Cmd switching] (CCS)
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Configuring by the drive HMI
Communication fault management
The behaviour of the drive in case of communication interruption is described in the ATV312 programming manual.The communication between the master (external management system) and the drive is broken:In this case, the drive will generate an (CnF) error message.The communication card is not working properly:
In this case, the drive will generate a (COF) message.CodeCFF
Name[INCORRECT CONFIG.][NETWORK FAULT]
Probable cause
•The current configuration is inconsistent.
•Addition or removal of an option•Communication detected fault on the communication card
Remedy
•Return to factory settings or retrieve the backup configuration, if it is valid. See the [Restore config.] (FCS) parameter in ATV312 programming manual.•••••
Check the environment (electromagnetic compatibility).Check the wiring.Check the time out.
Replace the option card.
See the [CANopen fault mgt] (COL) parameter in the ATV312 programming manual to define the stop mode with a (CnF).
CnF
COFILF
[CANopen FAULT][INTERNAL LINK FAULT]
•Interruption in communication
between the option card and the drive•Interruption in communication
between the option card and the drive
•Check the communication bus.•Check the option card.•Replace the option card.
(CnF) [Network fault]: Option card fault code
This parameter is read-only and is only visible if an option card is present.The fault code remains saved in the parameter, even if the cause disappears. The parameter is reset after the drive is disconnected and then reconnected. The values of this parameter is:
1: Time out on the reception of the periodic variables addressed to the drive
For the full list of the fault detected codes, see ATV312 programming manual on www.schneider-electric.com
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Integration of the ATV312 in a DeviceNet network
This chapter describes how to integrate an Altivar 312 in a DeviceNet network controlled by a Rockwell Automation PLC.
Installing the eds file
The eds file of the VW3 A312 09 communication card can be downloaded from Schneider Electric website (www.schneider-electric.com).1. To install the new eds file, you can launch the EDS wizard from RSNetWorx for DeviceNet by selecting Tools > FDS Wizard.Note: We recommend to use a recent version of RSNetWorx (V7.0 or later).
2. Click Next.
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Integration of the ATV312 in a DeviceNet network
3. Select Register an EDS file(s), and then click Next.
4. Select the location where the eds file has been recorded, and then click Next.
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Integration of the ATV312 in a DeviceNet network
You should get the following result, that indicates that the eds file has been successfully imported.5. Click Next.
6. The wizard will propose you to change the icon picture associated to the device.
If you don't need to change the icon file, click Next to terminate the eds registration.7. Click Finish.
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Integration of the ATV312 in a DeviceNet network
Configuration of the DeviceNet Module in the Rockwell PLC
In the example, the module is installed in the first slot of the local base plate of a 1755 CPU:
The DeviceNet module is identified with the following symbol: Module_DNET. This identifier will be used later with tools like the ClassInstance Editor.
Configuring the implicit exchanges
The ATV312 allows the use of 3 assemblies set as described in the chapter \"Configuring by the drive HMI\16.
In the 3 cases, the input size and the output size are the same. (Command word and speed reference = 4 bytes, status word and actualspeed = 4 bytes)
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Integration of the ATV312 in a DeviceNet network
Class Instance Editor
With the Class Instance Editor, you can directly access to the Device objects and use the methods Get/set to edit drive parameters.
The indication about the Class, Instance, Attribute of the ATV 312 objects is detailed in the chapter \"Supported CIP objects\" of this manual,page 28.
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Integration of the ATV312 in a DeviceNet network
Assembly selection
The choice of the assembly set should be done from the PLC, by applying the required assembly number to the following objects:
•Output assembly: 5/0/•Input assembly: 5/0/65
The default setting of these assemblies is 21/71.
It is recommended to set by program (when PLC starts) the assemblies needed for the application.
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Diagnostics by the drive HMI
Signalling LEDs
Two LED indicators are placed on the board.
The behaviour is described in the following chapter.
