ContentsOutput value parameters87Output values (speed)8Output values (torque)Output values (motor)8Reference parameters_References (speed)9References (regulator)Measurement parameters_9Input measurementsThemal states9Time1/0 parameters_96Logic 1/OAnalog inputs9Analog outputsEncoder99Fault parameters1Log parameters_107Description of last fault log107Log of the following faults111115CiA402 standard configuration and adjustment parameters118ODVA standard configuration and adjustment parameters122Index of parameter codes_123Document structure and directions for useInstallation ManualThis manual describes:·AssemblyHow to connect the driveProgramming manualThis manual describes:·Functions·ParametersUse of the drive teminal (integrated display terminal and graphic display terminal)Communication Parameters ManualThis manual describes:The operating modes specific to munication (state chart)The interaction between munication and local controlThe control,reference and monitoring parameters with specific infommation for use via a bus or munication workIt does not include the drive adjustment and configuration parameters,which are contained in the Excel file supplied as anAll the parameters are grouped together in an Excel file supplied as an appendix,with the following data:CodeNameAddresses:logical,CANopen,INTERBUS,DeviceNetCategoryRead/write accessType:signed numerical,unsigned numerical,etc.UnitFactory setting·Minimum value·Maximum valueDisplay on graphic display teminal and 7-segment integrated display teminal·Menu concernedThis file offers the option of sorting and arranging the data according to any criterion chosen by the user.Data relating to operation,interdependences and limits of use are described in the Programming Manual.The various documents are to be used as follows:1.Design and programming of the drive with the Programming Manual2.Design and programming of the munication with the Parameters Manual3.Definition of addresses and any values of the adjustment and configuration parameters to be modified by munication with theparameter filesThe section entitled "Loading drive parameters"on page 72 describes the remended procedure for loading parametersthrough munication.Modbus,CANopen,Ether,Profibus,INTERBUS,Uni-Telway,FIPIO,Modbus Plus and DeviceNet,etc.,manualsThese manuals describe:·AssemblyConnection to the bus or work·DiagnosticsConfiguration of parameters specific to munication via the integrated display terminal or the graphic display terminalThey describe the protocol munication services in detail.ATV 38/ATV 61 Migration ManualThis manual describes the differences between the Altivar 61 and the Altivar 38 and explains how to replace an Altivar 38,including howto replace drives municating on a bus or a work.5PresentationMagelis XBTPremiumThe Altivar 61 drive has been designed to meet all the configuration requirementsencountered within the context of industrial munication installations.It includes Modbus and CANopen munication protocols as standard.Two integrated munication ports enable direct access to the Modbus protocol:TMFTMOne RJ45 Modbus connector port 2,located on the drive front panel,which isused to connect:ATV31The remote graphic display teminalA Magelis industrial HMI terminalThe PowerSuite software workshopOne RJ45 Modbus work port(1).located on the drive's control terminals.Example of configuration on the CANopen buswhich is dedicated to control and signaling by a PLC or other type of controller.It can also be used to connect a display terminal or the PowerSuite softwareworkshop.The CANopen protocol can be accessed from the Modbus work port via theCANopen adapter③(1).The Altivar 61 can also be connected to other works and industrial municationbuses by using one of the munication option cards:Ether TCP/IPModbus/Uni-Telway.This card provides access to additional functions,whichplement those of the integrated ports (Modbus ASCII and 4-wire RS 485)·Fipio·Modbus Plus·Profibus DP·DeviceNet·INTERBUSetc.(Please refer to the catalog)②The control section can be powered separately,thus allowing munication(monitoring,diagnostics)to be maintained even if the power supply section fails①The main munication functions of Altivar 38 drives are patible with the Altivar61(2):③Connection-Communication servicesDrive behavior (profile)Control and monitoring parametersBasic adjustment parametersThe PowerSuite software workshop supports the transfer of configurations from Altivar38 drives to Altivar 61PresentationAll the drive functions are accessible via the work:·Control·Adjustment·ConfigurationIf the"Controller Inside"programmable card is installed on the drive,its variables(%MW,etc.)can be accessed via the integrated Modbusports or the Ether option cardThe speed/torque control and reference can e from different sources:·The 1/O terminalsThe munication workThe "Controller Inside"programmable cardThe remote graphic display terminalThe PowerSuite software workshop (for missioning and maintenance)The Altivar 61 drive's advanced functions can be used to manage switching of these control and reference sources according to theapplication requirements.The periodic munication variables can be selected via:.The work configuration software(Sycon,etc.):CANopen,DeviceNetThe Altivar 61 drive's munication scanner function:Profibus DP,Fipio,Modbus PlusThe work's IO Scanner function:Ether TCP/IPWith the exception of DeviceNet,regardless of work type,the Altivar 61 can be controlled:In accordance with the Drive profile (CANopen CiA DSP 