Before you beginRead and understand these instructions before performing any procedure with this drive.A DANGERHAZARDOUS VOLTAGERead and understand this manual before installing or operating the Altivar drive.Installation,adjustment,repair,andThe user is responsible for pliance with all international and national electrical standards in force concerningprotective grounding of all equipment.Many parts in this variable speed drive,including printed wiring boards,operate at line voltage.DO NOT TOUCH.Use only electrically insulated tools.DO NOT touch unshielded ponents or terminal strip screw connections with voltage present.DO NOT short across terminals PA and PC or across the DC bus capacitors.Install and close all covers before applying power or starting and stopping the drive.Before servicing the variable speed drive:·Disconnect all powerPlace a"DO NOT TURN ON"label on the variable speed drive disconnectLock the disconnect in the open positionDisconnect all power including external control power that may be present before servicing the drive.WAIT 15MINUTES for the DC bus capacitors to discharge.Then follow the DC bus voltage measurement procedure givenin the Installation Manual to verify that the DC voltage is less than 45Vdc.The drive LEDs are not accurate indicatorsof the absence of DC bus voltage.Electric shock will result in death or serious injuryCAUTIONDAMAGED EQUIPMENTDo not operate or install any drive that appears damaged.Failure to follow this instruction can result in equipment damage.Documentation structureInstallation manualThis manual describes:How to assemble the driveHow to connect the driveProgramming manualThis manual describes:·The functionsThe parametersHow to use the drive display terminal (integrated display terminal and graphic display terminal)Communication parameters manualThis manual describes:The drive parameters with specific information for use via a bus or munication workThe operating modes specific to munication (state chart)The interaction between munication and local controlModbus,CANopen,Ether,Profibus,INTERBUS,Uni-Telway,FIPIO,Modbus Plus,DeviceNet...manualsThese manuals describe:Connection to the bus or work·DiagnosticsConfiguration of the munication-specific parameters via the integrated display terminal or the graphic display terminalThey describe the protocol munication services in detail.Altivar 58/58F migration manualThis manual describes the differences between the Altivar 71 and the Altivar 58/58FIt explains how to replace an Altivar 58 or 58F,including how to replace drives municating on a bus or work.Altivar 38 migration manualThis manual describes the differences between the Altivar 61 and the Altivar 38.It explains how to replace an Altivar 38,including how to replace drives municating on a bus or work.5IntroductionPresentationThe CANopen protocol is available on the Altivar speed drive via a VW3 CAN A71 adapter,which must be ordered separately.The CANopen adapter features a CANopen-pliant 9-way male SUB-D connector referred to as the CANopen port"in this manual.The CANopen port on the Altivar can be used for the following functions:ControlThis manual describes how to set up the Altivar drive on CANopen and also describes the CANopen services that are available on this drive.NotationDrive terminal displaysThe graphic display terminal menus 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 bracketsExample:(LFF).FormatsIn this manual,hexadecimal values are written as follows:16#Hardware setupInstalling the CANopen adapterInstall the VW3 CAN A71 CANopen adapter in the RJ45 port located on the drive's control terminals.Note:This adapter MUST be screwed to the drive via its CANopen bus metal grounding plate.Modbus work portVW3 CAN A71CANopenadapterExample:ATV71HU22M3Modbus work port pinoutPinout of 9-way male SUB-D connectoron CANopen adapterView from underneathPinSignalCAN_L-2-CAN_GND-3-CAN H2CAN_L3CAN GND●D0(1)6Not connectedCAN_H-7-8Common (1)(1)Modbus signal(2)Power supply for an RS232/RS485 converter (to PowerSuite)7Hardware setupConnecting to the CANopen busThe diagram below illustrates an example configuration prising four Altivar drives connected to a TSX Premium master PLC fitted witha TSX CPP 110 CANopen master PCMCIA card.Connection accessories should be ordered separately (please consult our catalogs).See also below.1.TSX Premium PLC+TSX CPP 110 CANopen masterPCMCIA card2.Drop cable and cable connector supplied with TSX CPP 110card3.TSX CAN KCDF 180T9-way female SUB-D connector withactive line terminator4.TSX CAN C...CANopen cable,available in lengths of 50,1000r300m5.VW3 CAN A71 CANopen adapter+VW3CAN KCDF 180T9-way female SUB-D connector with deactivated lierminator6.VW3CANA71 CANopen adapter+VW3CANKCDF 180T9-way female SUB-D connector with active line teminatorDescriptionLength(m)Catalog numberCANopen adapter to be installedVW3 CAN A71in the RJ45 port on the drive's control terminals.The adapter provides a 9-way male SUB-D connector conforming to the CANopen standard(CIA DRP 303-1).CANopen connector(1)VW3 CAN KCDF 180T9-way female SUB-D connector with line terminator(can be deactivated)CANopen cables LSZH50TSX CAN CA 50CE certification.Low smoke,halogen free and flame retardant (IEC 60332-1).100TSX CAN CA 100300TSX CAN CA 300CANopen cables UL /IEC 60332-250TSX CAN CB 50UL certification.Non flame propagating(IEC 60332-2).100TSX CAN CB 100300TSX CAN CB 300CANopen cables flexible LSZH HD50TSX CAN CD 50For heavy duty or mobile applications.Low smoke,halogen free and flame retardant(IEC100TSX