LED \"D1 - MS\" - Module Status
LED State
Off
Flashing Green (1 Hz) Green Red
IndicatesNo power
Needs commissioning due to configuration missing, incomplete or incorrect. Device may be in standby state. See the identity object.Operating in normal condition
Unrecoverable detected fault(s), EXCEPTION, Fatal event
LED \"D2 - NS\" - Network Status
LED StateOff Flashing Green (1 Hz) Green Flashing Red (1 Hz) RedIndicatesNot online / No powerOn-line, no connections establishedOn-line, one or more connections are establishedOne or more connections timed-outCritical link failure, Fatal eventStart-up sequence
A LED test is performed during start-up, after module init is complete.Step123Finished
Standard indication
Module Status LED \"D1 - MS\"
0.25s
0.25s
Network Status LED \"D2 - NS\"
Turned off 0.25s Turned off
Standard indication
0.25s
LED states
LED state
Visual description of the LED stateThe LED is OFFThe LED is FLASHINGThe LED is ON
S1A10387 01/201027
Supervision and control in LINE mode
IEC 61800-7 status chart
KeyMSK - ETA masked by 16#006FIEC 61800-7 drive statusDrive status applied to ATVMSK= 16#xxxx\"ATV terminal display\"TransitionconditionXCMD = 16#xxxxEnter the status chartAll states0Not ready to switch onATV powered offMSK= 16#000013Detected faultMalfunction reaction activeMSK= 16#xxxxFault cleared andATV fault state resetCMD =16#00801Switch on disabledATV locked14MalfunctionATV in fault stateMSK = 16#000815Disable voltageCMD = 16#0000ormodification of 9a configuration parameter(motor stopped)orSTOP key ondisplay terminalorSTOP at terminalsMSK= 16#0040\"nSt\"DisablevoltageCMD = 16#0000or 7modification ofa configuration parameter(motor stopped)orQuick stopCMD = 16#0002Disable voltageCMD = 16#0000or modification ofa configuration 12parameter(motor stopped)or STOP key ondisplay terminalDisableorvoltageSTOP at terminalsCMD = 16#000010or modification ofa configuration parameter(motor stopped)orQuick stopCMD = 16#0002Quick stop activeEmergency stopMSK =16#0007\"rdY, dCb\"ShutdownCMD =16#00062Ready to switch onATV waitingMSK = 16#0021\"nSt\"Switch onCMD =16#000738ShutdownCMD =16#00066ShutdownCMD =16#00063AEnableoperationCMD =16#xxxFSwitched onATV readyMSK = 16#0023\"nSt\"Enableoperation4CMD =16#xxxFDisable5operationCMD =16#0007Operation enabledATV runningMSK = 16#0027\"rUn, rdY, ...\"Examples:ETA = 16#0627 : Normal stop or Forward operation, speed reachedETA = 16#8627 : Reverse operation, speed reachedETA = 16#0227 : Forward operation, ACC or DECETA = 16#8227 : Reverse operation, ACC or DECQuick stopCMD =16#000211Examples (default configuration):CMD = 16#000F : Forward operationCMD = 16#080F : Reverse operationCMD = 16#100F : Stop (configured by \"Stt\")CMD = 16#200F : DC injection stopCMD = 16#400F : Fast stopExiting the \"Operation enabled\" status via a \"Disable voltage\" (9) or \"Shutdown\" (8) command causes a freewheel stop.28S1A10387 01/2010
Supervision and control in LINE mode
The Altivar control process using the communication bus is based on the CiA 402 profile status chart compatible with the IEC 61800-7standard. Each state represents an aspect of the internal behaviour of the drive.
This chart evolves according to whether the control word is sent (CMD W8501) or an event occurs (example: lock following malfunction).The drive status can be identified by the value of the status word (ETA W3201).
Not ready to switch on (Initialization):
Communication is being initialized.
Transient state invisible to the communication bus.
Switch on disabled (Configuration):
Initialization of the drive is complete.
The configuration and adjustment parameters can be modified.
If all or part of the configuration and settings are to be loaded, we recommend disabling the consistency check function during the transfer(CMI W8504, bit 15 = 1). On completion of the transfer, the consistency check must be enabled (CMI W8504, bit 15 = 0).The drive is locked.
Ready to switch on and Switched on (Drive initialized):
The drive is locked.
The power stage of the drive is ready to operate, but voltage has not yet been applied to the output.
The configuration and adjustment parameters can be modified, but modifying a configuration parameter returns the drive to the \"Switch ondisabled\" state.
Operation enabled (Operational):
The drive is unlocked and voltage can be applied to the motor terminals.
[Auto tuning] (tUn) requires an injection of current. The drive must therefore be in this state to perform this command.
The adjustment parameters can be modified even if a run command or a DC injection current is present. However, a configuration parametercan only be modified if the motor is stopped, and this returns the drive to the \"Switch on disabled\" state.
