Lenze AC Tech SMVector User manual

CMVCAN01A
SMVector - CANopen Communication Module
Communications Interface Reference Guide

This documentation applies to the CANopen communications option for the SMVector inverter and
should be used in conjunction with the SMVector Operating Instructions (Document SV01) that
shipped with the drive. These documents should be read carefully as they contain important technical
data and describe the installation and operation of the drive and this option.
© 2007 AC Technology Corporation
No part of this documentation may be copied or made available to third parties without the explicit
written approval of AC Technology Corporation.
All information given in this documentation has been carefully selected and tested for compliance with
the hardware and software described. Nevertheless, discrepancies cannot be ruled out. We do not
accept any responsibility nor liability for damages that may occur. Any necessary corrections will be
implemented in subsequent editions.
About these instructions

1 Safety information ................................................................2
2 Introduction ..........................................................................4
2.1 Overview ...................................................................................................4
2.2 SMVector CANopen Implementation Specifications ...................................4
3 Installation ............................................................................5
3.1 Installing the Module into the Terminal Cover ..........................................5
3.2 CANopen terminal block ...........................................................................5
3.3 Installing the Terminal Cover ....................................................................6
4 Commissioning CANopen communications .....................7
4.1 Quick Set-up .............................................................................................7
5 Extended Parameters for CANopen ...................................8
5.1 Parameter menu .......................................................................................8
5.2 CANopen mapping details .....................................................................17
5.2.1 RPDO mapping details (P446/P456) ......................................................17
5.2.2 TPDO mapping details (P466/P476) .......................................................20
6 Troubleshooting and fault elimination .............................23
6.1 Faults ......................................................................................................23
6.2 Troubleshooting ......................................................................................23
A1 Appendix A - Configuration Example ...............................24
A1.1 Master / Follower drive system ...............................................................24
1
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Contents

2ENGLISH
Safety information
1 Safety information
General
Some parts of Lenze controllers (frequency inverters, servo inverters, DC controllers) can be live,
moving and rotating. Some surfaces can be hot.
Non-authorized removal of the required cover, inappropriate use, and incorrect installation or operation
creates the risk of severe injury to personnel or damage to equipment.
All operations concerning transport, installation, and commissioning as well as maintenance must
be carried out by qualified, skilled personnel (IEC 364 and CENELEC HD 384 or DIN VDE 0100 and
IEC report 664 or DIN VDE0110 and national regulations for the prevention of accidents must be
observed).
According to this basic safety information, qualified skilled personnel are persons who are familiar with
the installation, assembly, commissioning, and operation of the product and who have the qualifications
necessary for their occupation.
Application as directed
Drive controllers are components which are designed for installation in electrical systems or machinery.
They are not to be used as appliances. They are intended exclusively for professional and commercial
purposes according to EN 61000-3-2. The documentation includes information on compliance with
the EN 61000-3-2.
When installing the drive controllers in machines, commissioning (i.e. the starting of operation as
directed) is prohibited until it is proven that the machine complies with the regulations of the EC Directive
98/37/EC (Machinery Directive); EN 60204 must be observed.
Commissioning (i.e. starting of operation as directed) is only allowed when there is compliance with
the EMC Directive (89/336/EEC).
The drive controllers meet the requirements of the Low Voltage Directive 73/23/EEC. The harmonised
standards of the series EN 50178/DIN VDE 0160 apply to the controllers.
The availability of controllers is restricted according to EN 61800-3. These products can cause
radio interference in residential areas. In this case, special measures can be necessary.
Installation
Ensure proper handling and avoid excessive mechanical stress. Do not bend any components and
do not change any insulation distances during transport or handling. Do not touch any electronic
components and contacts.
Controllers contain electrostatically sensitive components, which can easily be damaged by inappropriate
handling. Do not damage or destroy any electrical components since this might endanger your
health!
Electrical connection
When working on live drive controllers, applicable national regulations for the prevention of accidents
(e.g. VBG 4) must be observed.
The electrical installation must be carried out according to the appropriate regulations (e.g. cable cross-
sections, fuses, PE connection). Additional information can be obtained from the documentation.
The documentation contains information about installation in compliance with EMC (shielding, grounding,
filters and cables). These notes must also be observed for CE-marked controllers.
The manufacturer of the system or machine is responsible for compliance with the required limit values
demanded by EMC legislation.
Operation
Systems including controllers must be equipped with additional monitoring and protection devices
according to the corresponding standards (e.g. technical equipment, regulations for prevention
of accidents, etc.). You are allowed to adapt the controller to your application as described in the
documentation.

