Altivar Process ATV6000

MFR24213 07/2020

Altivar Process ATV6000

Variable Speed Drives

Modbus SL Manual
07/2020
MFR24213.01

www.schneider-electric.com
 The information provided in this documentation contains general descriptions and/or technical character-
istics of the performance of the products contained herein. This documentation is not intended as a
substitute for and is not to be used for determining suitability or reliability of these products for specific user
applications. It is the duty of any such user or integrator to perform the appropriate and complete risk
analysis, evaluation and testing of the products with respect to the relevant specific application or use
thereof. Neither Schneider Electric nor any of its affiliates or subsidiaries shall be responsible or liable for
misuse of the information contained herein. If you have any suggestions for improvements or amendments
or have found errors in this publication, please notify us.
You agree not to reproduce, other than for your own personal, noncommercial use, all or part of this
document on any medium whatsoever without permission of Schneider Electric, given in writing. You also
agree not to establish any hypertext links to this document or its content. Schneider Electric does not grant
any right or license for the personal and noncommercial use of the document or its content, except for a
non-exclusive license to consult it on an "as is" basis, at your own risk. All other rights are reserved.
All pertinent state, regional, and local safety regulations must be observed when installing and using this
product. For reasons of safety and to help ensure compliance with documented system data, only the
manufacturer should perform repairs to components.
When devices are used for applications with technical safety requirements, the relevant instructions must
be followed.
Failure to use Schneider Electric software or approved software with our hardware products may result in
injury, harm, or improper operating results.
Failure to observe this information can result in injury or equipment damage.
© 2020 Schneider Electric. All rights reserved.

2 MFR24213 07/2020
 Table of Contents

Safety Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Chapter 1 Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Hardware Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Software Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Chapter 2 Cyber Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Cyber Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Chapter 3 Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.1 Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Definition of a Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Functional Profiles Supported by the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
CIA402 Operating State Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Description of Operating States. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Cmd Register CMd . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Stop Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Assigning Control Word Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
[CIA402 State Reg] EtA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Starting Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Starting Sequence for a Drive Powered by the Power Stage Supply . . . . . . . . . . . . . . . . . . 33
Starting Sequence for a Drive with Separate Control Stage . . . . . . . . . . . . . . . . . . . . . . . . . 34
Starting Sequence for a Drive with Mains Contactor Control . . . . . . . . . . . . . . . . . . . . . . . . 36
3.2 Modbus Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Modbus Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Supported Modbus Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Chapter 4 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Hardware Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Firmware Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Electrical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Cable Routing Practices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Accessories Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Chapter 5 Software Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5.1 Basic Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Configuring the Communication Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
[Modbus Address] Add . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
[Modbus baud rate] tbr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
[Modbus format] tFO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
[ModbusTimeout] tto . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
5.2 Additional Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Local Configuration of the Communication Scanner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
[Scan.IN1 address] nMA1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
[Scan.IN2 address] nMA2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
[Scan.IN3 address] nMA3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
[Scan.IN4 address] nMA4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
[Scan.IN5 address] nMA5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
[Scan.IN6 address] nMA6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
[Scan.IN7 address] nMA7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
[Scan.IN8 address] nMA8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
[Scan.Out1 address] nCA1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
[Scan.Out2 address] nCA2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

MFR24213 07/2020 3
 [Scan.Out3 address] nCA3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
[Scan.Out4 address] nCA4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
[Scan.Out5 address] nCA5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
[Scan.Out6 address] nCA6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
[Scan.Out7 address] nCA7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
[Scan.Out8 address] nCA8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
5.3 Monitoring the Communication Scanner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
[Com Scan.In1 val.] nM1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
[Com Scan.In2 val.] nM2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
[Com Scan.In3 val.] nM3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
[Com Scan.In4 val.] nM4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
[Com Scan.In5 val.] nM5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
[Com Scan.In6 val.] nM6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
[Com Scan.In7 val.] nM7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
[Com Scan.In8 val.] nM8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
[Com Scan.Out1 val.] nC1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
[Com Scan.Out2 val.] nC2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
[Com Scan.Out3 val.] nC3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
[Com Scan.Out4 val.] nC4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
[Com Scan.Out5 val.] nC5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
[Com Scan.Out6 val.] nC6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
[Com Scan.Out7 val.] nC7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
[Com Scan.Out8 val.] nC8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
5.4 Fieldbus Integration Using Unity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Drive Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Modbus Master Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Chapter 6 Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
6.1 Operating States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Configuring Communication Error Response. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
6.2 Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Configuring the Control Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Configuration of the Drive for Operation in I/O Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Configuration of the Drive for Operation with CiA 402 Profile in Combined Mode. . . . . . . . . 84
Configuration of the Drive for Operation with CiA 402 Profile in Separate Mode. . . . . . . . . . 85
Chapter 7 Diagnostics and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Fieldbus Status LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Checking Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Monitoring of Communication Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Communication Interruption Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

4 MFR24213 07/2020
 Safety Information

Important Information

NOTICE
Read these instructions carefully, and look at the equipment to become familiar with the device before
trying to install, operate, service, or maintain it. The following special messages may appear throughout
this documentation or on the equipment to warn of potential hazards or to call attention to information that
clarifies or simplifies a procedure.

PLEASE NOTE
Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel.
No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this
material.
A qualified person is one who has skills and knowledge related to the construction and operation of
electrical equipment and its installation, and has received safety training to recognize and avoid the
hazards involved.

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

MFR24213 07/2020 5
Intended Use
This product is a drive for three-phase synchronous, asynchronous motors and intended for industrial use
according to this manual.
The product may only be used in compliance with all applicable safety standard and local regulations and
directives, the specified requirements and the technical data. The product must be installed outside the
hazardous ATEX zone. Prior to using the product, you must perform a risk assessment in view of the
planned application. Based on the results, the appropriate safety measures must be implemented. Since
the product is used as a component in an entire system, you must ensure the safety of persons by means
of the design of this entire system (for example, machine design). Any use other than the use explicitly
permitted is prohibited and can result in hazards.

Product Related Information

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

DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
 Only appropriately trained persons who are familiar with and understand the contents of this manual
and all other pertinent product documentation and who have received safety training to recognize and
avoid hazards involved are authorized to work on and with this drive system.
Installation, adjustment, repair and maintenance must be performed by qualified personnel.
 Before performing work on the drive system, follow the instructions given in the section ”Complete
drive system power Off procedure” described in the installation manual:
 Before applying voltage to the drive system:
 Verify that the work has been completed and that the entire installation cannot cause hazards.
 Remove the ground and the short circuits on the mains input terminals and the motor output
terminals.
 Verify proper grounding of all equipment.
 Verify that all protective equipment such as covers, doors, grids is installed and/or closed.

Failure to follow these instructions will result in death or serious injury.

Many components of the equipment, including the printed circuit board, operate with mains voltage, or
present transformed high currents, and/or high voltages.
The motor itself generates voltage when the motor shaft is rotated.
AC voltage can couple voltage to unused conductors in the motor cable.

DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
 Verify compliance with all safety information, different electrical requirements, and standards that
apply to your machine or process in the use of this equipment.
 Verify compliance with all applicable standards and regulations with respect to grounding of all
equipment.
 Only use properly rated, electrically insulated tools and measuring equipment.
 Do not touch unshielded components or terminals with voltage present.
 Prior to performing any type of work on the drive system, block the motor shaft to prevent rotation.
 Do not create short circuits across the DC bus terminals or the DC bus capacitors or the braking
resistor terminals, if present.
Failure to follow these instructions will result in death or serious injury.

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

6 MFR24213 07/2020
 DANGER
ELECTRIC SHOCK OR UNANTICIPATED EQUIPMENT OPERATION
Do not use damaged products or accessories.
Failure to follow these instructions will result in death or serious injury.

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

This equipment has been designed to operate outside of any hazardous location. Only install this
equipment in zones known to be free of a hazardous atmosphere.

DANGER
POTENTIAL FOR EXPLOSION
Install and use this equipment in non-hazardous locations only.
Failure to follow these instructions will result in death or serious injury.

Your application consists of a whole range of different interrelated mechanical, electrical, and electronic
components, the drive being just one part of the application. The drive by itself is neither intended to nor
capable of providing the entire functionality to meet all safety-related requirements that apply to your
application. Depending on the application and the corresponding risk assessment to be conducted by you,
a whole variety of additional equipment is required such as, but not limited to, external encoders, external
brakes, external monitoring devices, guards, etc.
As a designer/manufacturer of machines, you must be familiar with and observe all standards that apply
to your machine. You must conduct a risk assessment and determine the appropriate Performance Level
(PL) and/or Safety Integrity Level (SIL) and design and build your machine in compliance with all applicable
standards. In doing so, you must consider the interrelation of all components of the machine. In addition,
you must provide instructions for use that enable the user of your machine to perform any type of work on
and with the machine such as operation and maintenance in a safe manner.
The present document assumes that you are fully aware of all normative standards and requirements that
apply to your application. Since the drive cannot provide all safety-related functionality for your entire
application, you must ensure that the required Performance Level and/or Safety Integrity Level is reached
by installing all necessary additional equipment.