Quick stop active (Emergency stop active):
Fast stop
Restarting is only possible after the drive has changed to the \"Switch on disabled\" state.
Malfunction reaction active (Reaction on fault detection):
Transient state during which the drive performs an action appropriate to the type of detected fault.
Malfunction (Detected fault):
The drive is locked.
Difference between a fast stop and a Quick stop
A fast stop (CMD = 16#400F) is a stop on a short ramp that maintains the drive in the \"Operation enabled\" state.The drive remains locked after a fast stop.
A run command can be executed immediately after a fast stop.
A Quick stop (CMD = 16#0002) is an emergency stop that causes a stop on a short ramp followed by locking in the \"Quick stop active\" state.To be able to restart the drive, you must first change to the \"Switch on disabled\" state via the \"Disable voltage\" command (CMD = 16#0000).It is not possible, therefore, to execute a run command immediately after a Quick stop.
Note:
In access level L1 or L2 (parameter LAC):
•Priorities between channels are managed by the drive.
•At switch-on, the drive is in control via the terminals and changes automatically to the \"Operation enabled\" state. This means that, when a run command is applied (for example: CMD = 16#000F), it starts without needing to follow the IEC 61800-7 status chart procedure.When the drive is controlled via a communication bus, it is advisable to configure the access level LAC = L3:
•The active channel is set by configuring the following parameters: [Profile] (CHCF), [Ref. 2 switching] (rFC), [Cmd switching] (CCS), [Cmd channel 1] (Cd1), [Cmd channel 2] (Cd2), [Ref.1 channel] (Fr1) and [Ref.2 channel] (Fr2).
•At switch-on, the drive configured for control via the bus changes to the \"Switch on disabled\" state. This means that it must follow the IEC 61800-7 status chart procedure to be able to start, and to help prevent any unwanted behaviour.
S1A10387 01/201029
Supervision and control in LINE mode
CMD control word (W8501)
bit 7Fault stateresetbit 15(1)bit 60bit 14(1)bit 50bit 13(1)bit 40bit 12(1)bit 3Enable operationbit 11(1)bit 2Quick stop(active at 0)bit 100bit 1Enable voltage
bit 90bit 0Switch onbit 80(1)This bit action depends on the [ACCESS LEVEL] (LAC) parameter and the functions configured by the user.
For example, to use bit 15 to switch the ramp, simply configure LAC = L3 (Access to advanced functions and management of mixed modes) and set the [Ramp switch ass.] (rPS) configuration parameter to Cd15.
bit7Final stateReady to switch onSwitched onOperation enabledSwitched on
Resetxxxx
bit3Enable operation
xx10
bit2Quick stop
1111x
bit1Enable voltage11110
bit0Switchon0111x
CommandShut downSwitch onEnable operationDisable operationDisable voltage
Transition address2, 6, 83457, 9, 10, 12
11
Typical value of CMD
(W8501)
16#000616#000716#000F16#000716#0000
Quick stop
7, 10
Fault statereset
15
Switch on
xx
disabledQuick stop active
xx
Switch on
disabledSwitch on
x0 V 1
disabled
0
x
1
x
x
x
16#0002
16#0080
x: State not significant0 V 1: Change from 0 to 1
30S1A10387 01/2010
Supervision and control in LINE mode
ETA status word (W3201)
bit7Alarmbit 15Direction of rotation
bit6Switch on disabledbit 14Stop via STOP
key
bit5Quick stopactive at 0bit 130
bit40bit 120
bit3Malfunctionbit 11Reference exceeded
bit2Operation enabledbit 10Reference reached
bit1Switched onbit 9Forced local mode(active at 0)
bit0
Ready to switch on
bit 80
MSK=ETA(W3201)
StateOperation Ready to Switch on masked bySwitched onQuick stopMalfunction
enabledswitch ondisabled16#006F
16#0000Not ready to switch on0x0000
16#002016#0040Switch on disabled1x0000
16#0060
Ready to switch on01000116#0021Switched on01001116#0023Operation enabled01011116#002716#0008
Malfunction0x1000
16#0028
Malfunction reaction 16#000F
0x1111
active16#002FQuick stop active00011116#0007
x: State not significant
bit6bit5bit3bit2bit1bit0
S1A10387 01/201031
Supported CIP objects
CIP require some mandatory objects; these are implemented as well as some vendor specific objects.