3
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Safety information
DANGER!
• After the controller has been disconnected from the supply voltage, live components
and power connection must not be touched immediately, since capacitors could be
charged. Please observe the corresponding notes on the controller.
• Do not continuously cycle input power to the controller more than once every three
minutes.
• Please close all protective covers and doors during operation.
WARNING!
Network control permits automatic starting and stopping of the inverter drive. The
system design must incorporate adequate protection to prevent personnel from
accessing moving equipment while power is applied to the drive system.
Pictographs used in these instructions
Pictograph Signal word Meaning Consequences if ignored
DANGER! Warning of Hazardous
Electrical Voltage.
Reference to an imminent
danger that may result in death
or serious personal injury if the
corresponding measures are not
taken.
WARNING! Impending or possible danger
for persons Death or injury
STOP! Possible damage to equipment Damage to drive system or its
surroundings
Note Useful tip: If observed, it will
make using the drive easier

2 Introduction
This reference guide assumes that the reader has a working knowledge of CANopen
Fieldbus Protocol and familiarity with the programming and operation of motion control
equipment. This guide is intended as a reference only.
2.1 Overview
CANopen Fieldbus is an internationally accepted communications protocol designed for
commercial and industrial installations of motion control applications. High data transfer
rates combined with it’s efficient data formatting permit the coordination of motion control
devices in multi-axis applications. AC Tech’s implementation of the CANopen protocol
allows for baud rates ranging from 10 kbps to 1Mbps.
DSP402 compatible control and status words are available to the user for configuring
modes of operation and altering the drive operating parameters. Additionally, to offer
greater interoperability with the SMVector inverter, a drive specific set of objects are
available that offer further drive profile configuration and allow access to specific modes of
operation.
2.2 SMVector CANopen Implementation Specifications
• Supported data rates (bit/s): 1.0M, 800K, 500K, 250K, 125K, 50K, 20K, 10K.
• 2 transmit and 2 receive process data objects (PDOs) supported.
• Synchronous, Asynchronous and Change of State PDO communications modes
supported.
• Two Service Data Objects (SDO) provide access to all SMV parameters
• Heartbeat and Node guarding with selectable timeout action
• DSP402 compatible Control and Status Words accessible via PDO and SDO.
To simplify the setup of the CANopen Master, AC Tech will provide the applicable EDS
(Electronic Data Sheet).
4ENGLISH
Introduction

5
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Installation
3 Installation
3.1 Installing the Module into the Terminal Cover
7mm
<_ 2.8 mm²
(12-22 AWG)
0.5 Nm/ 4.5 lb-in
12345
3.2 CANopen terminal block
Terminal Description Important
1 CAN_GND: CAN earth ground
For reliable communication make sure terminal
CAN_GND is connected to CAN network
GND/common. If only two wires are used (CAN_H
and CAN_L) in the network, connect CAN_GND to
chassis/earth ground.
2 CAN_L: CAN low
If controller is located at either end of the network,
a terminating resistor (120ohm typical) should be
connected across CAN_L and CAN_H
3
4 CAN_H: CAN high
5
Protection against contact
• All terminals have basic isolation (single insulating distance)
• Protection against contact can only be ensured by additional measures (i.e. double insulation)

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Installation
3.3 Installing the Terminal Cover