402)In accordance with the l/O profile,whereby control is as straightforward and flexible as control via the l/O terminalsThe DeviceNet card supports the ODVA standard profile.Communication is monitored according to criteria specific to each protocol.Regardless of protocol type,the reaction of the drive to amunication fault can be configured:Drive fault involving:Freewheel stop,stop on ramp,fast stop or braked stopStop without drive faultMaintain the last mand receivedFallback position at a predefined speed·Ignore the faultA mand from the CANopen bus is handled with the same priority as an input from the drive terminals.This enables very good responsetimes to be achieved on the work port via the CANopen adapter.7Software enhancementsSince the Altivar ATV 61 was first launched,it has benefited from the addition of several new functions.The software version has beenupdated to version V1.8.The old versions can be replaced by this new one without amy modifications.Although this documentation relates to version V1.8,it can still be used with earlier versions,as the updates merely involve the addition ofnew values and parameters and none of the previous version parameters have been modified or removed.The software version is indicated on the nameplate attached to the body of the drive.Enhancements made to version V1.2 in parison to V1.1New parameters and functionsOption of operating with a BAC munication card[1.8 FAULT MANAGEMENT](FLt)menuThe extemal fault [EXTERNAL FAULT](EtF-)can now be configured in positive or negative logic via [External fault config.](LEt).Enhancements made to version V1.4 in parison to V1.2Factory settingNote:In versions V1.1 and V1.2,analog output AO1 was assigned to the motor frequency.In the new version,this output is notassigned.With the exception of this parameter,the factory settings of versions V1.1 and V1.2 remain the same in the new version.The newfunctions are inactive in the factory setting.New parameters and functions[1.2 MONITORING](SUP-)menuAddition of states and intemal values relating to the new functions described below.[1.3 SETTINGS](SEt-)menu·[High torque thd】ttH[Freewheel stop Thd](FFt)[1.4 MOTOR CONTROL](drC-)menuExtension of the following configurations to all drive ratings (previously limited to 45 kW(60 HP)for ATV61M3X and to 75 kW(100HP)for ATV61N4):synchronous motor [Sync.mot.](SYn),sinus filter [Sinus filter](OFI),noise reduction [Noise reduction](nrd),braking balance [Braking balance](bbA).[1.5 INPUTS/OUTPUTS CFG](1-0-)menu[Al .channel](AIC1)New options for assigning relays and logic outputs:torque greater than high threshold,torque lower than low threshold,motor inforward rotation,motor in reverse rotation,measured speed threshold attained.Analog output AO1 can now be used as a logic output and assigned to relay functions and logic outputs..New option of modifying thescaling of analog outputs using the parameters [Scaling AOx min](ASLx)and [Scaling AOx max](ASHx).New options for assigning analog outputs:signed motor torque and measured motor speed.New options for assigning alarm groups:torque greater than high threshold,torque less than low threshold,measured speedthreshold attained.[1.7 APPLICATION FUNCT.](Fun-)menuThe summing.subtraction and multiplication reference functions can now be assigned to virtual input [Network Al](AlU1).New parameter [Freewheel stop Thd](FFt)used to adjust a threshold for switching to freewheel at the end of a stop on ramp or fast stopThe torque limitation [TORQUE LIMITATION](tOL-)can now be configured in whole or in 0.1%increments using [Torqueincrement](IntP)and assigned to virtual input [Network Al](AlU1).New Damper control function using the [DAMPERMANAGEMENT](dAM-)menu.Parameter switching [PARAM.SET SWITCHING](MLP-)can now be assigned to attained frequency thresholds [Freq.Th.attain.](FtA)and [Freg.Th.2 attain.](F2A).Software enhancements[1.8 FAULT MANAGEMENT](FLt-)menuOption to reinitialize the drive without turning it off,via [Product reset](rP).Option to reinitialize the drive via a logic input without turning it off,using [Product reset assig.](rPA).The option to configure the "output phase loss"fault [Output Phase Loss](OPL)to [Output cut](OAC)has been extended to all driveratings (previously limited to 45 kW(60 HP)for ATV61..M3X and 75 kW(100 HP)for ATV61.N4).New monitoring function based on speed measurement using "Pulse input"input,via the [FREQUENCY METER](FqF-)menu.The braking unit short-circuit fault can now be configured using [Brake res.fault Mgt]bUb).The [Damper stuck](Fd1)fault in the Damper control function can be configured via [DAMPER FAULT MGT.](FdL-).Enhancements made to version V1.5 in parison to V1.4Extension of the range with addition of the drives ATV61Y for work 500 to 690 V.The ranges of adjustment and factory settings of some parameters are adapted to the new voltage.[1.5 INPUTS OUTPUTS CFG](1-0-)menuIncrease in adjustment range of delay parameters for relays and logic outputs 0 to 60000 ms instead of 0 to 9999 ms.