Lenze MC Series Drives User Manual

MC Series Drives

Modbus Communications Reference Guide

About These Instructions

This documentation applies to the use of an MC 1000 Series and an MC 3000 Series Variable Frequency Drive in a Modbus Network and should be used in conjunction with the MC Series Installation and Operation Manual (Document M101 or M301, respectively) that shipped with the drive. These documents should be read in their entirety as they contain important technical data and describe the installation and operation of the drive.

No part of this documentation may be copied or made available to third parties without the explicit written approval of Lenze AC Tech 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. Lenze AC Tech does not accept any responsibility nor liability for damages that may occur. Any necessary corrections will be implemented in subsequent editions.

Contents

1 Safety Information .............................................................................................................1

1.1 Warnings, Cautions and Notes ..............................................................................1

1.1.1 General ....................................................................................................1

1.1.2 Application ...............................................................................................1

1.1.3 Installation ...............................................................................................1

1.1.4 Electrical Connection ................................................................................2

1.1.5 Operation .................................................................................................2

1.2 Reference and Links .............................................................................................2

2 Introduction .......................................................................................................................3

2.1 Modbus Details .....................................................................................................3

2.2 Universal Registers ...............................................................................................4

3 Data Representation - Internal and External .......................................................................5

3.1 Register Format ....................................................................................................5

3.2 Data Types ...........................................................................................................5

3.3 AC Tech Drive Registers........................................................................................5

4 MC Drive Setup & Operation ..............................................................................................6

4.1 Serial Address ......................................................................................................6

4.2 Serial Communications Parameter ........................................................................6

4.3 Control Parameter .................................................................................................6

4.4 Unlocking & Locking Controls ...............................................................................7

4.5 Unlocking & Locking Programming Parameters only .............................................7

4.6 Watchdog Timer ...................................................................................................8

4.7 Monitoring Only Operation ....................................................................................9

4.8 Normal Control Operation Sequence .....................................................................9

4.9 Start/Stop, Speed Control and Parameter Change Operation .................................9

i RG-MCMOD

Contents

5 MC Drive Control Registers ................................................................................................10

5.1 Abbreviations ........................................................................................................11

5.2 Drive Control - Register #1....................................................................................12

5.3 Drive Size - Register #21 ......................................................................................13

5.4 Drive Status - Registers #24-29 ............................................................................14

5.4.1 Reading Register #24 ...............................................................................14

5.4.2 Operational Status - Registers #24 & 26 ...................................................15

5.4.3 Actual Rotational Direction - Registers #24 & 27 ......................................15

5.4.4 Control Mode - Registers #24 & 27 ..........................................................15

5.4.5 Speed Command Source - Registers #24 & 28 .........................................16

5.4.6 Speed Reference - Registers #24 & 28 .....................................................16

5.4.7 Present Fault - Registers #24 & 29 ...........................................................17

5.4.8 Commanded Rotational Direction - Registers #24 & 29 ............................17

5.5 Motor Volts - Register #30 ....................................................................................17

5.6 Keypad Speed - Register #40 ...............................................................................18

5.7 Total Run Time - Registers #36 & 37 (MC3000 only) .............................................18

5.8 PID Commands - Registers #38, 39, 41 & 43 ........................................................18

5.10 Unlock Commands - Register #48 .........................................................................18

5.11 Unlock Parameters - Register #49 ........................................................................18

5.12 Register Version ....................................................................................................19

6 MC Programming Parameters ...........................................................................................20

6.1 Format ..................................................................................................................20

6.2 Parameter List ......................................................................................................21

7 Quick Start Instructions .....................................................................................................28

7.1 Initial Settings .......................................................................................................28

7.2 Drive Control .........................................................................................................28

7.3 Basic Drive Commands .........................................................................................29

7.4 Basic Drive Status .................................................................................................30

7.5 Basic Drive Network Programming ........................................................................30

RG-MCMOD ii

1 Safety Information

1.1 Warnings, Cautions and Notes

1.1.1 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.

1.1.2 Application

Safety Information

Drive controllers are components 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 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 drive as directed) is only allowed when there is compliance to the EMC Directive (2004/108/EC).

The drive controllers meet the requirements of the Low Voltage Directive 2006/95/EC. 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 the case of radio interference, special measures may be necessary for drive controllers.

1.1.3 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! When installing the drive ensure optimal airﬂow by observing all clearance distances in the drive's user manual. Do not expose the drive to excessive: vibration, temperature, humidity, sunlight, dust, pollutants, corrosive chemicals or other hazardous environments.

1 RG-MCMOD

1.1.4 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 in accordance with the appropriate regulations (e.g. cable cross-sections, fuses, PE connection). Additional information can be obtained from the regulatory documentation.

The regulatory 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.

1.1.5 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.

Safety Information

DANGER!

• After the controller has been disconnected from the supply voltage, do not touch the live components and power

connection until the capacitors have discharged. Please observe the corresponding notes on the controller.

• Do not continuously cycle input power to the controller more than once every three minutes.

• 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.

Table 1: Pictographs used in these instructions

Pictograph Signal word Meaning Consequences if ignored

DANGER!

WARNING!

STOP!

NOTE

Warning of Hazardous Electrical

Voltage.

Impending or possible danger

for persons

Possible damage to equipment Damage to drive system or its surroundings

Useful tip: If observed, it will

make using the drive easier

Reference to an imminent danger that may

result in death or serious personal injury if the

corresponding measures are not taken.

Death or injury

1.2 Reference and Links

MC Series Variable Frequency Drives visit: http://www.lenze-actech.com

Modbus-IDA visit: http://www.modbus-IDA.org

RG-MCMOD 2

2 Introduction

This document deﬁnes the speciﬁcs required for Modbus serial communication with a Lenze-AC Tech standard MC 1000 or MC 3000 Series drive for control, status monitoring, and programming parameters. A familiarity with normal drive capabilities and operations is assumed. If this is not the case, refer to the MC Series Installation and Operation manual (M101 or M301, respectively) for more information.

2.1 Modbus Details

A. AC Tech Drives running the Modbus communication protocol use the RTU (Remote Terminal Unit)

transmission mode and are slaves only. Therefore, the device communicating with the drives must be a Modbus Master. The baud rate is 9600, no parity (two stop bits). The bit sequence is:

Start bit 1 2 3 4 5 6 7 8 Stop bit Stop bit

B. At this time the AC Tech drives do not support the broadcast function of the protocol.

C. IMPORTANT NOTE: Modbus 3X and 4X Registers are numbered starting at 1. However, when

transmitted to a slave over the serial link, the actual address transmitted is one less. This is because the addresses are numbered starting from 0. AC Tech register numbers are also numbered starting from 0. Therefore, AC Tech register numbers always correspond exactly with the address transmitted. As a result, MODBUS REGISTER NUMBERS ARE ALWAYS ONE GREATER THAN AC TECH REGISTER NUMBERS. WHENEVER THE WORDS “REGISTER #xx” APPEAR, IT SHOULD BE ASSUMED THAT THEY MEAN “AC TECH REGISTER xx” and the Modbus Register number will be one larger. In some instances we may show both for clarity. For example: “Register #24 (Modbus Register #25) . . .”

Introduction

DATA

D. The function codes supported by AC Tech drives are:

03 Read Holding Registers (4X references). In general we can read only one register at a time. However,

there are a few limited exceptions.

Exception One: Register #24 - 29 (Modbus Register #25 - 30) can also be read as a group of 6 words.