7
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Commissioning
4 Commissioning CANopen communications
Following installation of the CANopen communications module,
4.1 Quick Set-up
With drive power disconnected connect the CANopen communication module and
network cable to the drive as shown in the preceding section.
NOTE:
If CANopen network is already operational do NOT connect the network connector
until the Node ID and Baud rate parameters on installed drive are setup correctly.
Apply Power to the drive. In drive parameter menu, select parameter P400 Network
Protocol and set it to 3 -- CANopen. After this action, the module will be initialized with
CANopen protocol and will enter Online mode - P402 = 3.
To monitor and control the drive via network, the following parameters should be set as a
minimum:
P410 Node Id (default 1)
P411 Baud Rate (default 5 = 500 kbps)
P100 Start Control Source - Network control can be taken in any mode of operation except when
P100 = 2 Remote Keypad Only.
NOTE:
If P100 is not equal 0, TB1 must be connected to TB4 in order to start the drive.
P112 Rotation - Set this parameter to Forward and Reverse (1) if operation in both directions is
required.
P121
P122
or
P123
One of these parameters must be set to 9 - Network Enable and corresponding terminal
must be closed in order to take network control and start via network.
P304 Motor Rated frequency, P305 Motor Rated Speed - if Network speed needs to be scaled in
RPMs units; those parameters must be set accordingly to motor nameplate.
To activate changes made to P400 and P401 use P418 Reset CAN node parameter or
recycle the power.
If no other CANopen parameter has been modified the drive will enter CANopen Pre-
operational state (see P412, P419) and every 2 seconds (P416) will transmit a heartbeat
message.
As a default, RPDO#1 (P44x) and TPDO#1 (P46x) are active when the CANopen state is
switched to the operational state.

8ENGLISH
Commissioning
5 Extended Parameters for CANopen
In addition to the drive parameters (detailed in the Installation and Operation manual that
accompanied the drive), the installation of the CANopen module will give access to the
400 series parameters that are exclusively for the CANopen communications module.
5.1 Parameter menu
Code Possible Settings IMPORTANT
No. Name Default Selection
CANopen Module Specific parameters
p400 Network Protocol 0 Not Active
3 CANopen
P401 Module Revision 02.0.0 Display reads 02.x.x where:
02 = CANopen Module
x.x = Module Revision
Read only
P402 Module Status 0 0 Not Initialized
Read only
1 Initialization: Module to EPM
2 Initialization: EPM to Module
3 Online
4 Failed Initialization Error
5 Time-out Error
6 Initialization Failed Module type mismatch (P401)
7 Initialization Error Protocol Selection mismatch (P400)
P403 Module Reset 0 0 No Action
1 Reset Module parameter values
to default.
Returns module parameters 401…499 to
the default values shown in this manual.
P404 Module Time-out
Action
3 0 Ignore • Action to be taken in the event of a
Module/Drive Time-out.
• Time-out is fixed at 200ms.
• Selection 1 (STOP) is by the method
selected in P111.
1 STOP (see P111)
2 Quick Stop
3 Fault (f.ntf)
P405 Network Fault 0 0 No Fault
Read only
1 Guard Time Fault F.nF1
2 Message Monitor Fault F.nF2
3 RPD1 Time-out Fault F.nF3
4 RPD2 Time-out Fault F.nF4
P406 Proprietary Manufacturer specific Read only