CAN CD 10060332-1).Oil resistant.300TSX CAN CD 300(1)For ATV 71H..M3,ATV 71HD11M3X,HD15M3X and ATV 71H075N4 to HD18N4 drives,thisconnector can be replaced by theTSX CAN KCDF 180T connector.Length of CANopen busThe maximum length of the bus depends on the munication speed:Communication speed20灿ps50 kbps250 kbps500 kbps1000 kbpsMaximum length of bus2500m1000m500m250m100m25mThese lengths are for a CANopen bus and take into account actual dispersions on the ponents as well as when certain devices areoptocoupled to the bus.Telemecanique will not accept liability for longer lengths specified in other documents.Hardware setupCANopen connector (VW3 CAN KCDF 180T)How to strip the CANopen cablemax.10SchematicX1X202CAN-GND 1o-03CAN-L 2 oS1CAN-H 3CAN-L4 oR106CAN-H 5 o07CAN-GND 6 o-X1=Internal screw terminalX2=9-way female SUB-DX1 Internal screw terminalX2 =9-way female SUB-DSignal3CAN_GND2CAN L7CAN H9ConfigurationConfiguring the munication parametersThe configuration of the CANopen munication functions on the Altivar is accessed via the [1.9-COMMUNICATION](COM-),menu ([CANopen](CnO-)submenu)on the graphic display terminal or integrated display teminal.Note:The configuration can only be modified when the motor is stopped and the drive locked.In order for modifications to take effect.the drive must be shut down then restarted.ParameterPossible valuesTerminal displayDefault value[CANopen address](Adco)CANopen deactivated[OFF](OFF)1to127[CANopen bit rate](bdco)[20kbps(20)(1)50 kbps[50kbps](50,125 kbps[125kbps(125)[250kbps(250)[125kbps](125250 kbps500 kbps1 000 kbpsIn this user's manual,the [CANopen address](Adco)parameter is referred to as the "NODE-ID"Set this parameter to its default value,(0FF).to deactivate CANopen munication on the Altivar.To activate CANopen munication on the Altivar,write a value other than zero to the [CANopen address](AdCo)parameterThe value of the [CANopen bit rate](bdCo)parameter must correspond to the munication speed of all other devices connected tothe CANopen bus.(1)Do not select [20 kbps](20).possible malfunction.10ConfigurationControl-signal configurationNumerous control-signal configurations are possible.Please consult the Programming Manual.The following configurations are just some of the possibilities available.Control via CANopen in I/O profileThe mand and target e from CANopen.The mand is in l/O profile.Configure the following parameters:ParameterValueCommentProfile1/O profileThe run mand is simply obtained by bit o of the control word.Target 1 configurationCANopenThe target es from CANopen.Command 1 configurationCANopenThe mand es from CANopen.Configuration via the graphic display teminal or the integrated display terminal:MenuParameterValue[1.6-COMMAND](CtL)[Profile](CHCF)[Ref.1 channel](Fr1)[CANopen](CAn)[Cmd channel 1](Cd1)[CANopen](CAn)Control via CANopen or the terminals in I/O profileBoth the mand and target e from CANopen or the temminals.Input LI5 at the terminals is used to switch between CANopen and theterminals.The mand is in I/O profile.Configure the following parameters:ParameterValueCommentProfile1/O profileThe run mand is simply obtained via bit 0 of the controlword.Target 1 configurationCANopenTarget 1 es from CANopen.Target 1B configurationAnalog input 1 on the terminalsTarget 1B es from input Al1 on the terminals.Target switchingInput LI5Command 1 configurationCANopenCommand 1 es from CANopen.Command 2 configurationTerminalsCommand 2 es from the terminals.Command switchingInput LI5Input L15 switches the mand.Target 1B is connected to the functions (summing,PID,etc.)that remain active,even after switching.Configuration via the graphic display teminal or the integrated display terminal:MenuParameterValue[1.6-COMMAND](CtL-)[Profile](CHCF)[I/O profile](10)[Ref.1 channel](Fr1)[CANopen](CAn)[Cmd channel 1](Cd1)[CANopen](CAn)[Cmd channel 2](Cd2)[Terminals](tEr)[Cmd switching](ccs)[1.7 APPLICATION FUNCT.](FUn-)[Ref.1B chan](Fr1b)[REFERENCE SWITCH.][Ref 1B switching](rCb)[LI5](LI5)ConfigurationControl via CANopen in DSP402 profileThe mand and target e from CANopen.The mand is in DSP402 profile (not separate mode).Configure the following parameters:ParameterValueCommentProfileDSP402 profile not separateThe run mands are in DSP402 profile,the mand and thetarget e from the same channel.Target 1 configurationCANopenThe mand and the target e from CANopen.Configuration via the graphic display teminal or the integrated display terminal:MenuParameterValue[1.6-COMMAND](CtL-)[Profile](CHCF)[Not separ.](SIM)(factory setting)[Ref.1 channel](Fr1)[CANopen](CAn)Control via CANopen or the terminals in DSP402 profileBoth the mand and target e from CANopen or the teminals.Input LI5 at the terminals is used to switch between CANopen and theterminals.The mand is in DSP402 profile (not separate mode).Configure the following parameters:ParameterValueCommentProfileDSP402 profile not separateThe run mands are in DSP402 profile,the mand and thetarget e from the same channel.Target 1 configurationCANopenTarget 1 es from CANopen.Target 2 configurationAnalog input 1 on the terminalsTarget 2 es from input Al1 on the terminals.Target switchingInput LI5Warning:Target 2 is directly connected to the drive reference limit.If switching is performed,the functions that affect the reference(summing,PID,etc)are inhibited.Configuration via the graphic display teminal or the integrated display terminal:MenuParameterValue[1.6-COMMAND](CtL-)[Profile](CHCF)[Not separ.](SIM)[Ref.1 channel](Fr1)[CANopen](CAn)[Ref.2 channel](Fr2)[Ref.2 switching](rFC)[LI5](LI5)