Exception Two: AC Tech uses a method of reading a group of related registers that may not be consecutive within the drive memory map. When this is done for the registers below, the response from the drive will be for the number of words requested but will not be with consecutive registers.

04 Read Input Registers (3X references). As with function 03, we read one register at a time except

where noted.

06 Preset Single Register (4X references). Write single register.

3 RG-MCMOD

Introduction

16 Preset Multiple Registers (4X references). Although the function is for multiple registers, we will

accept only a single register to be written.

Note: Since we do not differentiate between 4X and 3X references, function codes 03 and 04 are treated identically.

E. Exception codes:

01 - Command rejected, Illegal function

02 - No such register

03 - Data out of range

04 - Wrong data format

06 - Slave device busy. In Keypad Programming mode, cannot write registers.

F. The AC Tech drive will most nearly conform to the Modicon® Micro 84 in capabilities. This may be of

importance when conﬁguring networks for DDE Servers.

G. Modbus® and Modicon® are registered trademarks of Schneider Electric. For more information about

the Modbus Protocol please refer to the Modicon Modbus Protocol Reference Guide. Web resources: http://www.Modbus-IDA.org and http://www.schneider-electric.com.

2.2 Universal Registers

Lenze-AC Tech manufactures several drive families. Currently the QC, MC, MCH, SC, TC, Series drives support Modbus based communications. Since each drive family has different parameters and size ranges, the parameter (register) deﬁnitions are in many cases quite different. In order to facilitate communication in a network with a mix of drive types, certain AC Tech Register locations have been made universal among AC Tech drives. While their locations are consistent, their contents may vary as deﬁned in Table 2.

AC Tech Reg # Function

1 Drive Control (WRITE ONLY). Not all drives will have all control functions but when the function is

available it will be at a deﬁned bit location within Register #1. Drive Family and register Conﬁguration Number dependent.

19 Drive Family (READ ONLY) This register is CONSISTENT AMONG ALL AC TECH DRIVES:

- 64 -- QC family - 67 -- - 70 -- TC family

- 65 -- MC family - 68 -- MCH family - 71 --

- 66 -- SC family - 69 --

21 Drive Size (READ ONLY). Code to identify Power (HP/KW) and Line Voltage of the drive. Family

dependent. For the MC series drive size refer to section 5.3.

24 Drive Status (READ ONLY). Various operational variables.

48 Unlock Control (WRITE ONLY).

49 Unlock Writing of registers (WRITE ONLY).

50 Parameter Conﬁguration Number (READ ONLY).

Table 2: Contents of Universal Registers

Tmd

smd

family - 72 -- SMV family

family

smd, Tmd

and SMV

RG-MCMOD 4

Data & Register Format

3 Data Representation - Internal and External

3.1 Register Format

All registers are 16 bits. The data within these registers can take on the following forms:

• Individual bit commands (16 per register). Example: Register #1 (Modbus Register #2).

• Individual bit ﬂags (16 per register).

• A chain of two 8 bit unsigned integers.

• A 16 bit unsigned integer.

This unsigned integer could represent many different types of data with various scaling rules and units, which are deﬁned by the DATA TYPE of the register.

3.2 Data Types

Data passed in registers across the Modbus communications link are always in INTERNAL units. The drive itself may show the information in alternate DISPLAYED units. For Example: drive speeds are always stored internally as hundredths of a Hz but the drive may display that speed in terms of RPM's using programmed conversion factors. Table 3 lists examples of the internal units used on the MC series.

The data type "PID" requires further explanation. The internal range of any data of PID type is 0 to 32736. Many variables can be controlled in a PID system (pressure, temperature, ﬂow, etc.). To simplify drive calculation, the drive programmer enters the type and range of the controlled variable (actually it is the range of the feedback device that we are scaling) and this range is mapped to the internal range (0-32736). If the feedback device measured 0 to 200 PSI, then 0 PSI is 0 internal units, and 200 PSI is 32736 internal units. To command a setpoint of 100 PSI the LOCAL PID command (Register #41) can be written with the value 16368 (32736*100/200). Thus to control PID operations using real world units, the Modbus Master must have knowledge of the range of the feedback device.

3.3 AC Tech Drive Registers

Registers #0 - #50: (Modbus Reg #1 - #51) Reserved for conﬁguration and control Registers #51 - #260 (Modbus Reg #52 - #261) Reserved for drive's programming mode parameters Programming Mode Parameters are the parameters accessible from the local keypad on the drive. There is a direct correspondence between the MC Drive Programming Mode Parameter number and the AC Tech Register number (and consequently, the Modbus register number):

AC Tech Register # = (MC Programming Parameter #) + 51 Modbus Register # = (MC Programming Parameter #) + 52

Table 3: MC Series Internal Units

Type Unit Example

SPEED .01 Hz 60.00 Hz = 6000 TIME .1 Sec 30.0 Sec = 300

The Table 6 entries are based on MC Drive Software # 213-083 Revision 13 (Parameter Conﬁgurations = 188, 189 & 190). If a later revision of software were to change register deﬁnitions, drive operation could be seriously affected. Examine Register #50 (Parameter Conﬁguration Number) for revision. The number displayed at power up on drive display also identiﬁes it. If it is not 188, 189 or 190, writing to any register on the drive MUST NOT BE ATTEMPTED

unless your Controller has been setup to support the new conﬁguration.

5 RG-MCMOD

Drive Setup & Operation

4 MC Drive Setup & Operation

4.1 Serial Address

All AC Tech drives have a Serial Address Parameter that must be programmed prior to attempting to operate the serial interface (Programming Parameter #58 / AC Tech Register #109).

TIP - Avoid using address 1. Most Modbus devices ship with a default address of 1. As duplicate addressing on a Modbus network is not allowed, this can lead to conﬂicts when replacing and commissioning nodes. To avoid this it is recommended that you do not set the slave address to 1.

4.2 Serial Communications Parameter

All AC Tech drives have a Serial Communications Parameter that governs the operation of the Serial Link. On MC drives this is #57 SERIAL LINK (register #108). Table 4 lists the selections for MC Parameter 57, SERIAL LINK.

Table 4: MC Parameter 57 Selections

Setting Description Watchdog Timeout Period

00 DISABLE

01 WITH TIMER 10 sec

02 WITHOUT TIMER

Explanation of Terms:

• DISABLED serial link not operational

• WITH TIMER serial link allows reading & writing of both control & programming parameters.

• WITHOUT TIMER serial link allows reading & writing of both control & programming parameters.

Prior to attempting to communicate with the drive, Serial Communications Parameter must be appropriately programmed.

4.3 Control Parameter

The Control Parameter on MC drives (Programming Parameter #30 / AC Tech Register #81) determines how much control a user has over a drive via the serial link. The Control Parameter must be appropriately programmed for a particular application. Refer to the MC Series Installation and Operation Manual (M101 or M301, respectively) for a detailed explanation on programming the drive parameters.

TIP - For most serial applications, CONTROL is set to LOCAL on the MC1000 and SERIAL on the MC3000. Refer to Table 5 for Control settings.

Watchdog timer is enabled (refer to section 4.6,

Watchdog timer is disabled (refer to section 4.6,

Watchdog Timer

RG-MCMOD 6

Drive Setup & Operation

MC1000 MC3000

Setting Description Setting Description

00 LOCAL (default) 00 LOCAL (default)

01 REMOTE 01 REMOTE

02 BOTH 02 SERIAL

All control options are subject to the Parameter and Control Locking/Unlocking procedures.