Standard CIP objects
Object nameIdentity objectMessage router objectDeviceNet objectAssembly objectConnection objectMotor data objectControl supervisor objectAC/DC drive object
Acknowledge handler object
Class0x010x020x030x040x050x280x290x2A0x2B
Description
The identification objectMessage routerDeviceNet objectAssembly objectConnection object
Defines motor data for the motor connected to this deviceManages drive functions, operational states and controlProvides drive configuration
Object that acknowledges IO messages
Schneider Electric objects
Object nameApplication objects
Class0x70
Description
Object used to access ATV312 parameters
DeviceNet Object model
32S1A10387 01/2010
Supported CIP objects
Identity object (Class 0x01)
Services
Class servicesInstance services
Get_Attribute_SingleGet_Attribute_SingleReset
Class attributes
#1
AccessGet
NameRevision
TypeUINT
Value0x0001
DescriptionRevision 1
Instance attributes
#12
AccessGetGet
NameVendor IDDevice type
TypeUINTUINT
Value0x00F30x0002
AC Drive:
•Vendor Name: Schneider Electric•Vendor ID: 0x00F3•Product code: 0xXXXX•Product Name: ATV-312•Catalog: ATV-312
•EDS file name: 00F30002XXXX0100.EDSDescription
34
GetGet
Product codeRevisionMajor revisionMinor revision
UINTStruct of:USINTUSINTWORDUDINT
SHORT_STRINGArray of UINT8
6153
N/AN/A-Serial numberATV312N/A
Firmware major versionFirmware minor version
Status of the device, see table below.The low 4 bytes of the drive serial number
567100
GetGetGetGet
StatusSerial numberProduct nameFatal log
S1A10387 01/201033
Supported CIP objects
BitStatus attributeExtended device status (Bit 4-7)Bit 0Owned, shall be set when at least one connection is configured0000 = UnknownBit 1 Reserved, set to 00010 = Faulted I/O connectionBit 2 Configured (1)0011 = No I/O connection establishedBit 3Reserved, set to 00100 = Non volatile configuration badBit 4-7See extended device status0101 = Major FaultBit 8 Is set for minor recoverable faults (2)0110 = Connection in run modeBit 9 Is set for minor unrecoverable faults (2)0111 = Connection in idle modeBit 10 Is set for major recoverable faults (2)Bit 11Is set for major unrecoverable faults (2)Bit 12-15Reserved, set to 0
(1)This bit shows if the product has other settings than \"out-of box\". The value is set to true if the module's NV storage is changed fromdefault and the value is currently in use.(2)See error codes table below.
Error codes
Fault type
Minor Recoverable FaultsMinor Unrecoverable FaultsMajor Recoverable FaultsMajor Unrecoverable Faults
Non-Volatile Fault (CRC-error on read), Faulted, Connection to ATV312 lostNon-Volatile Fault (CRC-error on write)Fault source
Duplicate MACID, Switch value changed
34S1A10387 01/2010
Supported CIP objects
Message router (Class 0x02)
Services
Class servicesInstance services
No class services supportedNo instance services supported
Class attributes
No supported class attributes
Instance attributes
No supported instance attributes
S1A10387 01/201035
Supported CIP objects
DeviceNet object (Class 0x03)
Services
Class servicesInstance services
Get_Attribute_SingleGet_Attribute_SingleSet_Attribute_Single
Allocate_Master/Slave_Connection_Set (0x4B)Release_group_2_Identifier_Set (0x4C)
Class attributes
#1
AccessGet
Name Revision
TypeUINT
Value0x0002
DescriptionRevision 2
Instance attributes
#12
AccessGetGet
NameMAC IDBaud Rate
TypeUSINTUSINT
ValueN/AN/A
Description
The used node address 0-63The used baud rate:
0 = 125 k baud1 = 250 k baud2 = 500 k baud
Bus off interrupt, default = FALSEBus off counter
345
Get/SetGet/SetGet
BOI
Bus off CounterAllocation InformationAllocation choice byteMaster's MAC ID
BOOLUSINTStruct of:BYTEUSINTBOOL
N/AN/A
N/AN/AN/A
Allocation choice byteMAC ID of master
0 - No change
1 - The Node Address switch have changed since last power-up/reset
0 - No change
1 - The Baud Rate switch have changed since last power-up/reset
Actual value of Node Address switch 0-63Actual value of Baud Rate switch 0-3
Enable/Disable of Quick Connect feature. Disabled by default. Stored in NVRAM.