WARNING
INSUFFICIENT PERFORMANCE LEVEL/SAFETY INTEGRITY LEVEL AND/OR UNINTENDED
EQUIPMENT OPERATION
 Conduct a risk assessment according to EN ISO 12100 and all other standards that apply to your
application.
 Use redundant components and/or control paths for all critical control functions identified in your risk
assessment.
 If moving loads can result in hazards, for example, slipping or falling loads, operate the drive in closed
loop mode.
 Verify that the service life of all individual components used in your application is sufficient for the
intended service life of your overall application.
 Perform extensive commissioning tests for all potential error situations to verify the effectiveness of
the safety-related functions and monitoring functions implemented, for example, but not limited to,
speed monitoring by means of encoders, short circuit monitoring for all connected equipment, correct
operation of brakes and guards.
 Perform extensive commissioning tests for all potential error situations to verify that the load can be
brought to a safe stop under all conditions.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

MFR24213 07/2020 7
 Drive systems may perform unexpected movements because of incorrect wiring, incorrect settings,
incorrect data or other errors.

WARNING
UNANTICIPATED EQUIPMENT OPERATION
 Carefully install the wiring in accordance with the EMC requirements.
 Do not operate the product with unknown or unsuitable settings or data.
 Perform a comprehensive commissioning test.
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 critical control functions, provide a means to achieve a safe state during and after a path failure.
Examples of critical control functions are emergency stop, overtravel stop, power outage and restart.
 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.
 Observe all accident prevention regulations and local safety guidelines (1).
 Each implementation of the product must be individually and thoroughly tested for proper operation
before being placed into service.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

(1) For USA: Additional information, refer to NEMA ICS 1.1 (latest edition), Safety Guidelines for the
Application, Installation, and Maintenance of Solid State Control and to NEMA ICS 7.1 (latest edition),
Safety Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed
Drive Systems.

Machines, controllers, and related equipment are usually integrated into networks. Unauthorized persons
and malware may gain access to the machine as well as to other devices on the network/fieldbus of the
machine and connected networks via insufficiently secure access to software and networks.

WARNING
UNAUTHORIZED ACCESS TO THE MACHINE VIA SOFTWARE AND NETWORKS
 In your hazard and risk analysis, consider all hazards that result from access to and operation on the
network/fieldbus and develop an appropriate cybersecurity concept.
 Verify that the hardware infrastructure and the software infrastructure into which the machine is
integrated as well as all organizational measures and rules covering access to this infrastructure
consider the results of the hazard and risk analysis and are implemented according to best practices
and standards covering IT security and cybersecurity, such as:
 ISO/IEC 27000 series, ISO/ IEC 15408, IEC 62351, ISA/IEC 62443,
 NIST Cybersecurity Framework,
 Information Security Forum - Standard of Good Practice for Information Security,
 Schneider Electric Recommended Cybersecurity Best Practices.

 Verify the effectiveness of your IT security and cybersecurity systems using appropriate, proven
methods.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

WARNING
LOSS OF CONTROL
Perform a comprehensive commissioning test to verify that communication monitoring properly detects
communication interruptions
Failure to follow these instructions can result in death, serious injury, or equipment damage.

8 MFR24213 07/2020
 NOTICE
DESTRUCTION DUE TO INCORRECT MAINS VOLTAGE
Before switching on and configuring the product, verify that it is approved for the mains voltage.
Failure to follow these instructions can result in equipment damage.

MFR24213 07/2020 9
10 MFR24213 07/2020
 About the Book

At a Glance

Document Scope
The purpose of this document is to:
 Show you how to connect the Modbus fieldbus on your drive.
 Show you how to set up the drive to use Modbus for display, monitoring, and control.
 Provide examples of setup using Unity

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

Validity Note
Original instructions and information given in this manual have been written in English (before optional
translation).
This documentation is valid for the Altivar Process ATV6000 drives.
The technical characteristics of the devices described in the present document also appear online. To
access the information online:

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

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

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

MFR24213 07/2020 11
Related Documents
Use your tablet or your PC to quickly access detailed and comprehensive information on all our products
on www.schneider-electric.com.
The Internet site provides the information you need for products and solutions:
 The Handbook for detailed characteristics and selection guides,
 The CAD files to help design your installation,
 All software and firmware to maintain your installation up to date,
 Additional documents for better understanding of drive systems and applications
 And finally all the User Guides related to your drive, listed below:

(Other option manuals and Instruction sheets are available on www.schneider-electric.com)

Title of Documentation Catalog Number

Digital Catalog for Industrial Automation Digit-Cat
Altivar Process range brochure 998-20307132 (English)
ATV6000 Handbook QGH83255 (English), PHA51119 (French), PHA51121 (German),
PHA51120 (Spanish), GDE94089 (Italian), PHA51122 (Russian),
PHA51118 (Chinese).
ATV6000 Installation Manual QGH83258 (English), QGH83259 (French), QGH83261 (German),
QGH83260 (Spanish), GDE94087 (Italian), QGH83257 (Chinese).
ATV6000 Programming Manual for Operator QGH83265 (English), QGH83266 (French), QGH83268 (German),
and Advanced Operator QGH83267 (Spanish), GDE94088 (Italian)
ATV6000 Embedded Ethernet Manual PHA30472 (English)
ATV6000 Modbus SL Manual MFR24213 (English)
ATV6000 PROFIBUS Manual PHA30474 (English)
ATV6000 DeviceNet Manual PHA30471 (English)
ATV6000 EtherCat Manual PHA30473 (English)
ATV6000 Profinet Manual PHA30475 (English)
ATV6000 CANopen Manual PHA30470 (English)
SoMove: FDT SoMove_FDT (English, French, German, Spanish, Italian, Chinese)
Altivar Process ATV6000: DTM
Recommended Cybersecurity Best Practices CS-Best-Practices-2019-340 (English)

You can download these technical publications and other technical information from our website at
www.se.com/en/download

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

In addition, the term zone of operation is used in conjunction with the description of specific hazards, and is
defined as it is for a hazard zone or danger zone in the EC Machinery Directive (2006/42/EC) and in ISO 12100-1.
Also see the glossary at the end of this manual.

Contact Us
Select your country on
www.schneider-electric.com/contact
Schneider Electric Industries SAS
Head Office
35, rue Joseph Monier
92500 Rueil-Malmaison
France

12 MFR24213 07/2020
 Altivar Process ATV6000
Presentation
MFR24213 07/2020

Chapter 1
Presentation

Presentation

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Hardware Overview 14
Software Overview 15

MFR24213 07/2020 13
Presentation

Hardware Overview

General

1 Modbus serial communication port

14 MFR24213 07/2020
 Presentation

Software Overview

Supported Modbus Functions

The drive supports the following Modbus functions:

Function Name Code Description Remarks

Dec. Hex
Read Holding 03 03 hex Read N output words Maximum PDU length: 63 words
Registers
Write One Output Word 06 06 hex Write 1 output word −
Write Multiple 16 10 hex Write N output word Maximum PDU length: 61 words
Registers
Read/write Multiple 23 17 hex Read/write multiple Maximum PDU length: 20 words
Registers registers (W), 20 words (R)
(Subfunction) 43/14 2B hex/ Encapsulated interface −
Read Device 0E hex transport/Read device
Identification identification
Diagnostics 08 08 hex Diagnostics −

MFR24213 07/2020 15
Presentation

16 MFR24213 07/2020
 Altivar Process ATV6000
Cyber Security
MFR24213 07/2020

Chapter 2
Cyber Security

Cyber Security

Cyber Security

Introduction
Cyber Security is a branch of network administration that addresses attacks on or by computer systems
and through computer networks that can result in accidental or intentional disruptions.
The objective of Cyber Security is to help provide increased levels of protection for information and physical
assets from theft, corruption, misuse, or accidents while maintaining access for their intended users.
No single Cyber Security approach is adequate. Schneider Electric recommends a defense-in-depth
approach. Conceived by the National Security Agency (NSA), this approach layers the network with
security features, appliances, and processes.
The basic components of this approach are:
 Risk assessment
 A security plan built on the results of the risk assessment
 A multi-phase training campaign
 Physical separation of the industrial networks from enterprise networks using a demilitarized zone
(DMZ) and the use of firewalls and routing to establish other security zones
 System access control
 Device hardening
 Network monitoring and maintenance

This chapter defines the elements that help you configure a system that is less susceptible to cyber attacks.
For detailed information on the defense-in-depth approach, refer to the TVDA: How Can I Reduce
Vulnerability to Cyber Attacks in the Control Room (STN V2) on the Schneider Electric website.
To submit a Cyber Security question, report security issues, or get the latest news from Schneider Electric,
visit the Schneider Electric website.

Password Management
The system is secured thanks to several passwords:
 Drive password must contain six characters (blanks are allowed)
 Webserver password must contain:
 A total of eight characters
 At least one upper-case letter
 At least one lower-case letter
 At least one special character (for example, @, #, $)
 No blank character

NOTE: After five unsuccessful login attempts, the access must be reactivated by the administrator.
Schneider Electric recommends to:
 Modify the password every 90 days
 Use a dedicated password (not related to your personal password)

NOTE: No responsibility is assumed by Schneider Electric for any consequences if anyone hacks your
product password and if you use the same password for personal usage.

Backing-up and Restoring the Software Configuration

To protect your data, Schneider Electric recommends backing-up the device configuration and keeping
your backup file in a safe place. The backup is available in the device DTM, using "load from device" and
"store to device" functions.

MFR24213 07/2020 17
Cyber Security

Remote Access to the Drive

When remote access is used between a device and the drive, ensure your network is secure
(VPN,Firewall…).
Machines, controllers, and related equipment are usually integrated into networks. Unauthorized persons
and malware may gain access to the machine as well as to other devices on the network/fieldbus of the
machine and connected networks via insufficiently secure access to software and networks.

WARNING
UNAUTHORIZED ACCESS TO THE MACHINE VIA SOFTWARE AND NETWORKS
 In your hazard and risk analysis, consider all hazards that result from access to and operation on the
network/fieldbus and develop an appropriate cybersecurity concept.
 Verify that the hardware infrastructure and the software infrastructure into which the machine is
integrated as well as all organizational measures and rules covering access to this infrastructure
consider the results of the hazard and risk analysis and are implemented according to best practices
and standards covering IT security and cybersecurity, such as:
 ISO/IEC 27000 series, ISO/ IEC 15408, IEC 62351, ISA/IEC 62443,
 NIST Cybersecurity Framework,
 Information Security Forum - Standard of Good Practice for Information Security,
 Schneider Electric Recommended Cybersecurity Best Practices.

 Verify the effectiveness of your IT security and cybersecurity systems using appropriate, proven
methods.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Data Flow Restriction

To secure the access to the drive and limit the data flow, the use of a firewall device is required.
ConneXium Tofino Firewall Product
The ConneXium TCSEFEA Tofino Firewall is a security appliance that provides levels of protection against
cyber threats for industrial networks, automation systems, SCADA systems, and process control systems.
This Firewall is designed to permit or deny communications between devices connected to the external
network connection of the Firewall and the protected devices connected to the internal network connection.
The Firewall can restrict network traffic based on user defined rules that would permit only authorized
devices, communication types and services.
The Firewall includes built-in security modules and an off-line configuration tool for creating secure zones
within an industrial automation environment.

Control Command Restriction

To prevent unauthorized use of the command of the drive, it is possible to grant access to a limited number
of IP address using the IP master parameter.
The parameter IP Master defines which device can command with the device. This parameter is available
in the device DTM.

Deactivation of unused functions

To avoid unauthorized access, it is advisable to deactivate unused functions.
Example: WebServer, Fast Device Replacement …

18 MFR24213 07/2020
 Altivar Process ATV6000
Basics
MFR24213 07/2020

Chapter 3
Basics

Basics

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
3.1 Profile 20
3.2 Modbus Functions 37

MFR24213 07/2020 19
Basics

Section 3.1
Profile

Profile

What Is in This Section?

This section contains the following topics:
Topic Page
Definition of a Profile 21
Functional Profiles Supported by the Drive 22
Functional Description 23
CIA402 Operating State Diagram 24
Description of Operating States 25
Summary 27
Cmd Register CMd 28
Stop Commands 29
Assigning Control Word Bits 30
[CIA402 State Reg] EtA 31
Starting Sequence 32
Starting Sequence for a Drive Powered by the Power Stage Supply 33
Starting Sequence for a Drive with Separate Control Stage 34
Starting Sequence for a Drive with Mains Contactor Control 36

20 MFR24213 07/2020
 Basics

Definition of a Profile

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

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

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

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

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

CiA402 device profile for drives and motion control represents the next stage of this standard development
and is now part of the IEC 61800-7 standard.

Application Profile
Application profile defines the services to be provided by the devices on a machine. For example, CiA DSP
417-2 V 1.01 part 2: CANopen application profile for lift control systems - virtual device definitions.

Interchangeability
The aim of communication and functional profiles is to achieve interchangeability of the devices connected
via the fieldbus.

MFR24213 07/2020 21
Basics

Functional Profiles Supported by the Drive

I/O Profile
Using the I/O profile simplifies PLC programming.
The I/O profile mirrors the use of the terminal strip for control by utilizing 1 bit to control a function.
The I/O profile for the drive can also be used when controlling via a fieldbus.The drive starts up as soon as
the run command is sent.15 bits of the control word (bits 1...15) can be assigned to a specific function.
This profile can be developed for simultaneous control of the drive via:
 The terminals
 The Modbus control word
 The CANopen control word
 Ethernet Modbus TCP embedded control word
 The fieldbus module control word

The I/O profile is supported by the drive itself and therefore in turn by all the communication ports.

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

22 MFR24213 07/2020
 Basics

Functional Description

Introduction
Drive operation involves two main functions, which are illustrated in the diagrams below.

CiA402
The main parameters are shown with their CiA402 name and their CiA402/Drivecom index (the values in
brackets are the CANopen addresses of the parameter).
The following figure shows the control diagram for drive operation:

Simplified diagram for speed control in Velocity mode:

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

Simplified diagram for speed control in Velocity mode:

MFR24213 07/2020 23
Basics

CIA402 Operating State Diagram

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

24 MFR24213 07/2020
 Basics

Description of Operating States

Drive Operating State

The operating state of the drive changes depending on whether the control word [Cmd Register] CMd, is
sent or an event occurs (an error detection, for example).
The drive operating state can be identified by the value of the status word [CIA402 State Reg] EtA.

Operating State Description

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

MFR24213 07/2020 25
Basics

Operating State Description

6 - Quick stop active The drive performs a fast stop and remains locked in the operating state 6-Quick
stop active. Before restarting the motor, it is required to go to the operating state
2-switch on disabled.
During fast stop, the drive is unlocked and power is supplied to the motor.
The configuration parameters cannot be modified.
The condition for transition 12 to state 2 - Switch on disabled depends on the
value of the parameter
[Quick stop Mode] QStd:
If the Quick stop mode parameter has the value FST2, the drive stops
according to the fast stop ramp and then changes to state 2 - Switch on
disabled .
If the Quick stop mode parameter has the value FST6, the drive stops
according to the fast stop ramp and then remains in state 6 - Quick stop
active until:
 A Disable voltage command is received or
 The STOP key is pressed or
 A freewheel stop command via the digital input of the terminal.
7 - Fault reaction Transient state during which the drive performs an action corresponding to the
active selected error response.
8 - Fault Error response terminated. Power stage is disabled.
The drive is locked, no power is supplied to the motor.

26 MFR24213 07/2020
 Basics

Summary

Device Status Summary

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

NOTE:
 Configuration parameters are described in communication parameter file as R/WS access type
parameters. Other parameters can be accessed whatever the operating state.
 A Setting parameter can be accessed in all operating state of the drive.

MFR24213 07/2020 27
Basics

Cmd Register CMd

Bit Mapping of the Control Word

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

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

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

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

Command State Final Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Example

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

28 MFR24213 07/2020
 Basics

Stop Commands

Halt Command
The Halt command enables movement to be interrupted without having to leave the 5 - Operation
enabled state. The stop is performed in accordance with the [Type of stop] Stt parameter.
If the Halt command is active, no power is supplied to the motor and no torque is applied.
Regardless of the assignment of the [Type of stop] Stt parameter [On Ramp] rMP, [Freewheel Stop]
nSt, the drive remains in the 5 - Operation enabled state.

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

MFR24213 07/2020 29
Basics

Assigning Control Word Bits

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

Bit Modbus Serial

Bit 11 C111
Bit 12 C112
Bit 13 C113
Bit 14 C114
Bit 15 C115

For example, to assign the external error to bit 13 of the fieldbus adapter, simply configure the [Ext Error
assign] ETF parameter with the [C113] C113 value.
Bit 11 is assigned by default to the operating direction command [Reverse Assign] rrS.

30 MFR24213 07/2020
 Basics

[CIA402 State Reg] EtA

Bit Mapping of the Status Word

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

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

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

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

Operating Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 ETA Masked
State Switch On Quick Voltage Fault Operation Switched Ready to by 006F H (1)
Disabled Stop Enabled Enabled On Switch On
1 -Not 0 X X 0 0 0 0 −
ready to
switch on
2 -Switch 1 X X 0 0 0 0 0040 hex
on
disabled
3 -Ready 0 1 X 0 0 0 1 0021 hex
to switch
on
4 - 0 1 1 0 0 1 1 0023 hex
Switched
on
5 - 0 1 1 0 1 1 1 0027 hex
Operation
enabled
6 -Quick 0 0 1 0 1 1 1 0007 hex
stop
active
7 -Fault 0 X X 1 1 1 1 002F hex
reaction
active
8 -Fault 0 X X 1 0 0 0 0008 hex(2)..
.0028 hex
(1)
This mask can be used by the PLC program to test the diagram state.
(2)detected error following operating state 6 - Quick stop active.
X: In this state, the value of the bit can be 0 or 1.