4.4 Unlocking & Locking Controls

Registers #48 and #1 are used in Unlocking and Locking Controls.

• A write to Register #48 (Unlock Controls) with a value of 0 will unlock controls. This enables the writing of Register #1 – the Drive Control Register.

Table 5: Control (Parameter #30)

03 KEYPAD

04 TB STRIP

05 KEYPAD 2

• If Register #48 (Unlock Controls) is written with a value that is the Drive’s Programming Password, then in addition to Register #1(Drive Control), writing to all other writeable registers is enabled (e.g.: register #52 -- Preset Speed #1). The factory default password for MC series drives is 19.

• Once Register #48 (Unlock Controls) has been written, Controls are unlocked until the Lock Security ﬂag (Bit 1 of Register#1) has been set or until a Watchdog Timeout occurs.

• Writing to Register #1 (Drive Control) with bit 1 set will Lock both Controls and Parameters (prevents writing to any register).

• The serial drive control can only be unlocked when the drive is not in programming mode.

• When LOCK is asserted, the drive drops out of SERIAL control and reverts back to the previous source

of control.

• Even though drive might be locked, and thus parameters and control cannot be written, parameters and status can always be read. Refer to section 4.7,

Monitoring Only Operation

4.5 Unlocking & Locking Programming Parameters only

Registers #49 and #1 are used in Unlocking and Locking Programming Parameters.

• Writing to any writeable register other than #1 can be enabled by writing the Drive’s Programming Password to Register #49 (Unlock Parameters). This would be done when Drive Control (start, forward/ reverse, keypad speed control, etc.) is not required.

• The Factory Default password is 19.

• Once Register #49 (Unlock Parameters) has been written, the writing of parameter registers is enabled

until Bit 1 of Register #1 has been set.

7 RG-MCMOD

4.6 Watchdog Timer

All AC Tech drives are equipped with a Serial Link “Watchdog Timer”. If the Modbus Master wishes to control the drive (start, stop, forward, reverse, etc.) it must ﬁrst “Unlock Controls” (refer to section 5.10). If the Watchdog Timer is enabled and controls have been unlocked, the Master MUST PERIODICALLY COMMUNICATE with the drive or the timer will timeout. The timeout period is ﬁxed at 10 seconds. It is recommended that the drive be polled at least once every 5 seconds. Register #24 can be used for this purpose.

The action of a Watchdog timeout depends on the setting of the CONTROL parameter. If the CONTROL parameter is set for:

− LOCAL : the drive will stop when a serial timeout occurs.

− KEYPAD 2 (LOCAL contol without the need for TB-1 to run): the drive will stop when a serial timeout occurs.

− REMOTE: serial timeout will not work since the drive cannot be unlocked in REMOTE mode.

− MC1000/3000 drives STOP when a serial timeout occurs. There is no fault for this. Any time CONTROL is changed from LOCAL to REMOTE the drive STOPS immediately.

Drive Setup & Operation

The Watchdog Timer does not operate unless Controls have been UNLOCKED via Register #48, or Parameter writing has been unlocked via Register #49. In the case of unlocking parameters only, the watchdog timer will disable write permissions but will otherwise continue with normal operation.

Watchdog Timer Controls

− For some applications, it is inappropriate to shut down the drive because of a Watchdog Timeout. Therefore, we have provided a means of disabling the Watchdog using Programming Parameter #57 (SERIAL LINK):

Programming Parameter #57 controls both the enabling of the serial link and the Watchdog. By setting Parameter #57 to WITH TIMER enables the serial link WITH the Watchdog. Conversely, setting Parameter #57 to WITHOUT TIMER enables the serial link WITHOUT the Watchdog.

− A Watchdog failure can be recognized by reading the drive status (AC Tech Registers #24 – 29) and looking at the control mode. If it has reverted from SERIAL to LOCAL without the Modbus Master commanding it via Register #1 bit 1 (LOCK) then a watchdog failure has occurred. Serial Control can be reestablished by writing another unlock message to Register #48.

− If the Watchdog Timer has been disabled, the Unlock Control Register #48 or Unlock Writing Register #49 must still be asserted in order to write to Register #1 (Drive Control) or to any of the programming parameters (in case of unlocking writing). However, there are no longer any constraints on how often the Master must communicate with the drive.

RG-MCMOD 8

Drive Setup & Operation

4.7 Monitoring Only Operation

1. Power up drive with serial enabled.

2. Simply read AC Tech Register #24 (Modbus Register #25) or any other readable register.

3. No unlocking or watchdog issues apply for monitoring.

4.8 Normal Control Operation Sequence

1. Power up drive with serial enabled.

2. Unlock control by writing a zero to Register #48.

3. Control drive operation via various commands to Register #1 (Start, Stop, Reverse direction, etc.).

4. If the Watchdog Timer is enabled, keep it from timing out by repeated reads of drive status (Register #24 – 6 registers) performed at reasonable intervals (typically less than 5 seconds between reads because the Watchdog typically faults at 10 seconds).

5. Lock Control when drive operations are complete by writing a 2 to Register #1 (assert bit 1 of Register #1).

6. Drive is now returned to LOCAL mode (control from the drive keypad).

4.9 Start/Stop, Speed Control and Parameter Change Operation

The typical sequence for a Start/Stop, Speed Control or Parameter Change operation is listed herein.

1. Power up drive with serial enabled.

2. Unlock Controls and Parameters by writing the current programming password (default 19) to Register #48.

3. Put drive in MANUAL mode so that it responds to speed commands from the Keypad Speed Command register. This is done by sending 0200 hex to Register #1 (bit 9 asserted).

4. Control Drive Operation via various commands to Register #1 (Start, Stop, Reverse direction, etc.).

5. Control Drive Speed by writing the Speed Commands to Register #40 (Keypad Speed Command).

6. Change the programming parameters (e.g., change the acceleration rate by writing new acceleration rate to register #59)

7. If the Watchdog Timer is enabled, keep it from timing out by insuring that repeated reads of any of the registers are performed at reasonable intervals (typically less than 5 seconds between reads because the Watchdog typically faults at 10 seconds). Note: It is suggested that the drive status register (#24) be used for this function.

8. Lock Controls and Parameters when drive operations are complete by writing a 2 to Register #1 (assert bit 1 of Register #1).

9. Drive is now returned to the control method programmed in Parameter 30, CONTROL (i.e., local control from the drive keypad).

9 RG-MCMOD

Drive Control & Communication

5 MC Drive Control Registers

Table 6 describes the MC Drive Control Registers in ascending order of AC Tech Register #. The HEX representation is given in parenthesis next to the AC Tech Register # in the left-most column.