6Get
MACIDSwitchChangedBaud Rate
Switch ChangedMac ID Switch ValueBaud Rate Switch ValueQuick Connect
7GetBOOLN/A
10
GetGetGet/Set
USINTUSINTBOOL
N/AN/A0 = Disable1 = Enable
36S1A10387 01/2010
Supported CIP objects
Assembly object (Class 0x04)
The Assembly object uses static assemblies. The default assembly instance IDs used are in the vendor specific range. The assembly objectcontains the process data to/from the module.
Services
Class servicesInstance services
Get_Attribute_SingleGet_Attribute_SingleSet_Attribute_Single
Class attributes
#12
AccessGetGet
NameRevisionMax Instance
TypeUINTUINT
Value2101
DescriptionRevision 2Max instance 101
Instance attributes
#3
AccessGet/Set
NameData
Type
ARRAY of BYTE
Value-Description
Data produced/consumed by the module
Consuming instances (Output assemblies)
Write requests are rejected if there's an I/O connection against the instance.Instance 20 - Basic speed control outputByte0123
Instance 21 - Extended speed control outputByte0123
Instance 100 - Transparent outputByte0123
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Speed reference (Low byte)Speed reference (High byte)
Bit 7
Bit 6NetRef
Bit 5NetCtrl
Bit 4
Bit 3
Bit 2Fault reset
Bit 1Run rev
Bit 0Run fwd
Speed reference (Low byte)Speed reference (High byte)
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2Fault reset
Bit 1
Bit 0Run fwd
DRIVECOM control word (ATV: 6040) (Low Byte)DRIVECOM control word (ATV: 6040) (High Byte)
Reference speed (ATV:6042) (Low Byte)Reference speed (ATV:6042) (High Byte)
S1A10387 01/201037
Supported CIP objects
Producing instances (Input assemblies)
Instance 70 - Basic speed control inputByte0123
Instance 71 - Extended speed control inputByte0123
Instance 101 - Transparent inputByte0123
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Bit 7At reference
Bit 6Ref from net
Bit 5Ctrl from net
Bit 4Ready
Bit 3Running2 (Rev)
Bit 2Running1 (Fwd)
Bit 1Warning
Bit 0Faulted
Speed actual (Low byte)Speed actual (High byte)
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2Running1
Bit 1
Bit 0Faulted
Drive state
Speed actual (Low byte)Speed actual (High byte)
DRIVECOM status word (ATV: 6041) (Low Byte)DRIVECOM status word (ATV: 6041) (High Byte)
Output speed (ATV: 6044) (Low Byte)Output speed (ATV: 6044) (High Byte)
38S1A10387 01/2010
Supported CIP objects
Data definitions output assemblies
NameRun revRun fwdFault resetSpeed referenceNetCtrlNetRef
Class
Control SupervisorControl SupervisorControl SupervisorAC/DC DriveControl SupervisorAC/DC Drive
Instance111111
Attribute43128
Description
Data definitions intput assemblies
NameFaultedWarningRunning1 (Fwd)Running2 (Rev)ReadyCtrl from netRef from netAt referenceDrive stateSpeed actual
Class
Control SupervisorControl SupervisorControl SupervisorControl SupervisorControl SupervisorControl SupervisorAC/DC DriveAC/DC DriveControl SupervisorAC/DC Drive
Instance1111111111
Attribute101171529367
CIP state machine stateDescription
S1A10387 01/201039
Supported CIP objects
Connection object (Class 0x05)
Services
Class servicesInstance services
Get_Attribute_SingleSet_Attribute_SingleGet_Attribute_SingleSet_Attribute_Single
Class attributes
#1100
AccessGetGet/Set
NameRevision
Polled/ COS/
Cyclic Consuming Instance
TypeUINTUINT
Value0x000120, 21, 100
DescriptionRevision 1
Default value is assembly instance 21.
For a change to this attribute will require a restart of the ATV-312-DEV to have effect. (When read the stored value is returned).Stored in NVRAM.
Default value is assembly instance 71.
For a change to this attribute will require a restart of the ATV-312-DEV to have effect. (When read the stored value is returned).Stored in NVRAM.