9
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Commissioning
Code Possible Settings IMPORTANT
No. Name Default Selection
CANopen / System bus parameters
P410(1) CAN address
(Node ID)
1 1 127 If P413 = 0, 1: maximum setting = 63
P411(1) CAN baud rate 5 0 10 kbps (max distance = 5000m)
1 20 kbps (max distance = 2500m)
2 50 kbps (max distance = 1000m)
3 125 kbps (max distance = 500m)
4 250 kbps (max distance = 250m)
5 500 kbps (max distance = 100m)
6 800 kbps (max distance = 50m)
7 1000 kbps (max distance = 25m)
P412(1) System bus
participant
0 0 Slave • P417 = 1: Controller enters operational
state automatically
• P417 = 2: Controller sends “NMT start
all nodes” after boot-up time (P415) and
enters operational state
1 Slave with autostart enabled
0x1F80 NMT bootup - bit 2
2 System bus master (not NMT
master)
P413(1) Parameter channel
2 (SDO#2)
2 0 Enable: Node ID range (1...63)
with default COB ID for RPDO
and TPDO
• P413 = 0, 1: CAN address 1...63;
64...127 used for SDO2
• SDO#1 COB ID = 1536 + Node ID
• SDO#2 COB ID = 1600 + Node ID
(if enabled)
Default settings:
RPDO#1: COB ID = 0x200 + Node ID
RPDO#2: COB ID = 0x300 + Node ID
TPDO#1: COB ID = 0x180 + Node ID
TPDO#2: COB ID = 0x280 + Node ID
1 Enable: Node ID range (1...63)
with programmable COB ID using
P440, P450, P460, P470
2 Disable: Node ID range (1...127)
with default COB ID for RPDO
and TPDO
3 Disable: Node ID range (1...127)
with programmable COB ID using
P440, P450, P460, P470
P414 SYNC COB ID 128 0 2047 Controller does not generate SYNC object
P415(1) Boot up time 3000 0 {ms} 65535 Controller sends “NMT start all nodes”
message after this delay (active only when
P412 = 2)
P416 Heartbeat time 2000 0 {ms} 65535 • Producer heartbeat time
• P416 = 0 disables heartbeat transmission
P418 Reset CAN node 0 0 No action On transition from 0 to 1, re-initializes
CAN controller and activates changes
made to parameters marked with (1)
1 Reset CAN communication
WARNING!
CAN re-initialization may activate new RPDO configurations, which can result in
changes to present controller state, including starting.
(1) These parameters take effect only after power-up, P418 reset, “NMT reset node”, or “NMT reset communication services”

10 ENGLISH
Commissioning
Code Possible Settings IMPORTANT
No. Name Default Selection
P419 CANopen status 0 Not initialized • Read-only
• Note: RPDOs and TPDOs are only
active in operational state (P419 = 5)
1 Initializing
2 Stopped
3 Pre-operational
4 reserved
5 Operational
P420 Guard time 0 0 {ms} 65535 • P420 x P421 = node life time
• If RTR frame with ID = 0x700 + Node
ID (P410) is not received during the
node life time, the controller will react
according to P422
• If heart beat message is enabled, the
guard function is disabled
• P422 is only active when drive is
in Network Control mode (n.xxx)
and at least one RTR frame with
ID=0x700+NODE ID has been received.
P421 Life time factor 0 0 255
P422 Guard time event
reaction
0 0 Not active
1 STOP (see P111)
2 Quick stop
3 Inhibit
4 Trip fault F.nF1
P423 Error behavior 1 0 transition to pre-operational
(only if current state is operational)
Specifies action taken by the drive when it
encounters a communication error
(ex. Node guarding event or Bus Off)
1 No state change
2 transition to stopped
P425 Message
monitoring time
0 0 {ms} 65535 • P425 and P426 can be used to monitor
all valid messages (e.g. SDO, SYNC,
PDO...)
• P425 = 0 or P426 = 0 disables message
monitoring function
• P426 is only active when drive is in
Network Control Mode (n.xxx)
P426 Message
monitoring time
out reaction
0 0 Not active
1 STOP (see P111)
2 Quick stop
3 Inhibit
4 Trip fault F.nF2
P427 Monitoring time-
out status
Bits: • Read-only
• Indicates cause of F.nt (trip fault,
inhibit, quick stop, or Stop) depending
on the settings of P422, P426, P445,
P455
0 Guard time time-out
1 No valid message received
2 RPD01 time-out
3 RPD02 time-out
4 reserved
5 reserved
6 reserved
7 reserved