Table 6: MC Drive Control Registers

ACT# (HEX

representation)

1 (01) Drive Control

19 (13) Drive Family

21 (15) Drive Size

Drive Status

24 (18)

24 (18) Command Speed

25 (19) Actual Speed

26 (1A)

27 (1B)

28 (1C)

29 (1D)

30 (1E) Motor Voltage

36 (24) Total Run Time Hours

37 (25) Total Run Time Minutes

38 (26)

39 (27)

40 (28) Keypad Speed Command

(6 register read) (reg. #24 to 29)

Load (DH) / Status (DL)

Actual Direction (DH) / Control Mode (DL)

Speed Source (DH) / Speed Reference (DL)

Fault (DH) / Commanded Direction (DL)

PID Setpoint (MC1000 w/PID, MC3000)

PID Feedback (MC1000 w/PID, MC3000)

R/W/RS

MESSAGE MIN MAX UNITS

W SA 06 00 01 DH DL CRCH CRCL

RS SA 06 00 01 DH DL CRCH CRCL

R SA 03 00 13 00 01 CRCH CRCL

RS SA 03 02 00 41 CRCH CRCL

R SA 03 00 15 00 01 CRCH CRCL

RS SA 03 02 00 00 CRCH CRCL

R SA 03 00 18 00 06 CRCH CRCL

RS SA 03 0C D1H D1L D2H D2L

D3H D3L D4H D4L

D5H D5L D6H D6L

CRCH CRCL

R SA 03 00 18 00 01 CRCH CRCL

RS SA 03 02 DH DL CRCH CRCL

R SA 03 00 19 00 01 CRCH CRCL

RS SA 03 02 DH DL CRCH CRCL

R SA 03 00 1A 00 01 CRCH CRCL

RS SA 03 02 DH DL CRCH CRCL

R SA 03 00 1B 00 01 CRCH CRCL

RS SA 03 02 DH DL CRCH CRCL

R SA 03 00 1C 00 01 CRCH CRCL

RS SA 03 02 DH DL CRCH CRCL

R SA 03 00 1D 00 01 CRCH CRCL

RS SA 03 02 DH DL CRCH CRCL

R SA 03 00 1E 00 01 CRCH CRCL

RS SA 03 02 DH DL CRCH CRCL

R SA 03 00 24 00 01 CRCH CRCL

RS SA 03 02 DH DL CRCH CRCL

R SA 03 00 25 00 01 CRCH CRCL

RS SA 03 02 DH DL CRCH CRCL

R SA 03 00 26 00 01 CRCH CRCL

RS SA 03 02 DH DL CRCH CRCL

R SA 03 00 27 00 01 CRCH CRCL

RS SA 03 02 DH DL CRCH CRCL

R SA 03 00 28 00 01 CRCH CRCL

RS SA 03 02 DH DL CRCH CRCL

W SA 06 00 28 DH DL CRCH CRCL

RS SA 06 00 28 DH DL CRCH CRCL

[NOTE]

Section

Refer to Section 5.2 [1]

Refer to Section 5.2 [2]

Refer to Section 5.3

Refer to Section 5.4

0 2400 0.1 Hz

Refer to Section 5.4.1/2

Refer to Section 5.4.3/4

Refer to Section 5.4.5/6

Refer to Section 5.4.7/8

0 999 V 5.5

Refer to Section 5.7

Refer to Section 5.8

0 65000 0.01 Hz 5.6

[3a] [3b] [3c]

RG-MCMOD 10

Drive Control & Communication

ACT# (HEX

representation)

41 (29)

48 (30) Unlock Commands

49 (31) Unlock Parameters

50 (32) Register Version

Local PID Command (MC1000 w/PID, MC3000)

5.1 Abbreviations

Table 7 lists the abbreviations used in Table 6 MCH Drive Control Registers:

R/W/RS

R SA 03 00 29 00 01 CRCH CRCL

RS SA 03 02 DH DL CRCH CRCL

W SA 06 00 29 DH DL CRCH CRCL

RS SA 06 00 29 DH DL CRCH CRCL

W SA 06 00 30 DH DL CRCH CRCL

RS SA 06 00 30 DH DL CRCH CRCL

W SA 06 00 31 DH DL CRCH CRCL

RS SA 06 00 31 DH DL CRCH CRCL

R SA 03 00 32 00 01 CRCH CRCL

RS SA 03 02 DH DL CRCH CRCL

MESSAGE MIN MAX UNITS

Refer to Section 5.8

0 9999 None 5.10

0 9999 None 5.11

0 65535 None 5.12

Table 7: Abbreviations

Abbreviation Description

R Read

W Write

RS Response

SA Slave Address (typically 01 through F7 hex)

CRCH CRC High byte

CRCL CRC Low byte

DH Data High byte

DL Data Low byte

ACT# AC Tech Register # (Modbus Register numbers are 1 larger)

[NOTE]

Section

11 RG-MCMOD

Drive Control & Communication

5.2 Drive Control - Register #1

Table 8 illustrates the Data format of Register #1, Drive Control.

Table 8: Drive Control - Register #1

Bit Command

0 UPDATE BUFFERS

1 LOCK SECURITY

2 STOP DRIVE

3 START DRIVE

4 UNUSED

5 UNUSED

Data Low Byte

6 SET REVERSE

7 SET FORWARD

8 AUTO MODE

9 MANUAL MODE

10 UNUSED

11 UNUSED

12 UNUSED

13 UNUSED

Data High Byte

14 UNUSED

15 UNUSED

The appropriate bit is set to 1. For example, to stop the drive bit two is set (send 0004H). To start the drive send 0008H. Setting update buffers bit, enables to start the drive using downloaded data. Locking security disables the serial drive control, the communications watchdog timer and prevents any further writing to control or parameter registers.

NOTE 1 - Drive Control

• During each write to Register #1 only one bit should be set in the drive control word.

• If more than 1 bit is set, the drive responds to stop bit only.

• If stop bit is not set, but more than 1 bit is set, drive responds with exception 04.

NOTE 2 - Drive Family

• The QC and DL Series drives return 64 (40H)

• The MC Series drives return 65 (41H)

• The SC Series drives return 66 (42H)

• The MCH Series drives return 68 (44H)

• The

smd

Series drives return 69 (45H)

• The TC Series drives return 70 (46H)

• The

Tmd

Series drives return 71 (47H)

• The SMV Series drives return 72 (48H)

RG-MCMOD 12

Drive Control & Communication

5.3 Drive Size - Register #21

Table 9 lists the MC1000 and MC3000 Series drives. Register 21 will contain the value in the "Size" column.

Size HP Voltage Size HP Voltage

Table 9: Drive Size - Register #21

0 0.25 120 29 2 590

1 0.25 240 30 3 590

2 0.5 240 31 5 590

3 1 240 32 7.5 590

4 1.5 240 33 10 590

5 2 240 34 15 590

6 3 240 35 20 590

7 5 240 36 25 590

8 7.5 240 37 30 590

9 10 240 38 40 590

10 15 240 39 50 590

11 20 240 40 60 590

12 25 240 41 75 590

13 50 480 42 100 590

14 60 480 43 125 590

15 1 480 44 150 590

16 1.5 480 45 200 590

17 2 480 46 75 480

18 3 480 47 100 480

19 5 480 48 125 480

20 7.5 480 49 150 480

21 10 480 50 200 480

22 15 480 51 30 240

23 20 480 52 40 240

24 25 480 53 50 240

25 30 480 54 60 240

26 40 480 55 75 240

27 1 590 56 100 240

28 1.5 590 57 N/A N/A

13 RG-MCMOD

Drive Control & Communication

5.4 Drive Status - Registers #24-29

5.4.1 Reading Register #24

When reading register #24, the number of wordscan either be 1 or 6. This is an exception to the rule of being able to read only one register at a time. If 6 words are requested at register #24, the following will be returned:

Table 10: 6 Register read at #24

Parameter Data Byte

Command Speed D1H D1L

Actual Speed D2H D2L

Load D3H

Operation Status D3L

Rotational Direction D4H

Control Mode D4L

Speed Command Source D5H

Speed Reference D5L

Present Fault D6H

Command Rotation D6L

NOTE 3a - Command Speed (Bytes D1H and D1L or Register #24)

• In hundredths of a Hz

• Most signiﬁcant byte is ﬁrst, followed by Least signiﬁcant

• Example: 02 01 in hex converts to 5.13Hz in decimal.