101Get/Set
Polled/ COS/Cyclic Producing Instance
UINT70, 71, 101
Instance descriptions
Instance 1 = Explicit messaging connection (Predefined in DeviceNet object)Instance 2 = Polled connection / COS/Cyclic consuming connectionInstance 4 = COS/Cyclic producing connectionInstances 10-14 = Explicit server instances
40S1A10387 01/2010
Supported CIP objects
Instances 1, 10-14 (Explicit messaging) attributes
#1
AccessGet
NameState
TypeUSINT
ValueN/A
Description
0 = Non existent1 = Configuring
2 = Waiting for connection ID3 = Established4 = Time out
5 = Deferred Delete
Explicit messaging connectionServer, Transport class 3CAN ID for transmissionCAN ID for reception
The message group over which the communication occurs. Bytes Bytes
Timing associated with this connection (2504ms)1 = Auto delete3 = Deferred delete
Number of bytes in the produced connection path attribute
No connection path
Number of bytes in the consumed connection path attribute
No connection path
Minimum time between new data productionSpecifies the multiplier applied to the expected
packet rate value to derive the value for the Inactivity/Watchdog Timer.0 = x41 = x82 = x163 = x324 = x5 = x1286 = x2567 = x512
8 - 255 = Reserved
23456712131415161718
GetGetGetGetGetGetGetGet/SetGet/Set (1)GetGetGetGetGetGet/Set
Instance type
Transport Class triggerProduced connection IDConsumed connection IDInitial Comm Characteristics
Produced Connection SizeConsumed Connection Size
Expected Packet RateWatchdog timeout actionProduced Connection path length
Produced Connection pathConsumed Connection path length
Consumed Connection path
Production Inhibit TimeConnection Timeout Multiplier
USINTBYTEUINTUINTBYTEUINTUINTUINTUSINTUINTEPATHUINTEPATHUINTUSINT
00x83N/AN/A
21 (Inst 1)
33 (Inst 10-14)0x00400x00400x09C810No value0No value00
(1)Only settable for instance 1S1A10387 01/201041
Supported CIP objects
Instance 2 (Poll or \"COS/Cyclic consuming\") attributes
#1
AccessGet
NameState
TypeUSINT
ValueN/A
Description
0 = Non existent1 = Configuring
2 = Waiting for connection ID3 = Established4 = Time outIO ConnectionServer, Polled, Class 2
Server, COS/Cyclic, Class 0, No AckServer, COS/Cyclic, Class 2Acknowledged
CAN ID for transmissionNot consuming (COS/Cyclic)CAN ID for reception (Polled)Produces over message group 1Consumes over message group 2Consuming only over message group 2
23
GetGet
Instance type
Transport Class trigger
USINTBYTE
10x820x800x82
4GetProduced connection IDUINTN/A0xFFFF
56
GetGet
Consumed connection IDInitial Comm Characteristics
UINTBYTE
N/A0x01(Polled)0xF1
(COS/Cyclic, No Ack)0x01
(COS/Cyclic, Ack)
Produces over message group 1 (Ack)Consumes over message group 2
Size of produced data/mapped process data.(Polled)COS/Cyclic
Size of consumed data/mapped process dataTiming associated with this connection0 = Transition to the timed out state
Number of bytes in the produced connection path attribute
7GetProduced Connection SizeUINTN/A0
1213
GetGet/SetGetGet
Consumed Connection Size
Expected Packet RateWatchdog timeout actionProduced Connection path length
UINTUINTUSINTUINT
N/AN/A00x0007(Polled)0x0000
(COS/Cyclic)
14GetProduced Connection pathEPATH
0x20 0x040x25 0xII 0xII0x30 0x03(Polled)No value(COS/Cyclic)
Path to producing object
II = Producing instance number in assembly object
No producing object
Number of bytes in the consumed connection path attribute
Path to consuming object
II = Consuming instance number in assembly objectMinimum time between new data production
1516
GetGet
Consumed Connection path length
Consumed Connection path
Production Inhibit Time
UINTEPATH
0x00070x20 0x040x25 0xII 0xII0x30 0x030
17GetUINT
42S1A10387 01/2010
Supported CIP objects
#18
AccessGet/Set
Name
Connection Timeout Multiplier
TypeUSINT
Value0
Description
Specifies the multiplier applied to the expected
packet rate value to derive the value for the Inactivity/Watchdog Timer.0 = x41 = x82 = x163 = x324 = x5 = x1286 = x2567 = x512
8 - 255 = Reserved
S1A10387 01/201043
Supported CIP objects
Instance 4 (COS/Cyclic producing) attributes
#1
AccessGet
NameState
TypeUSINT
ValueN/A
Description