MFR24213 07/2020 31
Basics

Starting Sequence

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

Power stage Direct Direct Mains contactor controlled by the

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

32 MFR24213 07/2020
 Basics

Starting Sequence for a Drive Powered by the Power Stage Supply

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

Step 1
Apply the 2 - Shut down command

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

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

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Basics

Starting Sequence for a Drive with Separate Control Stage

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

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

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

Power Stage Supply HMI Panel Status Word

Not present nLP 21 hex
Present rdY 31 hex

34 MFR24213 07/2020
 Basics

 Apply the 3 - Switch on command

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

MFR24213 07/2020 35
Basics

Starting Sequence for a Drive with Mains Contactor Control

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

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

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

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Section 3.2
Modbus Functions

Modbus Functions

What Is in This Section?

This section contains the following topics:
Topic Page
Modbus Protocol 38
Supported Modbus Functions 39

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Modbus Protocol

Introduction
The transmission mode used is RTU. The frame does not contain message header and end of message
bytes.

Slave address Request code Data CRC16

The data is transmitted in binary code.

CRC16: cyclical redundancy check.
The end of the frame is detected on a silence greater than or equal to three characters.

Principle
The Modbus protocol is a master/slave protocol

Only one device can transmit on the line at any time.

The master manages the exchanges and only it can take the initiative.
It interrogates each of the slaves in succession
No slave can send a message unless it is invited to do so.
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 period.
If a slave does not understand a message, it sends an exception response to the master. The master may
or may not repeat the request.
Direct slave-to-slave communications are not possible.
For slave-to-slave communication, the application software must therefore be designed to interrogate a
slave and send back data received to the other slave.
The 2 types of dialogue are possible between master and slaves:
 The master sends a request to a slave and waits for its response
 The master sends a request to all slaves without waiting for a response (broadcasting principle)

Addresses
Address specification:
 The drive Modbus address can be configured from 1 to 247.
 Address 0 coded in a request sent by the master is reserved for broadcasting. Drives take account of
the request, but do not respond to it.

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Supported Modbus Functions

Introduction
The drive supports the following Modbus functions:

Function Name Code Description Remarks

Dec. Hex
Read Holding 03 03 hex Read N output words Maximum PDU length: 63
Registers words
Write One Output Word 06 06 hex Write 1 output word −
Write Multiple 16 10 hex Write N output word Maximum PDU length: 61
Registers words
Read/write Multiple 23 17 hex Read/write multiple Maximum PDU length: 20
Registers registers words (W), 20 words (R)
(Subfunction) 43/14 2B hex/ Encapsulated interface −
Read Device 0E hex transport/Read device
Identification identification
Diagnostics 08 08 hex Diagnostics −

Read Holding Registers

Request

Function code 1 byte 03 hex

Starting address 2 bytes 0000 hex...FFFF hex
Quantity of registers 2 bytes 1...63 (3F hex)

Response

Function code 1 byte 03 hex

Byte count 1 byte 2 x N(1)
Register value N(1) x 2 bytes −
(1) N: Quantity of registers

Detected error

Detected error code 1 byte 83 hex

Exception code 1 bytes 01...04

For example:
This function can be used to read all drive words, both input words and output words.
Request

Slave no. 03 No. of first word No. of words CRC16

Hi Lo Hi Lo Lo Hi
1 byte 1 byte 2 bytes 2 bytes 2 bytes
Hi = high-order byte, Lo = low-order byte.

Response

Slave no. 03 Number of bytes read First word value Last word value CRC16
Hi Lo Hi Lo Lo Hi
1 byte 1 byte 1 byte 2 bytes 2 bytes 2 bytes
Hi = high-order byte, Lo = low-order byte.

For example: read 4 words W3102...W3105 (0C1E...0C21 hex) in slave 2, using function 3, where:
 SFr = Switching frequency = 4 kHz (W3102 = 0028 hex)
 tFr = Maximum output frequency = 60 Hz (W3103 = 0258 hex)

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Basics

 HSP = High speed = 50 Hz (W3104 = 01F4 hex)

 LSP = Low speed = 0 Hz (W3105 = 0000 hex)
Request

02 03 0C1E 004 276C

Response

02 03 08 0028 0258 01F4 0000 52B0

Value of: − W3102 W3103 W3104 W3105 −
Parameters: − SFr tFr HSP LSP −

Write 1 Output Word

Request

Function code 1 byte 06 hex

Register address 2 bytes 0000 hex...FFFF hex
Register value 2 bytes 0000 hex...FFFF hex

Response

Function code 1 byte 06 hex

Register address 2 bytes 0000 hex...FFFF hex
Register value 2 bytes 0000 hex...FFFF hex

Detected error

Detected error code 1 byte 86 hex

Exception code 1 bytes 01...04

For example
Request and response (the frame format is identical)

Slave no. 06 Word number Value of word CRC16

Hi Lo Hi Lo Lo Hi
1 byte 1 byte 2 bytes 2 bytes 2 bytes

For example: write value 000D hex in word W9001 (2329 hex) in slave 2 (ACC = 1.3 s).

Request and response 02 06 2329 000D 9270

Write Multiple Register

Request

Slave no. 10 No. of first word Number of words Number of Value of first word CRC16
Hi Lo Hi Lo bytes Hi Lo Lo Hi
1 byte 1 byte 2 bytes 2 bytes 1 byte 2 bytes 2 bytes

Response

Slave no. 10 No. of first word No. of words CRC16

Hi Lo Hi Lo Lo Hi
1 byte 1 byte 2 bytes 2 bytes 2 bytes

For example
Write values 20 and 30 to words W9001 and W9002 on slave 2 (acceleration time = 2 s and deceleration
time = 3 s)

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 Basics

Request

Slave Request No. of Number of Number Value of Value of Second CRC16

no. code first word words of bytes first word word
Hi Lo Hi Lo Hi Lo Hi Lo Lo Hi
02 hex 10 hex 23 29 00 h 02 h 04 hex 00 h 14 h 00 hex 1E hex 73 hex A4 hex
hex hex ex ex ex ex

Response

Slave no. Response code No. of first word No. of words CRC16
Hi Lo Hi Lo Lo Hi
02 hex 10 hex 23 hex 29 hex 00 hex 02 hex 9B hex B7 hex

Read/Write Multiple Registers

Description Length in Byte Value Comment

Function code 1 17 hex −
Read starting address 2 XXXX hex Always Modbus address
Quantity 2 03 hex Contain number of holding registers to be read
Write starting address 2 XXXX hex Always Modbus address
Quantity 2 03 hex Contain number of holding registers to be written
Write byte count 1 06 hex The byte count specifies the number of bytes to
follow in the field write register value
Write registers value 6 XXXXXX Value to be written respectively in NCA1 to
XXXXXX h NCA3, so the configured
ex For example: CMD, LFRD, CMI

For example

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Basics

Read Device Identification

The table provides the device identification details:

ID Name / Description Type

00 hex VendorName ASCII String
01 hex ProductCode ASCII String
02 hex MajorMinorRevision ASCII String
06 hex ProductName ASCII String

For example
Default value to be detailed
Request

Slave no. 2B Type of MEI Read Device Id Object Id CRC16

0E 01 00
Lo Hi
1 byte 1 byte 1 byte 1 byte 1 byte 2 bytes

Response

Slave no. 2B Type of MEI Read Device Id Degree of conformity

0E 01 02
1 byte 1 byte 1 byte 1 byte 1 byte

Number of additional frames Next object Id Number of objects

00 00 03
1 byte 1 byte 1 byte

Id of object number 1 Length of object number 1 Value of object number 1

00 12 Schneider Electric
1 byte 1 byte 18 bytes

Id of object number 2 Length of object number 2 Value of object number 2

01 0B ATV6xxxxxxxx
1 byte 1 byte 11 bytes

Id of object number 3 Length of object number 3 Value of object number 3

02 04 0201
1 byte 1 byte 4 bytes

CRC16
Lo Hi
1 byte 1 byte

The total response size equals 49 bytes

The three objects contained in the response correspond to the following objects:
 Object number 1: Manufacturer name (always Schneider Electric, that is. 18 bytes).
 Object number 2: Device reference (ASCII string; for example, ATV6xxxxxxxx, that is. 11 bytes).
 Object number 3: Device version, in MMmm format where MM represents the determinant and mm the
subdeterminant (4-bytes ASCII string; for example,: 0201 for version 2.1).
NOTE: The response to function 43 may be negative; in this case, the response located at the top of the
next page is sent by the Drive rather than the response described above.