NOTE 3b - Actual Speed (Bytes D2H and D2L or Register #25)

• In hundredths of a Hz

• Most signiﬁcant byte is ﬁrst, followed by Least signiﬁcant

NOTE 3c - Load (Bytes D3H or Register #26 DH)

• In percent of full load

• Example: 64 (one byte in hex) ==> 100 in decimal ==> 100% (drive load).

RG-MCMOD 14

Drive Control & Communication

5.4.2 Operational Status - Registers #24 & 26

Table 11 lists the Operational Status (byte D3L)

Table 11: Operational Status - Register #26

Setting Parameter

0 FAULT LOCKOUT

1 FAULT

2 START PENDING

3 STOP

4 DC BRAKE

5 RUN AT 0Hz

6 RUN

7 ACCEL

8 DECEL

9 CURRENT LIMIT

10 DECEL OVERRIDE

11 LOWER TRANSISTORS SWITCHING ON

12 SLEEP

5.4.3 Actual Rotational Direction - Registers #24 & 27

Table 12 lists the Actual Rotational Direction (Register #24 byte D4H or Register #27 DH).

Table 12: Actual Rotational Direction

Setting Direction

0 FORWARD

1 REVERSE

5.4.4 Control Mode - Registers #24 & 27

Table 13 lists the Control Mode (Register #24 byte D4L or Register #27 DL).

Table 13: Control Mode

Setting Control Operation

0 LOCAL Start/Stop operation controlled from drive's keypad

1 REMOTE Start/Stop operation controlled from the drive's terminal strip

2 SERIAL Start/Stop operation controlled via serial link

15 RG-MCMOD

Drive Control & Communication

5.4.5 Speed Command Source - Registers #24 & 28

Table 14 lists the Speed Command Source (Register #24 byte D5H or Register #28 DH).

Table 14: Speed Command Source

Setting Source

0 KEYPAD

1 0 – 10VDC

2 4 – 20mA

3 PRESET 1

4 PRESET 2

5 PRESET 3

6 PRESET 4

7 MOP

8 RESERVED

9 KEYPAD SPEED (PID enabled)

10 PID KEYPAD SETPOINT

11 0-10 VDC PID SETPOINT

12 4-20mA PID SETPOINT

5.4.6 Speed Reference - Registers #24 & 28

Table 15 lists the Speed Reference Control (Register #24 byte D5L or Register #28 DL).

Table 15: Speed Reference Control

Setting Control

0 AUTO

1 MANUAL

RG-MCMOD 16

Drive Control & Communication

5.4.7 Present Fault - Registers #24 & 29

Table 16 lists the Present Fault (Register #24 byte D6H or Register #29 DH)

Setting Fault Display

0 NO FAULT

1 OUTPUT (TRANSISTOR) FAULT OUTPUT

2 Reserved

3 HIGH DC BUS VOLTAGE HI VOLTS

4 HIGH DRIVE TEMPERATURE HI TEMP

5 THERMAL OVERLOAD OVERLOAD

6 Reserved

7 LOW DC BUS VOLTAGE LO VOLTS

8 Reserved

9 DC BRAKE ERROR DB ERROR

10 FOLLOWER LOSS FLWR/SER

11 DYNAMIC BRAKE OVERLOAD DB ERROR

12 POWER SAG PWR SAG

13 CONTROL FAULT CONTROL

14 LANGUAGE FAULT LANGUAGE

15 EXTERNAL FAULT EXTERNAL

16 INTERNAL 16 INTERNAL

17 POWER TRANSIENT PWR TRAN

18 INTERNAL ERROR #18 INTERN #18

19 INTERNAL ERROR #19 INTERN #19

20 INTERNAL ERROR #20 INTERN #20

21 INTERNAL ERROR #21 INTERN #21

22 INTERNAL ERROR #22 INTERN #22

23 INTERNAL ERROR #23 INTERN #23

Table 16: Present Fault

5.4.8 Commanded Rotational Direction - Registers #24 & 29

Table 17 lists the Commanded Rotational Direction (Register #24 byte D6L or Register #29 DL)

Table 17: Commanded Rotational Direction

Setting Direction

0 FORWARD

1 REVERSE

5.5 Motor Volts - Register #30

Output Voltage to the motor expressed in volts. This is the effective output voltage to the motor. It is not the same as the incoming voltage to the drive from the line.

17 RG-MCMOD

Drive Control & Communication

5.6 Keypad Speed - Register #40

This register enables the user to set the keypad speed to desired value.

• Range is 0 - 65000 in hundredths of a Hz

• Most signiﬁcant byte is ﬁrst, followed by Least signiﬁcant

• CONTROL OF THE DRIVE SPEED VIA THE SERIAL LINK IS NORMALLY DONE USING THIS PARAMETER.

This register can be written only after enabling serial drive control.

5.7 Total Run Time - Registers #36 & 37 (MC3000 only)

5.8 PID Commands - Registers #38, 39, 41 & 43

Registers #38 (PID Setpoint Command), #39 (PID Feedback Value), #41 (Local PID Setpoint Command) and #43 (Serial PID Command) are all in drive internal units with a range of 0 to 32736. The real world parameter being controlled is mapped into this internal range based on the feedback device for the parameter being measured and controlled.

For Example, if the device measures temperature in °C with a range of 10°C to +110°C, then 10°C maps to 0 in internal units and 110 maps to 32736. A setpoint of 30 °C for the Local PID Setpoint (Register #41) would be written with a value of 6547 (1993 hex). (32736 * {30 – 10} / {110 – 10}).

5.10 Unlock Commands - Register #48

Register #48 (Unlock Commands) unlocks commands by using 0000 for the password. If the correct Programming mode password is entered then the appropriate programming parameters can also be accessed (refer to the full parameter protocol speciﬁcation if access to programming parameters is required). Enabling commands also activates the drive Watchdog timer if programming parameter #15 (Serial) is set to W/TIMER (it uses a ﬁxed 10 seconds timeout). If the drive sees no activity within the update time period it will stop the drive. Whenever a communications session (where #48 or #49was activated) is to be ended, register #1 bit 1 (Lock Security) must be asserted. This disables the watchdog and prevents further accesses to registers. Note: Terminal TB1 must be closed in order to unlock serial control.

5.11 Unlock Parameters - Register #49

Register #49 (Unlock Parameters) unlocks programming parameters for writing when the proper Programming Password is entered. Whenever a parameter writing session (where #49 was activated) is to be ended, register #1 bit 1 (Lock Security) must be asserted. This disables the watchdog and prevents further write access to Parameter Registers.

RG-MCMOD 18

Drive Control & Communication

5.12 Register Version

Register Version is the number to identify if current version of software has any register changes relative to previous versions: a register has been added or deleted, a register’s min/max limits have changed, a register’s function has been changed, or a register’s default value has been changed. Generally it is the programming parameters that are changed. Typically the Control Registers (AC TECH Register #1 through #50) are quite stable.

19 RG-MCMOD

Drive Control & Communication

6 MC Programming Parameters

6.1 Format

NOTE - Attention

Parameter list presented in Section 6.2 is valid only for MC Software revision 213-083. For revisions, refer to appropriate MC1000 (M101) or MC3000 (M301) Manual.