[1.7 APPLICATION FUNCT.](Fun-)menuNew parameter [Conf.sensor flow](LnS)allowing to adjust the sensor of null flow in positive or negative logic.Enhancements made to version V1.6 in parison to V1.5The munication card APOGEE FLN P1(V3 A3 314)is fully supported with the version V1.6 and above of the Altivar 61 software.Enhancements made to version V1.8 in parison to V1.6[7 DISPLAY CONFIG.]menuAddition in [7.4 KEYPAD PARAMETERS]of [Power up menu]parameter.This parameter allows to choose the menu which is displayed onthe drive on power up9NotationsDescription of parametersA parameter is defined by means of various character strings:Code:4 characters max.The code makes it possible to identify the parameter on the integrated 7-segment display teminal(Examples:brt,tLIG)Name:Description in plain text (used by the PowerSuite software workshop)Terminal name:Character string in square brackets for the graphic display terminal [Gen.torque lim]AddressesThere are 4 formats for specifying parameter addresses:Logic address:Address for Modbus messaging(RS485 and Ethemet TCI/IP)and the PKWindexed periodic variables(Fipio,ProfibusDP),in decimal and hexadecimal(preceded by 16#)format.To optimize Modbus messaging performance,two addresses are given for the control word and the status word.The addressesannotated "speed"are for use in rpm;the addresses annotated "frequency"are for use in Hz.CANopen index:CANopen index/subindex in hexadecimal,to be used for PDO and SDO messaging variable assignment.INTERBUS index:Index/subindex in hexadecimal for PCP messaging.DeviceNet path:Class/instance/attribute in hexadecimal.Read/write·R:Read only·RW:Read and writeR/WS:Read and write,but write only possible when motor is at standstillTypeWORD (bit register):Word where each bit represents an item of mand,monitoring or configuration informationWORD (listing):Word where each value represents a possible choice for a configuration or state·lNT:Signed integerUINT:Unsigned integerDINT:Signed double integerUDINT:Unsigned double integerFormatHexadecimal values are written as follows:16#Drive terminal displaysThe menus that appear on the graphic display terminal are shown in square brackets.Example:[1.9 COMMUNICATION]The menus that appear on the integrated 7-segment display terminal always end with a dash and appear between round brackets.Example:(COM-)Parameter names are displayed on the remote graphic display terminal in square brackets.Example:[Fallback speed]The parameter codes displayed on the integrated 7-segment display terminal are shown in round brackets.Example:(LFF)ProfilesWhat is a profile?There are three types of profile:Communication profiles·Functional profilesApplication profilesCommunication profilesA munication profile describes the characteristics of the bus or work:·Cables·ConnectorsElectrical characteristics·Access protocol·Addressing systemPeriodic exchange service·Messaging service·etc.A munication profile is unique to a type of work (Fipio,Profibus DP,etc.)and is used by various different types of device.Functional profilesA functional profile describes the behavior of a type of device.It defines:·FunctionsThe parameters (name,fommat,unit,type,etc.)The periodic l/O variables·State chart(s)etc.A functional profile is mon to all members of a device family (variable speed drives,encoders,l/O modules,displays,etc.).Ideally,functional profiles should be work-independent,but in reality they are not.They can feature mon or similar parts.Thestandardized (IEC 61800-7)functional profiles of variable speed drives are:·CiA402·PROFIDRIVEDRIVECOM has been available since 1991.CiA402 "Device profile for drives and motion control"represents the next stage of this standard's development and is maintained by CanIn Automation.Some protocols also support the ODVA(Open DeviceNet Vendor Association)profile.Application profilesApplication profiles define in their entirety the services to be provided by the devices on a machine.E.g.profile for elevators"CiA DSP 417-2 V1.01 part 2:CANopen application profile for lift control systems-virtual device definitions".The aim of munication and functional profiles is to achieve interchangeability of the devices connected via the work.Although this aim is not always achieved,the profiles facilitate free petition.ProfilesFunctional profiles supported by Altivar 61 drivesI/O profileUsing the 1/O profile simplifies PLC programming.When controlling via the terminals or the display terminal,the 1/O profile is used without knowing it.With an Altivar 61,the 1/O profile can also be used when controlling via a work.The drive starts up as soon as the run mand is sent.The 16 bits of the control word can be assigned to a function or a teminal input.This profile can be developed for simultaneous control of the drive via:·The terminalsThe Modbus control wordThe CANopen control wordThe work card control wordThe "Controller Inside"control wordThe /O profile is supported by the drive itself and therefore in tum by all the munication ports(integrated Modbus,CANopen and theEthemet,Fipio,ModbusPlus,Modbus,Uni-Telway,Profibus DP,DeviceNet,and INTERBUS munication cards).CiA402 profileThe drive only starts up following a mand sequence.The control word is standardized.5 bits of the control word (bits 11 to 15)can be assigned to a function or a terminal input.The CiA402 profile is supported by the drive itself and therefore in turn by all the munication ports (integrated Modbus,CANopen andthe Ethemet,Fipio,ModbusPlus,Modbus,Uni-Telway,Profibus DP,DeviceNet,and INTERBUS munication cards).The Altivar 61 supports the CiA402 profile's "Velocity mode"In the CiA402 profile,there are two modes that are specific to the Altivar 61 and characterize mand and reference management (seesection"Command/reference switching",page 34):Separate mode [Separate](SEP)·Not separate mode[Not separ】.(SIM)ODVA profileThe drive starts up as soon as the run mand is sent.The control word is standardized.The ODVA profile is supported by the DeviceNet munication card.