11
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Commissioning
Code Possible Settings IMPORTANT
No. Name Default Selection
P429 CAN Peripheral
Status
Bits: • Read-only
• CAN warnings and errors
0 Error passive mode
1 Bus off mode
2 CAN Enabled
3 Receiver busy
4 Transmitter busy
5 Transmit error count > 128
6 Overload frame
7 Receive error count > 128

12 ENGLISH
Commissioning
Code Possible Settings IMPORTANT
No. Name Default Selection
RPDO#1 configuration parameters
P440(2) RPDO#1 COB ID 513 0 2047 If P413 = 0, 2: Setting will change to
512 + Node ID during power-up or P418
reset.
P441 RPDO#1
enable/disable
1 0 Disable
1 Enable
WARNING!
CAN re-initialization may activate new RPDO configurations, which can result in
changes to present controller state, including starting.
P442 RPDO#1
transmission type
255 0 255 • P442 = 0...240: transfer on every SYNC
received.
• P442 = 254, 255: immediate transfer
P444 RPDO#1 event
monitoring timer
0 0 {ms} 65535 P444 = 0: monitoring disabled
P445 RPDO#1 time out
reaction
0 0 Not active Only active when in Network Control
(n.xxx)
1 STOP (see P111)
2 Quick stop
3 Inhibit
4 Trip fault F.nF3
P446(2) RPDO#1 mapping
(see RPDO
mapping details)
2 0 DSP402 (Drives & Motion Control):
PDO Control Word 0x6040
1 DSP402 (Drives & Motion Control):
PDO Control Word 0x6040 +
vl target velocity 0x6042
• vl target velocity units = signed RPM.
• RPM calculation based on P304 and
P305
2 Drive Control Word + Network
Speed
Network Control Frequency Scaling:
10 = 1.0 Hz
3 Drive Control Word + PID
Setpoint
Signed PID Setpoint: -999 … 31,000
4 Drive Control Word + Torque
Setpoint
Torque Setpoint: 0…400%
P449 RPDO#1 counter 0 255 • Read-only
• Number of received RPDO#1 messages
• Above 255, starts over at 0
(2) These parameters take effect only after power-up, P418 reset, P441 transition from disable to enable, “NMT reset node”, or “NMT reset communication services”

13
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Commissioning
Code Possible Settings IMPORTANT
No. Name Default Selection
RPDO#2 configuration parameters
P450(3) RPDO#2 COB ID 769 0 2047 If P413 = 0, 2: Setting will change to
768 + Node ID during power-up or P418
reset.
P451 RPDO#2
enable/disable
0 0 Disable
1 Enable
WARNING!
CAN re-initialization may activate new RPDO configurations, which can result in
changes to present controller state, including starting.
P452 RPDO#2
transmission type
255 0 255 • P452 = 0...240: transfer on every SYNC
received
• P452 = 254, 255: immediate transfer
P454 RPDO#2 event
monitoring timer
0 0 {ms} 65535 P454 = 0: monitoring disabled
P455 RPDO#2 time out
reaction
0 0 Not active Only active when in Network Control
(n.xxx)
1 STOP (see P111)
2 Quick stop
3 Inhibit
4 Trip fault F.nF4
P456(3) RPDO#2 mapping
(see RPDO
mapping details)
2 0 DSP402 (Drives & Motion Control):
PDO Control Word 0x6040
1 DSP402 (Drives & Motion Control):
PDO Control Word 0x6040 +
vl target velocity 0x6042
• vl target velocity units = signed RPM.
• RPM calculation based on P304 and
P305
2 Drive Control Word + Network
Speed
Network Control Frequency Scaling:
10 = 1.0 Hz
3 Drive Control Word + PID
Setpoint
Signed PID Setpoint: -999 … 31,000
4 Drive Control Word + Torque
Setpoint
Torque Setpoint: 0…400%
p459 RPDO#2 counter 0 255 • Read-only
• Number of received RPDO#2 messages
• Above 255, starts over at 0
(3) These parameters take effect only after power-up, P418 reset, P451 transition from disable to enable, “NMT reset node”, or “NMT reset communication services”

SMVector
14 ENGLISH
Commissioning
Code Possible Settings IMPORTANT
No. Name Default Selection
TPDO#1 configuration parameters
P460(4) TPDO#1 COB ID 385 0 2047 If P413 = 0, 2: Setting will change to
384 + Node ID during power-up or P418
reset.
P461 TPDO#1
enable/disable
2 0 Disable
1 Enable (no RTR)
2 Enable (with RTR) Enable individual polling of TPDO#1
P462 TPDO#1
transmission type
255 0 255 • P462 = 0...240: Transmit TPDO#1 after
every nth SYNC received + Event +
RTR (if enabled)
• P462 = 253: Event + RTR (if enabled)
• P462 = 254: COS triggered (WORD0 of
TPDO#1) + Event + RTR (if enabled)
• P462 = 255: Event + RTR (if enabled)
P463(4) TPDO#1 inhibit
time
0.0 0.0 {0.1 ms} 65535 Sets minimum time between TPDO#1
transmissions.
P464 TPDO#1 event
timer
0 0 {ms} 65535 • Sets the fixed interval for TPDO#1
transmission
• P464 = 0: disables event timer
P466(4) TPDO#1 mapping
(see TPDO
mapping details)
2 0 DSP402 (Drives & Motion Control):
Status Word 0x6041
1 DSP402 (Drives & Motion Control):
Status Word 0x6041 +
vl target velocity 0x6044
• vl control effort units = signed RPM.
• RPM calculation based on P304 and
P305
2 Drive Status Word + Actual
Frequency + I/O
Actual Frequency Scaling: 10 = 1.0 Hz
3 Drive Status Word + Actual
Frequency + PID Setpoint
Signed PID Setpoint: -999 … 31,000
4 Drive Status Word + Actual
Frequency + Torque Setpoint
Torque Setpoint: 0…400%
5 Status Word matches the drives
Control Word
Setting used to control another
Drive. See Appendix A1.1.
P467 TPDO#1 WORD0
bit mask
65535 0 65535 • COS (change of state) bit mask applied
to WORD0 of TPDO selected by P466.
• P467 = 65535: activates all bits of
WORD0 for COS triggering
• P467 = 0: disables COS triggering
• P462 = 254
P469 TPDO#1 counter 0 255 • Read-only
• Number of transmitted TPDO#1
messages
• Above 255, starts over at 0
(4) These parameters take effect only after power-up, P418 reset, P461 transition from disable to enable, “NMT reset node”, or “NMT reset communication services”

SMVector
15
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Commissioning
Code Possible Settings IMPORTANT
No. Name Default Selection
TPDO#2 configuration parameters
P470(5) TPDO#2 COB ID 641 0 2047 If P413 = 0, 2: Setting will change to
640 + Node ID during power-up or P418
reset.
P471 TPDO#2
enable/disable
0 0 Disable
1 Enable (no RTR)
2 Enable (with RTR) Enable individual polling of TPDO#2
P472 TPDO#2
transmission type
255 0 255 • P472 = 0...240: Transmit TPDO#2 after
every nth SYNC received + Event +
RTR (if enabled)
• P472 = 253: Event + RTR (if enabled)
• P472 = 254: COS triggered (WORD0 of
TPDO#2) + Event + RTR (if enabled)
• P472 = 255: Event + RTR (if enabled)
P473(5) TPDO#2 inhibit
time
0.0 0.0 {0.1 ms} 65535 Sets minimum time between TPDO#2
transmissions.
P474 TPDO#2 event
timer
0 0 {ms} 65535 • Sets the fixed interval for TPDO#2
transmission
• P474 = 0: disables event timer
P476(5) TPDO#2 mapping
(see TPDO
mapping details)
2 0 DSP402 (Drives & Motion Control):
Status Word 0x6041
1 DSP402 (Drives & Motion Control):
Status Word 0x6041 +
vl target velocity 0x6044
• vl control effort units = signed RPM.
• RPM calculation based on P304 and
P305
2 Drive Status Word + Actual
Frequency + I/O
Actual Frequency Scaling: 10 = 1.0 Hz
3 Drive Status Word + Actual
Frequency + PID Setpoint
Signed PID Setpoint: -999 … 31,000
4 Drive Status Word + Actual
Frequency + Torque Setpoint
Torque Setpoint: 0…400%
5 Status Word matches the drives
Control Word
Setting used to control another
Drive. See Appendix A1 - Example 1.
P477 TPDO#2 WORD0
bit mask
65535 0 65535 • COS (change of state) bit mask applied
to WORD0 of TPDO selected by P476.
• P477 = 65535: activates all bits of
WORD0 for COS triggering
• P477 = 0: disables COS triggering
• P472 = 254
P479 TPDO#2 counter 0 255 • Read-only
• Number of transmitted TPDO#2
messages
• Above 255, starts over at 0
(5) These parameters take effect only after power-up, P418 reset, P471 transition from disable to enable, “NMT reset node”, or “NMT reset communication services”

16 ENGLISH
Commissioning
Code Possible Settings IMPORTANT
No. Name Default Selection
CANopen Module Specific parameters
P495 Communication
Module software
version
• Read only
• Alternating Display: xxx-; -yy
P498 Missed Messages
Drive to Module
• Read only
P499 Missed Messages
Module to Drive
• Read only

17
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Commissioning
5.2 CANopen mapping details
The tables in the following sections may use descriptions from the CANopen DSP 402 standard. This
terminology should not be interpreted as referring to drive hardware.
5.2.1 RPDO mapping details (P446/P456)
WORD0 - DSP402 control word 0x6040
Bit P446 / P456 setting = 0
WORD0 - DSP402 control word 0x6040
Bit P446 / P456 setting = 1
0Output Switch(6)
0 = switch OFF (i) 1 = switch ON (e) 0Output Switch(6) 0 = switch OFF (i) 1 = switch ON (e)
1Voltage Enable(6)
0 = Disable Voltage (i) 1 = Enable Voltage (e) 1Voltage Enable(6) 0 = Disable Voltage (i) 1 = Enable Voltage (e)
2Quick stop
0 = Quick stop active 1 = Quick stop not active 2Quick stop 0 = Quick stop active 1 = Quick stop not active
3Controller inhibit(6)
0 = Controller inhibit (i) 1 = No controller inhibit (e) 3Controller inhibit(6) 0 = Controller inhibit (i) 1 = No controller inhibit (e)
4 Reserved 4 Reserved
5 Reserved 5 Reserved
6 Reserved 6 Reserved
7 Fault Reset: on transition from 0 to 1 7 Fault Reset: on transition from 0 to 1
8Motion Inhibit(6)
0 = execute motion (e) 1 = halt (i) 8Motion Inhibit(6) 0 = execute motion (e) 1 = halt (i)
9 Reserved 9 Reserved
10 Reserved 10 Reserved
11 Direction of rotation
0 = CW (forward) 1 = CCW (reverse) 11 Direction of rotation 0 = CW (forward) 1 = CCW (reverse)
12 Control
0 = Local Control 1 = Network Control 12 Control 0 = Local Control 1 = Network Control
13 Speed Reference
0 = Local Reference 1 = Network Reference 13 Speed Reference 0 = Local Reference 1 = Network Reference
14 DC brake
0 = DC brake not active 1 = DC brake active 14 DC brake 0 = DC brake not active 1 = DC brake active
15 Reserved 15 Reserved
WORD1
Signed vl target velocity 0x6042 (RPM)
• RPM calculation based on P304 and P305
• Example 1: P304 = 60Hz; P305 = 1750 RPM
request setpoint forward (CW) at 25.0 HZ =
25.0 x 1750/60 = 729 = 0x02D9
• Example 2: P304 = 50Hz; P305 = 1390 RPM
request setpoint reverse (CCW) at 44.5 HZ =
-(44.5 x 1390/50) = -1237 = 0xFB2B
Note: sign of the target velocity takes priority over
bit 11 in word 0!
(6) Action of indicated bit is implemented as inhibit. These bits inhibit the drive when in the state indicated with (i) and enable the drive in the state indicated with (e).