Abbreviations:

SA (1byte) drive address (1-247) RA (1byte) register address CRCH (1 byte) Cyclic Redundancy Check High CRCL (1 byte) Cyclic Redundancy Check L

READING:

Message structure for reading 1 word: (most of parameters)

Request: SA 03 00 RA 00 01 CRCH CRCL Response: SA 03 02 DH DL CRCH CRCL

Message structure for reading 4 word: (Reg. #100 Fault history and #101 Software Version)

Request: SA 03 00 RA 00 04 CRCH CRCL Response: SA 03 08 D1H D1L D2H D2L D3H D3L D4H D4L CRCH CRCL

WRITING:

Message structure for writing 1 word: (all parameters)

Request: SA 06 00 RA DH DL CRCH CRCL Response: SA 06 00 RA DH DL CRCH CRCL

LEGEND for Parameter List

1st Column: AC Tech Register # MC Register # followed by Hex value in parenthesis: 51 (33H)

2nd Column: Parameter

= Drive's programming parameter number

= MC1000 without PID (SW version 213-083, revision 13 or older)

= MC1000 with PID

= MC3000

4th Column: Range of Adjustment The Modbus values are whole numbers. One decimal place is

assumed. A superscript 5 denotes parameter where two decimal places are assumed. For example, to program a value of 28.20 Hz, the user can program

28.20 into the MC drive and the drive will display 28.20 but for Modbus communications, the user must input 2820. The one decimal place is assumed. If the user wanted a value of 282 Hz, then for Modbus communications he would have to input 28200.

5th Column: Default Value

= Two decimal places assumed (hundredths)

RG-MCMOD 20

Drive Control & Communication

6.2 Parameter List

AC Tech Register

Parameter Name Range of Adjustment

Modbus value (decimal value)

Factory Default

Number (hexadecimal representation)

51 (33) 0 LINE VOLTS 00 - High

Parameter

02 - Auto 01 - Low 02 - Auto

52 (34) 1 SPEED #1 Min. Freq - Max. Freq (0.00 - 120.00 Hz) 2000 (20.00 Hz)

53 (35) 2 SPEED #2 Min. Freq - Max. Freq 2000 (20.00 Hz)

54 (36) 3 SPEED #3 Min. Freq - Max. Freq 2000 (20.00 Hz)

55 (37) 4 SPEED #4 Min. Freq - Max. Freq 2000 (20.00 Hz)

56 (38) 5 SKIP #1 MC1: 0 - 65000 (.00 - 650.00 Hz)

0 (.00 Hz)

MC3: 0 - Max Freq (.00 Hz - Max. Freq)

57 (39) 6 SKIP #2 MC1: 0 - 65000 (.00 - 650.00 Hz);

0 (.00 Hz)

MC3: .0 - Max Freq (00 Hz - Max. Freq)

58 (3A) 7 BAND WID 0 - 1000 (.00 - 10.00 Hz) 100 (1.00 Hz)

59 (3B) 8 ACCEL Refer to Note 4 300 (30.0 sec)

60 (3C) 9 DECEL Refer to Note 5 300 (30.0 sec)

61 (3D) 10 MIN FREQ 0 - Max Frequency (0.00 - 120.00 Hz) 50 (.50 Hz)

62 (3E) 11 MAX FREQ Min Frequency - 12000 (120.00 Hz) Note 6 6000 (60.00 Hz)

63 (3F) 12 DC BRAKE Refer to Note 7 0 (.0 VDC)

64 (40) 13 DC TIME 0 - 9999 (.0 - 999.9 sec) 0 (.0 sec)

65 (41) 14 DYN BRAKE 00 - Off

00 - Off 01 - On

67 (43) 16 CURRENT 25 - 180 (25 - 180%), Refer to Note 8 180 (180%)

68 (44) 17 MOTOR OL 25 - 100 (25 - 100%) 100 (100%)

69 (45) 18 BASE 2000 - 36000 (20.00 - 360.0 Hz) 6000 (60.00 Hz)

70 (46) 19 FX BOOST 0 - 300 (0.0 - 30.0%) Refer to Note 9

71 (47) 20

72 (48) 21

73 (49) 22 TORQUE 00 - Contant

2,3

AC BOOST 0 - 200 (0.0 - 20.0%) 0 (.0%)

2,3

SLIP CMP 0 - 50 (0.0 - 5.0%) 0 (.0%)

00 - Constant 01 - Variable 02 - CT/NOCMP

74 (4A) 23 CARRIER 00 - 2.5 kHz

00 - 2.5 kHz 01 - 6 kHz 02 - 8 kHz 03 - 10 kHz 04 - 12 kHz 05 - 14 kHz

1 = Drive's programming parameter number; 2 = MC1000 without PID (SW ver 213-083, rev 13 or older); 3 = MC1000 with PID; 4 = MC3000; 5 = Hundredths place

21 RG-MCMOD

Drive Control & Communication

AC Tech Register

Parameter Name Range of Adjustment

Modbus value (decimal value)

Number (hexadecimal representation)

76 (4C) 25

Parameter

2,3

START 00 - Normal

01 - Power-Up 02 - Auto Re03 - Re-Brake

76 (4C) 25

START 00 - Normal

01 - Power-Up 02 - Auto 1 03 - Auto 2 04 - Auto 3

77 (4D) 26 STOP 00 - Ramp

01 - Coast

2,3

78 (4E) 27

ROTATION 00 - Forward

01 - Reverse 02 - FWD & REV 03 - FWD@LOC

2,3

79 (4F) 28

AUTO/MAN 00 - Both

01 - Auto 02 - Manual

79 (4F) 28

AUTO/MAN 00 - A/M LOC

01 - Auto 02 - Manual 03 - A/M SPD

2,3

80 (50) 29

MANUAL 00 - Keypad

01 - 0-10 VDC

81 (51) 30

2,3

CONTROL 00 - Local

01 - Remote 02 - Both

81 (51) 30

CONTROL 00 - Local

01 - Remote 02 - Serial 03 - Keypad 04 - TB Strip 05 - Keypad

82 (52) 31

HZ UNITS 00 - Hertz

01 - RPM 02 - % Hz 03 - /SEC 04 - /MIN 05 - /HR 06 - GPH 07 - None

Factory Default

00 - Normal

01 - Coast

00 - Forward

00 - Both

00 - A/M LOC

00 - Keypad

00 - Local

00 - Hertz

1 = Drive's programming parameter number; 2 = MC1000 without PID (SW ver 213-083, rev 13 or older); 3 = MC1000 with PID; 4 = MC3000

RG-MCMOD 22

Drive Control & Communication

AC Tech Register

Parameter Name Range of Adjustment

Modbus value (decimal value)

Factory Default

Number (hexadecimal representation)

82 (52) 31

83 (53) 32 HZ MULT 10 - 65000 (.10 - 650.00) 100 (1.00)

84 (54) 33 SPEED DP 00 - XXXXX

Parameter

3,4

UNITS

Speed:

00 - Hertz 01 - RPM 02 - % Hz 03 - /SEC 04 - /MIN

05 - /HR 06 - GPH 07 - None

PID:

08 - % 09 - PSI 10 - FPM 11 - CFM 12 - GPM 13 - IN 14 - FT

00 - Hertz

15 - /SEC 16 - /MIN 17 - /HR 18 - F 19 - C 20 - MPM 21 - GPH

00 - XXXXX 01 - XXX.X 02 - XX.XX 03 - X.XXX 04 - .XXXX

84 (54) 33 UNITS DP 00 - XXXXX

00 - XXXXX 01 - XXX.X 02 - XX.XX 03 - X.XXX 04 - .XXXX

85 (55) 34 LOAD MLT 95 - 139 (95 - 139%) 100 (100%)