0 = Non existent1 = Configuring
2 = Waiting for connection ID3 = Established4 = Time outIO Connection
Client, Cyclic, Class 0 (No Ack)Client, COS, Class 0 (No Ack)Client, Cyclic, Class 2 (Acknowledged)Client, COS, Class 2 (Acknowledged)CAN ID for transmissionNot acknowledgedCAN ID for reception (Acknowledged)
Producing only over message group 1Produces over message group 1
Consumes over message group 2 (Ack)Size of produced data on this connectionConsumes 0 bytes on this connectionTiming associated with this connection0 = Transition to the timed out state
Number of bytes in the produced connection path attribute
Path to producing object
II = Producing instance number in assembly objectNumber of bytes in the consumed connection path attribute
23
GetGet
Instance type
Transport Class trigger
USINTBYTE
10x000x100x020x12
45
GetGet
Produced connection IDConsumed connection ID
UINTUINT
N/A0xFFFFN/A
6Get
Initial Comm Characteristics
BYTE
0x0F
(No ACK)0x01
(Acknowledged)
7121314
GetGetGet/SetGetGetGet
Produced Connection SizeConsumed Connection Size
Expected Packet RateWatchdog timeout actionProduced Connection path length
Produced Connection path
UINTUINTUINTUSINTUINTEPATH
N/A0N/A00x00070x20 0x040x25 0xII 0xII0x30 0x030x0000(No ACK)0x0005
(Acknowledged)
15Get
Consumed Connection path length
UINT
16Get
Consumed Connection path
EPATH
No value(No ACK)0x20 0x2B
0x25 0x01 0x00 (Acknowledged)
Empty
Acknowledge Handler Object, Instance 1
1718
Get/SetGet/Set
Production Inhibit TimeConnection Timeout Multiplier
UINTUSINT
00
Minimum time between new data productionSpecifies the multiplier applied to the expected
packet rate value to derive the value for the Inactivity/Watchdog Timer.0 = x41 = x82 = x163 = x324 = x5 = x1286 = x2567 = x512
8 - 255 = Reserved
44S1A10387 01/2010
Supported CIP objects
Motor data object (Class 0x28)
This object serves as a database for motor parameters.
Services
Class servicesInstance services
Get_Attribute_SingleGet_Attribute_SingleSet_Attribute_Single
Class attributes
#1
AccessGet
NameRevision
TypeUINT
Value0x0001
Description
Revision of the object
Instance attributes for Schneider Electric brand
#367
AccessGet/SetGet/SetGet/Set
NameMotorTypeRatedCurrentRatedVoltage
TypeUSINTUINTUINT
ValueN/AN/AN/A
Description
7 - Squirrel Cage Induction MotorRated Stator CurrentUnits: [100mA]Rated Base VoltageUnits: [V]
S1A10387 01/201045
Supported CIP objects
Control Supervisor Object (Class 0x29)
This object models all the management functions for devices within the \"Hierarchy of Motor Control Devices\". The behaviour of motor controldevices is described in the State Transition Diagram and the State Event Matrix.
Services
Class servicesInstance services
Get_Attribute_SingleGet_Attribute_SingleSet_Attribute_SingleReset
Class attributes
#1
AccessGet
NameRevision
TypeUINT
Value0x0001
Description
Revision of the object
Instance attributes
#345
AccessGet/SetGet/SetGet/Set
NameRun1Run2NetCtrl
TypeBOOLBOOLBOOL
ValueN/AN/AN/A
Description
Run forward
See Run/Stop Event TriggersRun reverse
See Run/Stop Event Triggers
Requests Run/Stop control to be local or from network.
0 = Local Control1 = Network Control
1 = Startup2 = Not_Ready3 = Ready4 = Enabled5 = Stopping6 = Fault_Strop7 = Faulted
For ATV312 DRIVECOM status to State translation, see page 47.
Enabled or Stopping or Fault_Stop
Running2 is always 0 since negative speed indicated on the Actual speed reference.1 = Ready or Enabled or Stopping0 = Other state
0 = No Faults present
1 = Fault Occurred (latched)ATV:6041#3
0 = No Warnings present1 = Warning (not latched)0->1 = Fault Reset0 = No ActionATV:6040#7
Status of Run/Stop control source.0 = Control is local
1 = Control is from network
6GetStateUSINTN/A
710
GetGetGetGet
Running1Running2ReadyFaulted
BOOLBOOLBOOLBOOL
N/A0N/AN/A
1112
GetGet/Set
WarningFaultRst
BOOLBOOL
N/AN/A
15GetCtrlFromNetBOOLN/A
46S1A10387 01/2010
Supported CIP objects
Control supervisor state diagram
The state transition diagram is specified by the drive profile. Note that the state machine shall be updated independently of if the drive iscontrolled locally or remote.