WORD0 - SMV control word
WORD0 - SMV control word
18 ENGLISH
Commissioning
Bit P446 / P456 setting = 2 Bit P446 / P456 setting = 3
0Run Forward
0 = NOT Run Forward 1 = Run Forward 0Run Forward 0 = NOT Run Forward 1 = Run Forward
1Run Reverse
0 = NOT Run Reverse 1 = Run Reverse 1Run Reverse 0 = NOT Run Reverse 1 = Run Reverse
2 Fault Reset: on transition from 0 to 1 2 Fault Reset: on transition from 0 to 1
3 Reserved 3 Reserved
4 Reserved 4 Reserved
5Control
0 = Local Control 1 = Network Control 5Control 0 = Local Control 1 = Network Control
6Speed Reference
0 = Local Reference 1 = Network Reference 6Speed Reference 0 = Local Reference 1 = Network Reference
7 Reserved 7 Reserved
8Network setpoint / reference (when Bit 6 = 1)
0 - Network 6 - Preset #3
1 - Keypad 7 - Preset #4 (7)
2 - 0-10VDC 8 - Preset #5 (7)
3 - 4-20mA 9 - Preset #6 (7)
4 - Preset #1 10 - Preset #7 (7)
5 - Preset #2 11 - MOP
8Network setpoint / reference (when Bit 6 = 1)
0 - Network 6 - Preset #3
1 - Keypad 7 - Preset #4 (7)
2 - 0-10VDC 8 - Preset #5 (7)
3 - 4-20mA 9 - Preset #6 (7)
4 - Preset #1 10 - Preset #7 (7)
5 - Preset #2 11 - MOP
9 9
10 10
11 11
12 Controller inhibit
0 = No controller inhibit 1 = Controller inhibit 12 Controller inhibit 0 = No controller inhibit 1 = Controller inhibit
13 Quick stop
0 = Quick stop not active 1 = Quick stop active 13 Quick stop 0 = Quick stop not active 1 = Quick stop active
14 Force Mode (Network / PID modes only)
0 = No Action 1 = Force Manual / Open Loop Mode 14 Force Mode (Network / PID modes only) 0 = No Action 1 = Force Manual / Open Loop Mode
15 DC brake
0 = DC brake not active 1 = DC brake active 15 DC brake 0 = DC brake not active 1 = DC brake active
WORD1
Unsigned speed 0.1 Hz resolution
• Received value = 0x01F0 = 49.6 Hz
WORD1
Network PID setpoint
Signed value -999…3100
WORD2
Digital Output and Relay; Active when:
• Bit 9 = Open Collector (and P142 = 25)
• Bit 10 = Relay (and P140 = 25)
Others reserved for future use
WORD2
Digital Output and Relay; Active when:
• Bit 9 = Open Collector (and P142 = 25)
• Bit 10 = Relay (and P140 = 25)
Others reserved for future use
WORD3
Analog Output [0.01 VDC]; Active when P150 = 9
• Received value = 0x024B = 5.87 VDC
WORD3
Analog Output [0.01 VDC]; Active when P150 = 9
• Received value = 0x024B = 5.87 VDC
(7) Preset #4, #5, #6 and #7 are ignored when the drive is operating in either PID Mode or Torque Mode.