86 (56) 35 CONTRAST 00 - Low

02 - High 01 - Medium 02 - High

87 (57) 36 SLEEP TH 0 - 36000 (.00 - 360.00 Hz) 0 (0.00)

88 (58) 37 SLEEP DL 0 - 3000 (.00 - 30.00 Hz) 3000 (30.00)

89 (59) 38

3,4

SLEEP BW 0 - PID Feedback Range 0 (0.0)

90 (5A) 39 TB5 MIN 0 - 36000 (.00 - 360.00 Hz) 0 (.00 Hz)

91 (5B) 40 TB5 MAX 0 - 36000 (.00 - 360.00 Hz) 0 (.00 Hz)

92 (5C) 41 AIN FLTR 1 - 1000 (0.01 - 10.00 sec) 2 (0.02 sec)

93 (5D) 42 TB10A OUT 00 - None

00 - None

01 - 0 - 10 VDC 02 - 2 - 10 VDC

94 (5E) 43 @TB10A 0 - 36000 (0.00 - 360.00 Hz) 6000 (60.00 Hz)

95 (5F) 44 TB10B OUT 00 - None

00 - None 01 - 0 - 10 VDC 02 - 2 - 10 VDC

96 (60) 45 @TB10B 10 - 200 (10 - 200%) 125 (125%)

1 = Drive's programming parameter number; 2 = MC1000 without PID (SW ver 213-083, rev 13 or older); 3 = MC1000 with PID; 4 = MC3000; 5 = Hundredths place

23 RG-MCMOD

Drive Control & Communication

AC Tech Register

Parameter Name Range of Adjustment

Modbus value (decimal value)

Factory Default

Number (hexadecimal representation)

98 (62) 47 TB13A 00 - None

Parameter

00 - None 01 - 0 - 10 VDC 02 - 4 - 20 mA 03 - Speed #1 04 - Loc Sel 05 - Dec Freq

99 (63) 48

TB13B 00 - None

00 - None

2,3

01 - 0 - 10 VDC 02 - 4 - 20 mA 03 - Speed #2 04 - Inc Freq 05 - Jog Fwd 06 - Jog Rev

99 (63) 48

TB13B 00 - None

00 - None

01 - 0 - 10 VDC 02 - 4 - 20 mA 03 - Speed #2 04 - Inc Freq

100 (64) 49

2,3

TB13C 00 - None

00 - None 01 - 0 - 10 VDC 02 - 4 - 20 mA 03 - Speed #3 04 - Loc Sel 05 - Run Rev 06 - Strt Rev

100 (64) 49

TB13C 00 - None

00 - None

01 - 0 - 10 VDC 02 - 4 - 20 mA 03 - Speed #3 04 - Loc Sel 05 - Strt Rev

101 (65) 50 TB13D 00 - EXT Fault

00 - EXT Fault 01 - EXT /Fault 02 - EXT Clear

103 (67) 104 (68) 105 (69)

52 53 54

TB14OUT TB15OUT RELAY

00 - None 01 - Run 02 - Fault

00 - None

03 - /Fault 04 - Lock 05 - @ Speed 06 - Above #3 07 - I Limit 08 - Auto/Man 09 - Follower Present 10 - Reverse

1 = Drive's programming parameter number; 2 = MC1000 without PID (SW ver 213-083, rev 13 or older); 3 = MC1000 with PID; 4 = MC3000

RG-MCMOD 24

Drive Control & Communication

AC Tech Register

Parameter Name Range of Adjustment

Modbus value (decimal value)

Factory Default

Number (hexadecimal representation)

103 (67) 104 (68) 105 (69)

52 53 54

3,4

Parameter

TB14OUT TB15OUT RELAY

00 - None 01 - Run 02 - Fault 03 - /Fault 04 - Lock 05 - @ Speed 06 - Above #3 07 - I Limit 08 - Auto/Man

10 - Min/Max 11 - /Min/Max 12 - Min Alarm 13 - /Min Alarm 14 - Max Alarm 15 - /Max Alarm 16 - Reverse 17 - Sleep 18 - SPD = 0Hz

00 - None

09 - Follower Present

106 (6A) 55

3,4

TB5B LOSS 00 - Fault

00 - Fault 01 - SP#4 02 - None

108 (6C) 57 SERIAL 00 - Disable

00 - Disable 01 - w/ Timer 02 - w/o Timer

109 (6D) 58 ADDRESS 1 - 247 30

112 (70) 61 PASSWORD 0000 - 9999 0019

114 (72) 63 SOFTWARE (View Only) (N/A)

115 (73) 64 MONITOR 00 - OFF

01 - ON 01 - ON

116 (74) 65 PROGRAM 00 - Maintain

01 - Reset 60 01 - Reset 60 02 - Reset 50 Refer to Note 10

117 (75) 66 HISTORY 00 - Maintain

00 - Maintain 01 - Clear

121 (79) 70

PID MODE 00 - Off

00 - Off

3,4

01 - Normal 02 - Reverse

125 (7D) 74

PID FB 00 - TB-5A

00 - TB-5A

3,4

01 - TB-5B

3,4

126 (7E) 75

127 (7F) 76

129 (81) 78

130 (82) 79

131 (83) 80

132 (84) 81

133 (85) 82 149 (95) 69

FB @ MIN 0 - 65000 0 (0.0%)

3,4

FB @ MAX 0 - 65000 65000 (100%)

3,4

I GAIN 0 - 100 (0.0 - 10.0 sec) 0 (0.0 sec)

3,4

D GAIN 0 - 100 (0.0 - 10.0 sec) 0 (0.0 sec)

3,4

PID ACC 0 - 1000 (0.0 - 100.0 sec) 300 (30.0 sec)

3,4

MIN ALRM FB @ MIN - FB @ MAX 0.0%

3,4

MAX ALRM FB @ MIN - FB @ MAX 0.0%

LANGUAGE Refer to Note 11 English

150 (96) 70

FAULT HISTORY (View Only) (N/A)

3,4

1 = Drive's programming parameter number; 2 = MC1000 without PID (SW ver 213-083, rev 13 or older); 3 = MC1000 with PID; 4 = MC3000

25 RG-MCMOD

Drive Control & Communication

NOTE 4 - Acceleration Limits

Acceleration Limits

HP Adjustment Range

.025 - 20 1 - 36000 (0.1 - 3600 sec)

25 - 60 3 - 36000 (0.3 - 3600 sec)

NOTE 5 - Deceleration Limits

Deceleration Limits

HP Adjustment Range

240/200 VAC 480/400 VAC 590/480 VAC without dB with dB

0.25 - 7.5 1 - 7.5 3 - 36000 (0.3 - 3600 sec) 1 - 36000 (0.1 - 3600 sec)

10 - 15 10 - 20 1 - 7.5 5 - 36000 (0.5 - 3600 sec) 1 - 36000 (0.1 - 3600 sec)

20 - 30 25 - 60 10 - 20 10 - 36000 (1.0 - 3600 sec) 2 - 36000 (0.2 - 3600 sec)

25 - 60 20 - 36000 (2.0 - 3600 sec) 2 - 36000 (0.2 - 3600 sec)

NOTE 6 - MAX FREQUENCY (Register 62)

The Maximum limit is 650 Hz on drives with high frequency software.