DRIVECOM status to CS state translation
The CS state is get from ATV312 DRIVECOM status according to the table below:CS stateStartupNot_ReadyReady
DRIVECOM stateNot ready to switch onSwitch on disabledReady to switch onSwitched on
EnabledStopping
Operation enabledcmdd Bit 3 = 0Quick stop active
Fault_StopFaulted
Malfunction reaction activeMalfunction
MSK
(DRIVECOM status & 0x006F)0x00000x00200x00400x00600x00210x00230x00270x00270x00070x000F0x002F0x00080x0028
S1A10387 01/201047
Supported CIP objects
Run/Stop event triggers
Run/Stop events are generated from Run1 and Run2 attributes according to the table below:Run100->100->111->01
Run2000->10->1111->0
Trigger EventStopRunRunNo ActionNo ActionRunRun
Run TypeN/ARun1Run2N/AN/ARun2Run1
DRIVECOM commandOperation enable stateOther states: ShutdownEnable operationEnable operationLast command still validLast command still validEnable operation
Reversed speed referenceEnable operation
The following table defines how DRIVECOM commands are generated in the DRIVECOM control word. All other bits are unaffected. DRIVECOM commandDRIVECOM control word
Bit 3
ShutdownDisableoperationEnableoperation
001
Bit 2111
Bit 1111
Bit 0011
48S1A10387 01/2010
Supported CIP objects
AC/DC drive object (Class 0x2A)
This object models the functions specific to an AC or DC Drive. e.g. speed ramp, torque control etc.
Services
Class servicesInstance services
No services implementedGet_Attribute_SingleSet_Attribute_Single
Class attributes
No attributes are implemented at class level.
Instance attributes for Schneider Electric brand
#34
AccessGetGet/Set
NameAtReferenceNetRef
TypeBOOLBOOL
ValueN/AN/A
Description
1 = Drive actual at referenceATV:6041#10
Request speed reference to be local or from network.0 = Local speed setpoint1 = Network speed setpoint0 = Vendor specific modeActual drive speedUnits: RPM
ATV:6044 [RPM]Speed referenceUnits: RPM
ATV:6042 [RPM]
Status of speed reference.0 = Local speed reference1 = Network speed reference
67
GetGet
DriveModeSpeedActual
USINTINT
0N/A
8Get/SetSpeedRefINTN/A
29GetRefFromNetBOOLN/A
S1A10387 01/201049
Supported CIP objects
Acknowledge handler object (Class 0x2B)
Services
Class servicesInstance services
Get_Attribute_SingleGet_Attribute_SingleSet_Attribute_Single
Class attributes
#1
AccessGet
NameRevision
TypeUINT
Value0x0001
Description
Revision of the object
Instance 1 attributes
#123
AccessGet/SetGet/SetGet
NameAcknowledge TimerRetry LimitProducing connection Instance
TypeUINTUSINTUINT
Value1614
Description
Time to wait for acknowledge (in ms) before resending
Number of Ack timeouts before retry limit reached event
Connection instance, which contains the path of the producing I/O application object, which will be notified of Ack Handler events.
50S1A10387 01/2010
Supported CIP objects
Application objects (Class 0x70)
This object allows access to all parameters in the ATV-312 by converting CANopen Index and Sub-index to CIP instance and attributes.The CANopen Index and Sub-index are linearly mapped to CIP instance and attribute.
CIP Get_Attribute_Single service is converted to the CANopen request code 0x40 and the Set_Attribute_Single service the CANopenrequest code 0x2B.
Services
Class servicesInstance services
Get_Attribute_SingleGet_Attribute_SingleSet_Attribute_Single
Class attributes
#1
AccessGet
NameRevision
TypeUINT
Value0x0001
Description
Revision of the object
Instance attributes
#1...N
AccessGet/Set...Get/Set
Name
Parameter with Sub-index 0...
Parameter with Sub-index N
TypeN/A...N/A
ValueN/A...N/A
...
Description
S1A10387 01/201051
52S1A10387 01/2010
ATV312_DeviceNet_S1A10387_01
S1A10387 01/2010
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