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Diagnostics
Subcode 00 hex: Echo
This function asks the slave being interrogated to echo (return) the message sent by the master in its
entirety.
Subcode 0A hex: Counter reset
This function resets all the counters responsible for monitoring a slave exchanges.
Subcode 0C hex: Read message counter responsible for counting messages received with checksum
errors.
Subcode 0E hex: Read message counter responsible for counting messages addressed to slave. Read a
word indicating the total number of messages addressed to the slave, regardless of type (excluding
broadcast messages).
Request and response

Slave no. 08 Subcode Data CRC16

Hi Lo Hi Lo Lo Hi
1 byte 1 byte 2 bytes N bytes 2 bytes

Subcode Request Data Response Data Function Executed

00 XX YY XX YY Echo
0A 00 00 00 00 Counter reset
0C 00 00 XX YY Read message counter responsible for
(= counter value) counting messages received with checksum
errors
0E 00 00 XX YY Read message counter responsible for
(= counter value) counting messages addressed to slave

For example: values 31 hex and 32 hex echoed by slave 4.

Request and response

Slave no. Request code or Subcode Value of Value of CRC16

response code first byte second
Hi Lo Lo Hi
byte
02 hex 08 hex 00 hex 00 hex 31 hex 32 hex 74 hex 1B hex

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Hardware Setup
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Chapter 4
Hardware Setup

Hardware Setup

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Hardware Presentation 46
Firmware Version 46
Electrical Installation 47
Cable Routing Practices 49
Accessories Presentation 49

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Hardware Presentation

Modbus Serial Communication Port

The following figure shows the terminal view of the drive:

Firmware Version

Compatibility
There is no specific firmware for Modbus serial communication. The drive firmware embeds the Modbus
serial.

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Electrical Installation

Connection to Drive
Connect the RJ45 cable connector to the drive connector.
The following figure shows the pin layout for RJ45 connector:

The table describes the pin out of the RJ45 connector of the drive:

Pin Signal
1 Reserved
2
3
4 D1(1)
5 D0(1)
6 −
7 VP, 10 Vdc(2)
8 Common
(1)
Modbus signals
(2)
Supply for RS232 / RS485 converter or a remote terminal

RS485 Bus Schematic

The RS485 standard allows variants of different characteristics:
 Polarization
 Line terminator
 Distribution of a reference potential
 Number of slaves
 Length of bus

The Modbus specification published on the Modbus.org site in 2006 contains precise details of all these
characteristics. They are also summarized in standard schematic section. The new Schneider Electric
devices conform to this specification.

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Schematic Diagram
The following is the RS485 bus schematic diagram:

Characteristic Definition
Type of trunk cable Shielded cable with 1 twisted pair and at least a third conductor
Maximum length of bus 1000 m at 19200 bps with the Schneider Electric TSX CSA••• cable
Maximum number of stations (without 32 stations that are 31 slaves
repeater)
Maximum length of tap links  20 m for 1 tape link
 40 m divided by the number of tape links on a multiple junction box

Bus polarization  One 450...650 Ω pull-down resistor at 5 V (650 Ω recommended)

 One 450...650 Ω pull-down resistor at the common (650 Ω recommended)

This polarization is recommended for the master.

Line terminator One 120 Ω 0.25 W resistor in series with 1 nF 10 V capacitor
Common polarity Yes (Common), connected to the protective earth ground at one or more
points of the bus

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Cable Routing Practices

Protection Against Interference

 Use the Schneider Electric cable with 2 pairs of shielded twisted conductors (reference: TSXCSA100,
TSXCSA200, and TSXCSA500).
 Keep the Modbus cable separated from the power cables (30 cm (11.8 in.) minimum).

Accessories Presentation

Introduction
Connection accessories should be ordered separately (See the catalog).

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Software Setup
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Chapter 5
Software Setup

Software Setup

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
5.1 Basic Settings 52
5.2 Additional Settings 55
5.3 Monitoring the Communication Scanner 64
5.4 Fieldbus Integration Using Unity 72

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Section 5.1
Basic Settings

Basic Settings

What Is in This Section?

This section contains the following topics:
Topic Page
Configuring the Communication Parameters 53
[Modbus Address] Add 53
[Modbus baud rate] tbr 53
[Modbus format] tFO 54
[ModbusTimeout] tto 54

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Configuring the Communication Parameters

Overview
Configuration of the Modbus communication functions of the drive can be accessed from the
[Communication] (COM-) menu.
The modification of communication parameters is taken into account after a power cycle of the drive.

[Modbus Address] Add

About This Parameter

This parameter is used to set the Modbus timeout

Access
This is a read/write parameter.
The parameter Modbus address is 6001

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[OFF] OFF 0 Modbus address is not assigned.
[1 to 247] 1...247 1...247 Modbus address is assigned.
Factory setting: OFF

[Modbus baud rate] tbr

About This Parameter

This parameter defines the baud rate at which data is transferred.

Access
This is a read/write parameter.
The parameter Modbus address is 6003

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[4800 bps] 4K8 24 Baud rate is set to 4.8 Kbps.
[9600 bps] 9K6 28 Baud rate is set to 9.6 Kbps.
[19200 bps] 19K2 32 Baud rate is set to 19.2 Kbps.
[38.4 Kbps] 38K4 36 Baud rate is set to 38.4 Kbps.
Factory setting: 19.2 Kbps

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[Modbus format] tFO

About This Parameter

This parameter is used to define the data format.

Access
This is a read/write parameter.
The parameter Modbus address is 6004

Possible Settings
This table presents the parameter settings:

Settings Code Value Description

[8-O-1] 8O1 2 8 data bits, odd parity, 1 stop bit
[8-E-1] 8E1 3 8 data bits, even parity, 1 stop bit
[8-N-1] 8N1 4 8 data bits, no parity, 1 stop bit
[8-N-2] 8N2 5 8 data bits, no parity, 2 stop bits
Factory setting: 8E1

[ModbusTimeout] tto

About This Parameter

This parameter is used to set the Modbus timeout.

Access
This is a read/write parameter.
The parameter Modbus address is 6005

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[0.1...30.0] 0.1...30.0 1...300 Adjustable from 0.1 to 30 s
Factory setting: 10 s

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Section 5.2
Additional Settings

Additional Settings

What Is in This Section?

This section contains the following topics:
Topic Page
Local Configuration of the Communication Scanner 56
[Scan.IN1 address] nMA1 58
[Scan.IN2 address] nMA2 58
[Scan.IN3 address] nMA3 59
[Scan.IN4 address] nMA4 59
[Scan.IN5 address] nMA5 59
[Scan.IN6 address] nMA6 60
[Scan.IN7 address] nMA7 60
[Scan.IN8 address] nMA8 60
[Scan.Out1 address] nCA1 61
[Scan.Out2 address] nCA2 61
[Scan.Out3 address] nCA3 61
[Scan.Out4 address] nCA4 62
[Scan.Out5 address] nCA5 62
[Scan.Out6 address] nCA6 62
[Scan.Out7 address] nCA7 63
[Scan.Out8 address] nCA8 63

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Local Configuration of the Communication Scanner

Overview
The communication scanner is useful when used in combination by the Modbus client device with the
function Read/Write Multiple registers: 23 (17 hex), which provides in a single telegram a read
multiple registers and a write multiple registers. The detail of the function 23 is described in the supported
Modbus functions.
The communication scanner is accessible via the following menus to the DTM: [Communication] COM-
/ Comm parameters (CMP-)/ Modbus SL (MSL-)/ Modbus Fieldbus (Md1-) and [COM. scanner
input] ICS-, [COM. scanner output] OCS- submenus.
The eight output variables and the eight input variables are assigned to parameter nCA1 to nCA8 and
nMA1 to nMA8. An nCAx or nMAx parameter with a value of zero is not linked to a parameter in the drive.
The following table displays the list of Communication Scanners configuration parameters:

Sub Menu Parameter description Default Modbus address

assignment
[COM. scanner input] [Scan. IN1 address] nMA1 Status (ETA) 12701
ICS- Source drive address of the 1st input 319D hex
word
[Scan. IN2 address] nMA2 Output speed 12702
Source drive address of the 2nd input (RFRD) 319E hex
word
[Scan. IN3 address] nMA3 0 12703
Source drive address of the 3rd input 319F hex
word
[Scan. IN4 address] nMA4 0 12704
Source drive address of the 4th input 31A0 hex
word
[Scan. IN5 address] nMA5 0 12705
Source drive address of the 5th input 31A1 hex
word
[Scan. IN6 address] nMA6 0 12706
Source drive address of the 6th input 31A2 hex
word
[Scan. IN7 address] nMA7 0 12707
Source drive address of the 7th input 31A3 hex
word
[Scan. IN8 address] nMA8 0 12708
Source drive address of the 8th input 31A4 hex
word

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Sub Menu Parameter description Default Modbus address

assignment
[COM. scanner output] [Scan. Out1 address] nCA1 Command 12721
OCS- Destination drive address of the 1st (CMD) 31B1 hex
output word
[Scan. Out2 address] nCA2 Speed target 12722
Destination drive address of the 2nd (LFRD) 31B2 hex
output word
[Scan. Out3 address] nCA3 0 12723
Destination drive address of the 3rd 31B3 hex
output word
[Scan. Out4 address] nCA4 0 12724
Destination drive address of the 4th 31B4 hex
output word
[Scan. Out5 address] nCA5 0 12725
Destination drive address of the 5th 31B5 hex
output word
[Scan. Out6 address] nCA6 0 12726
Destination drive address of the 6th 31B6 hex
output word
[Scan. Out7 address] nCA7 0 12727
Destination drive address of the 7th 31B7 hex
output word
[Scan. Out8 address] nCA8 0 12728
Destination drive address of the 8th 31B8 hex
output word

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[Scan.IN1 address] nMA1

About This Parameter

This parameter displays the source drive address of the first input word.

Access
This is a read/write parameter.
The parameter Modbus address is 12701

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Scan.IN1 nMA1 − Source drive address of the first input word.
address] Factory settings: Status (ETA)

[Scan.IN2 address] nMA2

About This Parameter

This parameter displays the source drive address of the second input word.

Access
This is a read/write parameter.
The parameter Modbus address is 12702

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Scan.IN2 nMA2 − Source drive address of the second input word.
address] Factory settings: Output speed (RFRD)

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[Scan.IN3 address] nMA3

About This Parameter

This parameter displays the source drive address of the third input word.

Access
This is a read/write parameter.
The parameter Modbus address is 12703

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Scan.IN3 nMA3 − Source drive address of the third input word.
address] Factory settings: 0

[Scan.IN4 address] nMA4

About This Parameter

This parameter displays the source drive address of the fourth input word.

Access
This is a read/write parameter.
The parameter Modbus address is 12704

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Scan.IN4 nMA4 − Source drive address of the fourth input word.
address] Factory settings: 0

[Scan.IN5 address] nMA5

About This Parameter

This parameter displays the source drive address of the fifth input word.

Access
This is a read/write parameter.
The parameter Modbus address is 12705

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Scan.IN5 nMA5 − Source drive address of the fifth input word.
address] Factory settings: 0

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[Scan.IN6 address] nMA6

About This Parameter

This parameter displays the source drive address of the sixth input word.

Access
This is a read/write parameter.
The parameter Modbus address is 12706.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Scan.IN6 nMA6 − Source drive address of the sixth input word.
address] Factory settings: 0

[Scan.IN7 address] nMA7

About This Parameter

This parameter displays the source drive address of the seventh input word.

Access
This is a read/write parameter.
The parameter Modbus address is 12707

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Scan.IN7 nMA7 − Source drive address of the seventh input word.
address] Factory settings: 0

[Scan.IN8 address] nMA8

About This Parameter

This parameter displays the source drive address of the eighth input word.

Access
This is a read/write parameter.
The parameter Modbus address is 12708.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Scan.IN8 nMA8 − Source drive address of the eighth input word.
address] Factory settings: 0

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[Scan.Out1 address] nCA1

About This Parameter

This parameter displays the destination drive address of the first output word.

Access
This is a read/write parameter.
The parameter Modbus address is 12721.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Scan.Out1 nCA1 − Destination drive address of the first output word.
address] Factory settings: Command (CMD)

[Scan.Out2 address] nCA2

About This Parameter

This parameter displays the destination drive address of the second output word.

Access
This is a read/write parameter.
The parameter Modbus address is 12722.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Scan.Out2 nCA2 − Destination drive address of the second output
address] word.
Factory settings: Speed target (LFRD)

[Scan.Out3 address] nCA3

About This Parameter

This parameter displays the destination drive address of the third output word.

Access
This is a read/write parameter.
The parameter Modbus address is 12723.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Scan.Out3 nCA3 − Destination drive address of the third output word.
address] Factory settings: 0

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[Scan.Out4 address] nCA4

About This Parameter

This parameter displays the destination drive address of the fourth output word.

Access
This is a read/write parameter.
The parameter Modbus address is 12724.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Scan.Out4 nCA4 − Destination drive address of the fourth output
address] word.
Factory settings: 0

[Scan.Out5 address] nCA5

About This Parameter

This parameter displays the destination drive address of the fifth output word.

Access
This is a read/write parameter.
The parameter Modbus address is 12725.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Scan.Out5 nCA5 − Destination drive address of the fifth output word.
address] Factory settings: 0

[Scan.Out6 address] nCA6

About This Parameter

This parameter displays the destination drive address of the sixth output word.

Access
This is a read/write parameter.
The parameter Modbus address is 12726.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Scan.Out6 nCA6 − Destination drive address of the sixth output word.
address] Factory settings: 0

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[Scan.Out7 address] nCA7

About This Parameter

This parameter displays the destination drive address of the seventh output word.

Access
This is a read/write parameter.
The parameter Modbus address is 12727.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Scan.Out7 nCA7 − Destination drive address of the seventh output
address] word.
Factory settings: 0

[Scan.Out8 address] nCA8

About This Parameter

This parameter displays the destination drive address of the eight output word.

Access
This is a read/write parameter.
The parameter Modbus address is 12728.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Scan.Out8 nCA8 − Destination drive address of the 8 output word.
address] Factory settings: 0

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Section 5.3
Monitoring the Communication Scanner

Monitoring the Communication Scanner

What Is in This Section?

This section contains the following topics:
Topic Page
Introduction 65
[Com Scan.In1 val.] nM1 66
[Com Scan.In2 val.] nM2 66
[Com Scan.In3 val.] nM3 66
[Com Scan.In4 val.] nM4 67
[Com Scan.In5 val.] nM5 67
[Com Scan.In6 val.] nM6 67
[Com Scan.In7 val.] nM7 68
[Com Scan.In8 val.] nM8 68
[Com Scan.Out1 val.] nC1 69
[Com Scan.Out2 val.] nC2 69
[Com Scan.Out3 val.] nC3 69
[Com Scan.Out4 val.] nC4 70
[Com Scan.Out5 val.] nC5 70
[Com Scan.Out6 val.] nC6 70
[Com Scan.Out7 val.] nC7 71
[Com Scan.Out8 val.] nC8 71

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Introduction

Overview
It is also possible to monitor the value of the parameters which has been configured in the communication
scanner.This monitored values are accessible via the following menus: submenu.
The 8 output variable values and the 8 input variable values are located into parameters [Com Scan Out1
val.] nC1 to [Com Scan Out8 val.] nC8 and [Com Scan In1 val.] nM1 to [Com Scan In8 val.] nM8.
The following table displays the list of Communication Scanner monitoring parameters:

Sub Menu Parameter description Default Modbus address

assignment
[COM. scanner input map] [COM Scan. In1 val.] nM1 ETA value 12741
ISA- Source drive value of the 1st input word 31C5 hex
[COM Scan. In2 val.] nM2 RFRD value 12742
Source drive value of the 2nd input word 31C6 hex
[COM Scan. In3 val.] nM3 0 12743
Source drive value of the 3rd input word 31C7 hex
[COM Scan. In4 val.] nM4 0 12744
Source drive value of the 4th input word 31C8 hex
[COM Scan. In5 val.] nM5 0 12745
Source drive value of the 5th input word 31C9 hex
[COM Scan. In6 val.] nM6 0 12746
Source drive value of the 6th input word 31CA hex
[COM Scan. In7 val.] nM7 0 12747
Source drive value of the 7th input word 31CB hex
[COM Scan. In8 val.] nM8 0 12748
Source drive value of the 8th input word 31CC hex
[COM. scanner output map] [COM Scan. Out1 val.] nC1 CMD value 12761
OSA- Destination drive address of the 1st 31D9 hex
output word
[COM Scan. Out2 val.] nC2 LFRD value 12762
Destination drive address of the 2nd 31DA hex
output word
[COM Scan. Out3 val.] nC3 0 12763
Destination drive address of the 3rd 31DB hex
output word
[COM Scan. Out4 val.] nC4 0 12764
Destination drive address of the 4th 31DC hex
output word
[COM Scan. Out5 val.] nC5 0 12765
Destination drive address of the 5th 31DD hex
output word
[COM Scan. Out6 val.] nC6 0 12766
Destination drive address of the 6th 31DE hex
output word
[COM Scan. Out7 val.] nC7 0 12767
Destination drive address of the 7th 31DF hex
output word
[COM Scan. Out8 val.] nC8 0 12768
Destination drive address of the 8th 31E0 hex
output word

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[Com Scan.In1 val.] nM1

About This Parameter

This parameter displays the source drive value of the first input word.

Access
This is a read/write parameter.
The parameter Modbus address is 12741.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Com Scan.In1 nM1 − Source drive value of the first input word.
Val.] Factory settings: ETA value

[Com Scan.In2 val.] nM2

About This Parameter

This parameter displays the source drive value of the second input word.

Access
This is a read/write parameter.
The parameter Modbus address is 12742.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Com Scan.In2 nM2 − Source drive value of the second input word
Val.] Factory settings: RFRD value

[Com Scan.In3 val.] nM3

About This Parameter

This parameter displays the source drive value of the third input word.

Access
This is a read/write parameter.
The parameter Modbus address is 12743 .

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Com Scan.In3 nM3 − Source drive value of the third input word
Val.] Factory settings: 0

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[Com Scan.In4 val.] nM4

About This Parameter

This parameter displays the source drive value of the fourth input word.

Access
This is a read/write parameter.
The parameter Modbus address is 12744.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Com Scan.In4 nM4 − Source drive value of the fourth input word.
Val.] Factory settings: 0

[Com Scan.In5 val.] nM5

About This Parameter

This parameter displays the source drive value of the fifth input word.

Access
This is a read/write parameter.
The parameter Modbus address is 12745.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Com Scan.In5 nM5 − Source drive value of the fifth input word.
Val.] Factory settings: 0

[Com Scan.In6 val.] nM6

About This Parameter

This parameter displays the source drive value of the sixth input word.

Access
This is a read/write parameter.
The parameter Modbus address is 12746.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Com Scan.In6 nM6 − Source drive value of the sixth input word
Val.] Factory settings: 0

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[Com Scan.In7 val.] nM7

About This Parameter

This parameter displays the source drive value of the seventh input word.

Access
This is a read/write parameter.
The parameter Modbus address is 12747.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Com Scan.In7 nM7 − Source drive value of the seventh input word.
Val.] Factory settings: 0

[Com Scan.In8 val.] nM8

About This Parameter

This parameter displays the source drive value of the eighth input word.

Access
This is a read/write parameter.
The parameter Modbus address is 12748.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Com Scan.In8 nM8 − Source drive value of the eighth input word.
Val.] Factory settings: 0

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[Com Scan.Out1 val.] nC1

About This Parameter

This parameter displays the destination drive value of the first output word.

Access
This is a read/write parameter.
The parameter Modbus address is 12761.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Com Scan.Out1 Val.] nC1 − Destination drive value of the first
output word.
Factory settings: CMD value

[Com Scan.Out2 val.] nC2

About This Parameter

This parameter displays the destination drive value of the second output word.

Access
This is a read/write parameter.
The parameter Modbus address is 12762.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Com Scan.Out2 Val.] nC2 − Destination drive value of the second
output word
Factory settings: LFRD value

[Com Scan.Out3 val.] nC3

About This Parameter

This parameter displays the destination drive value of the third output word.

Access
This is a read/write parameter.
The parameter Modbus address is 12763.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Com Scan.Out3 Val.] nC3 − Destination drive value of the third
output word.
Factory settings: 0

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[Com Scan.Out4 val.] nC4

About This Parameter

This parameter displays the destination drive value of the fourth output word.

Access
This is a read/write parameter.
The parameter Modbus address is 12764.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Com Scan.Out4 Val.] nC4 − Destination drive value of the fourth
output word.
Factory settings: 0

[Com Scan.Out5 val.] nC5

About This Parameter

This parameter displays the destination drive value of the fifth output word.

Access
This is a read/write parameter.
The parameter Modbus address is 12765.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Com Scan.Out5 Val.] nC5 − Destination drive value of the fifth
output word.
Factory settings: 0

[Com Scan.Out6 val.] nC6

About This Parameter

This parameter displays the destination drive value of the sixth output word.

Access
This is a read/write parameter.
The parameter Modbus address is 12766.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Com Scan.Out6 Val.] nC6 − Destination drive value of the sixth
output word.
Factory settings: 0

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[Com Scan.Out7 val.] nC7

About This Parameter

This parameter displays the destination drive value of the seventh output word.

Access
This is a read/write parameter.
The parameter Modbus address is 12767.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Com Scan.Out7 Val.] nC7 − Destination drive value of the seventh
output word.
Factory settings: 0

[Com Scan.Out8 val.] nC8

About This Parameter

This parameter displays the destination drive value of the eighth output word.

Access
This is a read/write parameter.
The parameter Modbus address is 12768.

Possible Settings
The table presents the parameter settings:

Settings Code Value Description

[Com Scan.Out8 Val.] nC8 − Destination drive value of the eighth
output word.
Factory settings: 0

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Section 5.4
Fieldbus Integration Using Unity

Fieldbus Integration Using Unity

What Is in This Section?

This section contains the following topics:
Topic Page
Introduction 73
Drive Configuration 74
Modbus Master Configuration 75

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Introduction

Overview
Here is an example of an application that shows how to control a drive with a M340 PLC equipped with a
Modbus master serial port. The operator can control the drive directly from Unity. The version of Unity used
here is Unity Pro XL
In the example, the communication scanner of the drive is used. The PLC sends the command and the
reference speed to the drive and read the status word and the actual speed of the drive.

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Drive Configuration

Factory Setting
Before configuring the drive, it is advised to make a factory setting. Go to:
 [File management] FMt- menu,
 [Factory settings] FCS- submenu.

Then configure the following parameters:

 [Parameter group list] FrY- = [All] All
 [Go to Factory Settings] GFS = OK

Command Configuration
To control the drive with a Modbus master, it is necessary to select Modbus as command channel active.
Goto to:
 [Complete Settings] CSt-
 [Command and Reference] CrP- menu

Then configure:
 [Ref Freq 1 Config] Fr1 parameter to [Ref. Freq-Modbus] Mdb value.

Communication Configuration
Select the Modbus address in the menu:
 [Communication] COM-
 [Comm parameters] CMP-
 [Modbus SL] MSL-
 [Modbus Fieldbus] Md1-
 [Modbus Address] Add

The drive must be restarted in order to take into account the Modbus address.

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Modbus Master Configuration

Overview
In this example, Modbus master configuration is done with unity.

Serial Port Configuration

Configure the serial port as master. The other default settings are compliant with the default settings of the
drive.

Data Structure Declaration

Create the following table (DevicePath). DevicePath describes the path to the device including its slave
address.

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Then create the four other tables as arrays from 0 to 3 of integer.

As all the tables declared are dynamic (no fixed address), it is necessary in the project setting to «Allows
dynamic array» and to «Directly represented array variables». The parameterization must be done in the
menu «Tool», «Project settings», «Language extensions» window.

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Program
Create a program in MAST section.

The communication is based on the READ_VAR, WRITE_VAR functions. During the first execution of the
MAST task, you can initialize the data structure used by these two functions.
ReadVarMgt and WriteVarMgt are arrays used respectively by READ_VAR and WRITE_VAR. Only the
third element of these arrays is modifiable, you can define the timeout duration of the requests.
In the example, the application manages two requests:
 A read request of four words starting at Modbus address 12741 (31C5 hex). It is the address of the first
word of the input scanner of the drive [Com Scan In1 val.] (nM1). Modbus function. The information is
sent from the PLC to the drive. The table ATV_NM is used.The 2 first words are mapped by default.

Name Address Comment

ATV_NM(0) 12741 Default: ETA (status word)
ATV_NM(1) 12742 Default: RFRD (output speed)
ATV_NM(2) 12743 −
ATV_NM(3) 12744 −

 A write request of four words starting at Modbus address 12761 (31D9 hex). It is the address of the first
word of the input scanner of the drive [Com Scan Out1 val.] (nC1). Modbus function #16.The
information is sent from the drive to the PLC. The table ATV_NC is used. The 2 first words are mapped
by default.

Name Address Comment

ATV_NC(0) 12761 Default: CMD (command word)
ATV_NC(1) 12762 Default: LFRD (speed referenced)
ATV_NC(2) 12763 −
ATV_NC(3) 12764 −

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Operations
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Chapter 6
Operations

Operations

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
6.1 Operating States 80
6.2 Operating Modes 81

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Section 6.1
Operating States

Operating States

Configuring Communication Error Response

Description
The response of the drive in the event of a Modbus serial communication interruption can be configured.
Configuration can be performed using the DTM from the [Error/Warning handling] CSWM- menu, via the
[Modbus Error Resp] SLL parameter.
The values of the [Modbus Error Resp] SLL parameter, which triggers a transition to the operating state
fault [Modbus Com Interruption] SLF1 are:

Value Meaning
[Freewheel Stop] YES Freewheel stop (factory setting)
[Ramp stop] rMP Stop on ramp

The values of the [Modbus Error Resp] SLL parameter, which does not trigger a transition to the
operating state fault are:

Value Meaning
[Ignore] nO Detected error ignored
[Per STT] Stt Stop according to configuration of [Type of stop] Stt
[Fallback Speed] LFF Reference frequency modified to fallback speed, maintained as long as the
detected error persists and the run command has not been removed
[Speed maintained] rLS The drive maintains the speed at the time the detected error occurred, as
long as the detected error persists, and the run command has not been
removed

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

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

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Section 6.2
Operating Modes

Operating Modes

What Is in This Section?

This section contains the following topics:
Topic Page
Configuring the Control Channel 82
Configuration of the Drive for Operation in I/O Profile 83
Configuration of the Drive for Operation with CiA 402 Profile in Combined Mode 84
Configuration of the Drive for Operation with CiA 402 Profile in Separate Mode 85

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Configuring the Control Channel

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

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Configuration of the Drive for Operation in I/O Profile

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

The settings are the following:

[Ref Freq 1 Config] Fr1 [HMI Panel] HMIP

[Control Mode] CHCF [I/O profile] IO
[Command switching] CCS [Cmd Channel 1] CD1
[Cmd channel 1] Cd1 [Modbus] Mdb

The bits of the command word can now be configured.

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

[Reverse Assign] rrS [CD01] Cd01

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

[Fault Reset Assign] rSF [CD07] Cd07

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

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

Origin of the Control Ref1 Channel Setting

Modbus serial [Modbus] Mdb

 [Freq Switch Assign] rFC is set to default value ([Ref Freq Channel 1] Fr1).
 [Control Mode] CHCF: defines if the drive operates in combined mode (reference and command from
the same channel).
For the current example, [Control Mode] CHCF is adjusted to [Not separ.] SIM as reference and control
are originated from the communication network.

Profile Ref1 Channel setting

CiA 402 combined mode [Not separ.] SIM
CiA 402 separate mode [Separate] SEp
I/O profile [I/O profile] IO

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

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

The drive is controlled from the communication (Modbus serial) but the frequence reference value is
adjusted on the HMI panel or DTM. The control word comes from the controller and is written according to
CiA 402 profile.
The settings are as shown in the table:

[Ref Freq 1 Config] Fr1 [AI1] AI1

[Control Mode] CHCF [Separate] SEp
[Cmd channel 1] Cd1 [Modbus] Mbd
[Freq Switch Assign] rFC Factory setting

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Diagnostics and Troubleshooting
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Chapter 7
Diagnostics and Troubleshooting

Diagnostics and Troubleshooting

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Fieldbus Status LEDs 88
Checking Connections 90
Monitoring of Communication Channel 91
Communication Interruption Message 93

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Fieldbus Status LEDs

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

LED Description

Item LED Description

1 COM Indicates the Modbus serial link connection
status

LED COM : Link Activity

The table provides the LED status for Modbus serial connection

Color & Status Description

OFF No link
Yellow flashing Fieldbus active

Communication Diagnostics
Some parameters are visible only with the DTM and HMI Panel.
On the DTM, in the [Display] MOn- menu / [Communication Map] CMM- / [Modbus network diag]
Mnd- submenu:
On the HMI Panel, in the [Display] menu / [Communication Map] submenu:

Modbus Counters
 [Mdb Frame Nb] M1Ct indicate the number of Modbus frames received. The counter counts both
correct and incorrect frames.
 [Mb NET CRC errors] M1EC indicate the number of Modbus frames containing checksum errors.
In the case of these two counters, only frames that are destined for the drive and whose Modbus address
is supplied by the [Modbus Address] Add parameter are counted. Broadcast frames are not counted.
[Mdb Frame Nb] M1Ct is modulo 65 536 counters, this means that, the value is reset to zero once the
value of 65 535 is reached.
By contrast, the [Mb NET CRC errors] M1EC remain at 65 535 once this value is reached.
Each Modbus counter corresponds to a drive parameter:

Menu Parameter Name Code Logical Address

[Modbus network diag] Mnd- [Mdb Frame Nb] M1Ct 6011
[Mb NET CRC errors] M1EC 6010

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Modbus Communication State

This can be accessed from the menu:
[Communication] COM- / [Comm parameters] CMP- / [Modbus SL] MSL- / [Modbus Fieldbus]
Md1- / [Mdb com stat] COM1
r0t0: Modbus no reception, no transmission = communication idle
r0t1: Modbus no reception, transmission
r1t0: Modbus reception, no transmission
r1t1: Modbus reception and transmission

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Checking Connections

Description
If the product cannot be addressed using the fieldbus, verify that
 The connector is plugged correctly.
 The wires are correctly connected to the connectors (if possible).
 The ends of line resistors are connected on both sides of the complete network.
 The ends of line resistors have the correct values.
 The wiring of the all devices on the network is consistent.

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Monitoring of Communication Channel

Command and Reference Channels

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

Parameter Name Parameter Code

Taken Into Modbus CANope Fieldbus Ethernet Modbus 2 Internal
Account by Serial n Module Embedded Serial or PLC
the Drive HMI panel
Control word CMd CMd1 CMd2 CMd3 CMd5 CMd6 CMd7
Extended control CMI CMI1 CMI2 CMI3 CMI5 CMI6 CMI7
word
Reference speed LFrd LFd1 LFd2 LFd3 LFd5 LFd6 LFd7
(rpm)
Reference LFr LFr1 LFr2 LFr3 LFr5 LFr6 LFr7
frequency
(0.1 Hz)
Reference value LTR LTR1 LTR2 LTR3 LTR5 LTR6 LTR7
for torque
control mode
(0.1% of the
nominal torque)(1)
Reference value PISP PIr1 PIr2 PIr3 PIr5 PIr6 PIr7
supplied by PI
controller
Reference value MFr MFr1 MFr2 MFr3 MFr5 MFr6 MFr7
supplied by
analog multiplier
function
(1):
If available

Monitoring of Communication Channels

Communication channels are monitored if they are involved in one of the following parameters:
 The control word ([Cmd Register] CMd) from the active command channel
 The control word containing the command switch (bit configured on [Command Switching] CCS)
 The control word containing the switch for reference value 1'1B (bit configured on [Ref 1B switching]
rCb)
 The control word containing the switch for reference value 1'2 (bit configured on [Freq Switch Assign]
rFC)
 The reference frequency or reference speed ([Ref Frequency] LFr or LFRD: Nominal speed value)
from the active channel for reference value
 Summing reference frequency or reference speed ([Ref Frequency] LFr or LFRD: Nominal speed
value) 2 (assigned to [Summing Input 2] SA2)
 Summing reference frequency or reference speed ([Ref Frequency] LFr or LFRD: Nominal speed
value) 3 (assigned to [Summing Input 3] SA3)
 Subtracting reference frequency or reference speed ([Ref Frequency] LFr or LFRD: Nominal speed
value) 2 (assigned to [Subtract Ref Freq 2] dA2)
 Subtracting reference frequency or reference speed ([Ref Frequency] LFr or LFRD: Nominal speed
value) 3 (assigned to [Subtract Ref Freq 3] dA3)
 The reference value given by the PID controller (PISP)
 The PID controller feedback ([AI Virtual 1] AIV1)
 The multiplication coefficient of the reference values ([Multiplying coeff.] MFr) 2 (assigned to [Ref Freq
2 Multiply] MA2)
 The multiplication coefficient of the reference values ([Multiplying coeff.] MFr) 3 (assigned to [Ref Freq
3 Multiply] MA3)
As soon as one of these parameters has been written once to a communication channel, it activates
monitoring for that channel.

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If a communication warning is sent (in accordance with the protocol criteria) by a monitored port or fieldbus
module, the drive triggers a communication interruption.
The drive reacts according to the communication interruption configuration (operating state Fault,
maintenance, fallback, and so on)
If a communication warning occurs on a channel that is not being monitored, the drive does not trigger a
communication interruption.

Enabling of Communication Channels

A communication channel is enabled once all the parameters involved have been written at least one
time.The drive is only able to start if all channels involved in command and reference value are enabled.
For example:
A drive in DSP402 profile is connected to an active communication channel.
It is mandatory to write at least 1 time the reference value and the command in order to switch from 4-
Switched on to 5-Operation enabled state.
A communication channel is disabled:
 In the event of a communication warning.
 In forced local mode.
NOTE: On exiting forced local mode:
 The drive copies the run commands, the direction, and the forced local reference value to the active
channel (maintained).
 Monitoring of the active channels for the command and reference value resumes following a time delay
[Time-out forc. local] FLOt.
 Drive control only takes effect once the d rive has received the reference and the command from the
active channels.

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Communication Interruption Message

Description
If the drive does not receive any Modbus request sent to its address for a predefined time [Modbus
Timeout] ttO, a [Modbus Com Interruption] SLF1 is triggered.

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Glossary
MFR24213 07/2020

Glossary

A
Abbreviations
Req. = Required
Opt. = Optional

C
CPx
CP0 up to CP4: Sercos III Communication phases

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

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

L
LSB
Least Significant Byte

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

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

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Glossary

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

R
R/WS
Read and write (write only possible when the drive is not in RUN mode). It is not possible to write these
parameters in "5-Operation enabled" or "6-Quick stop active" states. If the parameter is written in the "4-
Switched on" state, transition to "2-Switch on disabled" is activated.

V
VSD
Variable Speed Drive

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

Z
Zone of operation
This term is used in conjunction with the description of specific hazards, and is defined as it is for a hazard
zone or danger zone in the EC Machinery Directive (2006/42/EC) and in ISO 12100-1.

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