NOTE 7 - MAX DC BRAKE VOLTAGE (Register 63)

Maximum DC Brake Voltage

Model M3100/M1100 M3200/M1200 M3400/M1400 M3500/M1500

Voltage 240/120 Vac 240/200 Vac 480/400 Vac 590/480 Vac

MAX Brake Voltage 24 V 24 V 48 V 59 V

NOTE 8 - CURRENT (Register 67)

If LINE VOLTS, Register 51, is set to LOW (or set to Auto an the input voltage is low), the range for CURRENT is 25 - 150%.

NOTE 9 - FX BOOST (Register 70)

FX BOOST Factory Default Settings

HP All Models HP 480/400 Vac

590/480 Vac

0.25 - 1 5.30% 25 1.80% 1.80%

1.5 - 2 4.40% 30 1.60% 1.60%

3 3.60% 40 1.20% 2.30%

5 3.00% 50 - 60 0.80% 2.10%

7.5 2.70% 75 2.00% N/A

10 2.40% 100 -125 1.90% N/A

15 2.20% 150 1.80% N/A

20 2.00%

240/200Vac

RG-MCMOD 26

Drive Control & Communication

NOTE 10 - PROGRAM (Register 116)

"RST HIGH" will appear as another option on drives that are conﬁgured for high frequency.

NOTE 11 - LANGUAGE (Register 150)

The MC Series drive can support other languages with the addition of an optional LANGUAGE EEPROM chip installed in socket U11 on the control board of the drive. If the EEPROM is not present, the default language will be ENGLISH. Also, this parameter is not affected when the parameters are reset using Parameter 65 - PROGRAM. Therefore, if a language other than ENGLISH is selected, it will remain in effect after a RESET.

27 RG-MCMOD

Drive Control & Communication

7 Quick Start Instructions

Follow these Quick Start instructions to use ModBus Communications for basic network control of an MC drive. These instructions are a reprint of Application Note AN0035,

using Modbus™ Communications

Tech Technical Library at http://www.lenze-actech.com.

7.1 Initial Settings

1. Set the Modbus Master to 9600 bps with 8 data bits, no parity and 2 stop bits. The MC1000/3000 series drives do NOT support any other baud rates or data formats.

2. Set Parameter 58 (ADDRESS) to the desired network address that the Modbus master will poll. Valid Modbus addresses are 1-247.

3. The MC1000/3000 series drive has the provision for a watchdog timer to monitor network communications to the drive. The timer is ﬁxed at a value of 10 seconds. If the drive is under network control and the master does not communicate with the MC1000/3000 drive for longer than the 10 second timeout period, the drive will STOP. The timer can either be enabled or disabled as outlined in the next step.

Basic Network Control of the MC Drive

. To download the MC product manual or application note visit the AC

4. Set Parameter 57 (SERIAL) to either W/TIMER or W/O TIMR as desired in order for serial communication to function.

7.2 Drive Control

1. Start/Stop Control: Please be advised that while the drive is under network control the local STOP circuit is always enabled. The drive’s control registers (i.e. start, auto/manual, direction) cannot be written to unless the drive is operating in LOCAL control mode. If Parameter 29 (CONTROL) is set to REMOTE or if it is set to BOTH and no LOC SEL terminal is asserted, the network cannot control the drive. Drive parameters can still be written.

Also, if Parameter 29 (CONTROL) is set to BOTH and a LOC SEL terminal is asserted the drive can only be started over the network if the TB1 input is also asserted. If TB1 is not to be used as an external stop contact, simply jumper the TB1 input to TB2.

If Parameter 29 (CONTROL) is set LOCAL, the TB1 input does not need to be asserted for the drive to be started over the network.

2. Use either Modbus function code 16 with a length of 1 or Modbus function code 06 to perform any writes to the drive.

RG-MCMOD 28

Drive Control & Communication

Unlocking the Drive:

1. The ﬁrst write necessary to the drive to perform any function (start,change speed, change a parameter, etc) needs to be an unlock command.

To control the drive over the network but not modify any of the drive's programming parameters, you can write a value of 0 to the drive’s Modbus register 40049 (AC Tech register 48).

To both control the drive and alter any programming parameters then write the drive’s programming password to Modbus register 40049. The default password for the MC1000/3000 series drive is 0019.

2. You should only need to send the unlock command once after power up. As long as the communications do not timeout you should not need to write another unlock to the drive before writing any other function.

NOTE: The drive’s control registers cannot be written to when the drive is in REMOTE control (i.e. When Parameter 30 – CONTROL is set to REMOTE or when it is set to BOTH with no LOC SEL terminal asserted).

Setting the Drive to Manual Mode:

In order for the drive to respond to speed commands written to the keypad speed register, Parameter 29 (MANUAL) must be set to KEYPAD and the drive must be put into manual mode. To do this write a value of 200H to Modbus register 40002 (the drive’s control register). This step is not necessary if there are no other speed references setup on any TB-13x terminal.

7.3 Basic Drive Commands

The following are the basic drive commands. ONLY ONE OF THESE CAN BE DONE AT A TIME:

1. To STOP the drive using the stop method programmed in Parameter 26 (STOP), write a value of 0004hex to Modbus register 40002 (AC Tech register 1).

2. To Start the drive write a value of 0008hex to Modbus register 40002.

3. To Set Reverse direction write a value of 0040hex to Modbus register 40002. On MC1000 drives, this command will not be accepted if Parameter 27 (ROTATION) is not set to REVERSE or FWD&REV.

4. To Set Forward direction write a value of 0080hex to Modbus register 40002. On MC1000 drives, this command will not be accepted if Parameter 27 (ROTATION) is set to REVERSE.

5. If you want the network to control the speed of the drive, set Parameter 29 (MANUAL) to KEYPAD and write the speed to the Keypad Speed Command Register, Modbus register 40041 (AC Tech register

40). Speed is written in 0.01Hz (so 4120 would be 41.20 Hz). In this mode the drive’s initial speed reference on power up will be the last speed written to the drive.

29 RG-MCMOD

Drive Control & Communication

7.4 Basic Drive Status

AC Tech register 24 is a 6 word entity containing the drive’s status information. To retrieve the entire status block (Modbus registers 24-29) send a read command to Modbus register 40025 using Modbus function code 03 with a register count of 6. The low byte of the third word in this block of data contains the operational status.

The value of that low byte of data corresponds to the following operational states:

Operational Status (byte D3L or Register #26 DL)

Value* Operational State

0 FAULT LOCKOUT

1 FAULT

2 START PENDING

3 STOP

4 DC BRAKE

5 RUN AT 0Hz

6 RUN

7 ACCEL

8 DECEL

9 CURRENT LIMIT

10 DECEL OVERRIDE

16 SLEEP MODE

* This is the decimal equivalent value of the binary number of the bits in that byte.

7.5 Basic Drive Network Programming

The programming parameters of the MC1000/3000 series drive may be altered by a Modbus master. To do so simply write the desired value to the appropriate Modbus register. The translation is as follows:

Modbus register number = MC parameter number +52

As an example if you wanted to change the acceleration time (Parameter 8) of the MC drive, write the time desired into Modbus register 40060. Note that time is written in 0.1 seconds (so 200 would be 20.0 sec).

RG-MCMOD 30

Lenze AC Tech Corporation

630 Douglas Street • Uxbridge MA 01569 • USA

Sales: 800-217-9100 •Service: 508-278-9100

www.lenze-actech.com

RG-MCMOD-e5

Lenze MC Series Drives User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual