Lenze SMD Reference Manual

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Page 1

smd

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Series Drives

Modbus Communications Reference Guide

Page 2

About These Instructions

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Page 3

Contents

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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 RS485 Details .......................................................................................................3

2.2 Electrical Installation .............................................................................................3

2.2.1 Cable Type ...............................................................................................3

2.2.2 Connections and Shielding .......................................................................3

2.2.3 Network Termination ................................................................................4

2.3 Modbus Details .....................................................................................................4

2.4 Universal Registers ...............................................................................................6

3 Data Representation - Internal and External .......................................................................7

3.1 Register Format ....................................................................................................7

3.2 Data Types ...........................................................................................................7

3.3

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4.1 Control Parameter .................................................................................................8

4.2 Serial Address ......................................................................................................8

4.3 Serial Communications Parameter ........................................................................8

4.4 Watchdog Timer ...................................................................................................9

4.5 Unlocking & Locking Controls ...............................................................................10

4.6 Unlocking & Locking Programming Parameters only .............................................10

4.7 Monitoring Only Operation ....................................................................................10

4.8 Normal Control Operation Sequence .....................................................................11

4.9 Start/Stop, Speed Control and Parameter Change Operation .................................11

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Drive Registers ..............................................................................................7

Drive Setup & Operation ............................................................................................8

i RG-SDMOD

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Contents

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smd

Drive Control Registers ..............................................................................................12

5.1 Abbreviations ........................................................................................................13

5.2 Drive Control - Register #1....................................................................................13

5.3 Drive Hardware Conﬁguration - Register #22 ........................................................14

5.4 Drive Status - Registers #24-29 ............................................................................15

5.4.1 Reading Register #24 ...............................................................................15

5.4.2 Operational Status - Register #26 .............................................................16

5.4.3 Actual Rotational Direction - Registers #24 & 27 ......................................16

5.4.4 Control Mode - Registers #24 & 27 ..........................................................16

5.4.5 Speed Command Source - Registers #24 & 28 .........................................17

5.4.6 Speed Reference Status - Registers #24 & 28 ..........................................17

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

5.4.8 Commanded Rotational Direction - Registers #24 & 29 ............................18

5.5 Motor Volts - Register #30 ....................................................................................18

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

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

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

5.9 Register Version ....................................................................................................18

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Programming Parameters ..........................................................................................19

6.1 Format ..................................................................................................................19

6.2 Parameter List ......................................................................................................20

7 Quick Start Instructions .....................................................................................................25

7.1 Initial Settings .......................................................................................................25

7.2 Drive Control .........................................................................................................26

7.3 Basic Drive Commands .........................................................................................26

7.4 Basic Drive Status .................................................................................................27

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1 Safety Information

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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 (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 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-SDMOD

Page 6

1.1.4 Electrical Connection

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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

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2 Introduction

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This document deﬁnes the speciﬁcs required for Modbus serial communication with a Lenze-AC Tech standard with normal drive capabilities and operations is assumed. If this is not the case, refer to the Operating Instructions (SL03) for more information.

2.1 RS485 Details

smd

Series drive for control, status monitoring, and programming parameters. A familiarity

Introduction

smd

Series

Only standard

smd

models with an “L” as the eighth digit in the model number (ex. ESMD371L4TXA) are equipped with Modbus RS-485 capabilities. When using this feature the drive can communicate with a personal computer (PC), programmable logic controller (PLC), or other external device that utilizes Modbus RS-485 serial communication for control or monitoring. Refer to the connection details. Figure 1 illustrates the used for RS485 communication.

COM

TXA

TXB

771 72

2.2 Electrical Installation

2.2.1 Cable Type

For RS485 Modbus networks, use a quality shielded twisted pair cable. The use of low quality cable will result in excess signal attenuation and data loss.

2.2.2 Connections and Shielding

To ensure good system noise immunity all networks cables should be correctly grounded:

+10 V

+12 V

AIN

8 9 20 28 E1

smd

control strip. Terminals 7 (COM), 71 (TXB) and 72 (TXA) are

Figure 1:

COM

20 A1

smd

K14

K12

Control Strip

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Operating Instructions (SL03) for

L1 L2

U V W

• Minimum grounding recommendation: ground the network cable shield once in every cubical.

• Ideal grounding recommendation: ground the network cable on or as near to each drive as possible.

• For wiring of cable to the

smd

control terminal, the unscreened cable cores should be kept as short as

possible; recommended maximum of 20mm. Ground the shield at the drive end only.

• In addition, grounding terminal 7 on the

+10 V

COM

AIN

TXA

TXB

8 9 20 28 E1

771 72

20mm

max

Connect to drive earth

(PE)

+12 V

smd

is recommended when using serial communications.

COM

K14

20 A1

K12

Figure 2: Connector Wiring Diagram

3 RG-SDMOD

L1 L2

U V W

Page 8

Introduction

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2.2.3 Network Termination

For an RS-485 network it is essential to install the speciﬁed termination resistors (120W), i.e. one at both ends of a network segment. Failure to do so will result in signals being reﬂected back along the cable which will cause data corruption. An external 120W 1/4W resistor can be connected as shown in Figure 3.

120Ω

1/4W

2.3 Modbus Details

smd

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. The default setting is no parity (two stop bits). There are provisions for: No parity, 1 stop bit (PV507); Odd parity, 1 stop bit; and Even parity 1 stop bit as well. The bit sequence is:

TXB

COM

AIN

TXA

8 9 20 28 E1

771 72

Connect to drive earth

COM

+10 V

+12 V

K14

K12

(PE)

20 A1

Figure 3: Network Termination Resistor

L1 L2

U V W

DATA

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

B. At this time the

smd

drive does 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. The

smd

register numbers always correspond exactly with the address transmitted. As a result, MODBUS REGISTER NUMBERS ARE ALWAYS ONE GREATER THAN WORDS “REGISTER #xx” APPEAR, IT SHOULD BE ASSUMED THAT THEY MEAN “

smd

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) . . .”

RG-SDMOD 4

Page 9

Introduction

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D. The function codes supported by the

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

there are a few limited exceptions.

Exception One: Register #24 (Modbus Register #25) Drive Status, can also be read as a group of 6 words.

Exception Two: Parameter C99 (Software Version) is a 4-word read.

04 Read Input Register (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.

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

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drives are:

F. The

5 RG-SDMOD

smd

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

importance when conﬁguring networks for DDE Servers.

Page 10

Introduction

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2.4 Universal Registers

Lenze-AC Tech manufactures several drive families. Currently the QC, MC, MCH, SC, TC,

smd, Tmd

and SMV 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 Lenze-AC Tech Register locations have been made universal among Lenze-AC Tech drives. While their locations are consistent, their contents may vary as deﬁned in Table 2.

Table 2: Contents of Universal Registers

smd

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 Lenze-AC Tech drives:

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

Tmd

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

smd

- 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

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).

smd

series it always reads zero.

family - 72 -- SMV family

family

RG-SDMOD 6

Page 11

Data & Register Format

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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).

Example: Register #22.

• A chain of two 8 bit unsigned integers.

• A 16 bit unsigned integer.

This unsigned integer could in turn 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

3.3

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 tenths of a Hz but the drive may display that speed in whole Hz by dropping the tenth using programmed conversion factors. Table 3 lists examples of the internal units used on the

Table 3:

Type Unit Example

SPEED .1Hz 100Hz = 1000

TIME .1Sec 30.0 Sec = 300

smd

Drive Registers

Registers #0 through #50: (Modbus Registers #1 to #51) Reserved for conﬁguration and control Registers #51 through #255 (Modbus Registers #52 to #256) Reserved for the drives’ programming

mode parameters. Programming Mode Parameters are the parameters that can be accessed from the local keypad on the drive.

The entries in Table 6 are based on SW 2.00 and 2.01 (Parameter Conﬁguration 507). If a later revision of software were to change register deﬁnitions, drive operation could be seriously affected. This will be identiﬁed for a given drive by examining Register #50 (Parameter Conﬁguration Number). The number displayed at power up on drive display can also identify it. If it is not 400 or 507, writing to any register on the drive MUST NOT BE ATTEMPTED unless your Controller has been setup to support the new conﬁguration.

smd

Series Internal Units

Drive Software # 1.51 (Parameter Conﬁguration = 400) and Drive

smd

series.

7 RG-SDMOD

Page 12

Drive Setup & Operation

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smd

Drive Setup & Operation

4.1 Control Parameter

In order to communicate using Modbus protocol, the be set to one of the selections listed in Table 4.

Setting Source Description

Program

(Monitoring)

8 Modbus Terminal Analog Input Drive is controlled via terminal programming and is monitored via Modbus

9 Modbus Terminal c40 Drive is controlled via terminal programming and is monitored via Modbus

10 Modbus Modbus Analog Input Drive is controlled via serial interface and is monitored via Modbus

11 Modbus Modbus c40 Drive is controlled via serial interface and is monitored via Modbus

Control

(Start/Stop, Direction)

4.2 Serial Address

smd

Control Source Setpoint (parameter #C01) must

Table 4: Control Source Setpoint C01 (Register 51)

Speed

(Source)

interface or keypad. The default speed source is the analog input.

interface or keypad. The default speed source is c40.

interface or keypad. The default speed source is the analog input.

interface or keypad. The default speed source is c40

The

smd

drive has a serial address parameter that must be programmed prior to attempting to operate the

serial interface. Set Parameter C09 (Network Address) to a valid address (1-247).

Tip

Most Modbus devices ship with a default address of 1. As such, it is recommended to not use address 1 in order to avoid duplicate address conﬂicts when replacing devices.

4.3 Serial Communications Parameter

Lenze-AC Tech drives have a Serial Communications Parameter that governs the operation of the serial link. On Control Source Setpoint must ﬁrst be set to a value of 8-11. Table 5a lists the selections for c25, Serial Baud Rate. Table 5b lists the selections for the controller's reaction to serial timeout (n22).

smd

drives this is c25, Serial Baud Rate {Register #95 (PC400) or #103 (PC507)}. Parameter C01

Tables 5a & 5b: Serial Communications

Table 5a: Serial Baud Rate c25 Table 5b: Serial Timeout Action n22

Setting Description Setting Description

0 9600, 8, N, 2 0 Not active

1 9600, 8, N, 1 1 Inhibit

2 9600, 8, E, 1 2 Quick Stop

3 9600, 8, O, 1 3 Trip Fault FC3

smd

Parameter

The Serial Communications Parameter (c25) must be appropriately programmed prior to attempting to communicate with the drive. The timeout period is programmed in Parameter n23, Serial Fault Time.

RG-SDMOD 8

Page 13

4.4 Watchdog Timer

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The

smd

drive is 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” (section 4.4). If the Watchdog Timer is enabled and controls have been unlocked, the Master MUST PERIODICALLY COMMUNICATE with the drive or the timer will timeout. Communications should typically be done at less than 1/2 the interval speciﬁed in n23, Serial Fault Time.

The Watchdog Timer does not operate unless Controls have been UNLOCKED via Register #48, or parameters writing has been unlocked via Register #49. In case of unlocking parameters only, watchdog timer will disable write permission but will not stop the drive.

The Watchdog Timer is setup using parameters n22 (Serial Timeout Action) and n23 (Serial Fault Time).

Drive Setup & Operation

Selection of n22 determines the

n22 = 0: Not Active The Watchdog Timer is disabled

n22 = 1: Controller Inhibit If the drive doesn't receive valid communication for period longer

n22 = 2: Quick Stop If drive doesn't receive valid communication for period longer than

n22 = 3: Trip Fault FC3 If drive doesn't receive valid communication for period longer than

The setting of Parameter n23, Serial Fault Time, sets the serial timeout length in miiliseconds. The valid range is 50 - 65535 ms and the default setting is 50ms.

NOTE - Trip Prevention

To prevent erroneous timeout trips, make sure the time set in parameter n23 is appropriate for the particular network. The defualt value of 50ms may be too restrictive.

WARNING

smd

drive's reaction to serial timeout:

than time speciﬁed in parameter n23, it will COAST to a STOP and status display (c61) will show inhibit state 'Inh'.

time speciﬁed in parameter n23, it will RAMP to a STOP and status display (c61) will show inhibit state 'Stp'.

time speciﬁed in parameter n23, it will TRIP with an 'FC3' fault.

Disabling the Watchdog Timer may cause injury to personnel and/or damage to equipment. The Watchdog Timer should only be disabled during conﬁguration or diagnosis to prevent nuisance timeout trips.

9 RG-SDMOD

Page 14

Drive Setup & Operation

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4.5 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 and register #40 (keypad speed command).

Note: C01 must be set to either 10 or 11 in order to unlock serial control.

• If Register #48 (Unlock Controls) is written with a value that is the Drive’s Programming Password,

C94, then in addition to Register #1(Drive Control), writing to all other writeable registers is enabled (e.g.: parameter C37 -- Preset Speed #1). The factory default password for

• Once Register #48 (Unlock Controls) has been written, Controls are unlocked until Register#1 bit 1

(Lock Bit) has been written, Parameter C01 is changed to a value different than 10 or 11, the drive is powered down or a serial timeout occurs.

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

writing to any register).

• When LOCK is asserted, the drive drops out of SERIAL control. After receiving the WRITE message

when serial control is locked, the drive will return exception code 01.

smd

series drives is 0.

• 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

4.6 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 (C94) to Register #49 (Unlock Parameters). This would be done when Drive Control (start, stop, etc.) is not required.

• The Factory Default password is 0.

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

until Register #1bit 1 (Lock Bit) has been set or the drive experiences a serial timeout.

4.7 Monitoring Only Operation

1. Power up drive.

2. Set parameter C01 (Control Source Setpoint) to selection 8 or 9.

3. Simply read

4. No unlocking or watchdog issues apply for monitoring.

smd

RG-SDMOD 10

Page 15

Drive Setup & Operation

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4.8 Normal Control Operation Sequence

1. Power up drive.

2. Set parameter C01 (Control Source Setpoint) to selection 10 or 11.

3. Close terminal 28.

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

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

6. Set the network speed reference by setting bit 8 of Register #1. The drive must be in "SERIAL SPEED

REFERENCE" (Register #1, Drive Control) in order to control speed via Register #40.

7. Control Drive Speed by writing the Speed Commands to Register #40 (Serial Speed Command).

8. If serial timeout is activated (n22 = 1, 2 or 3), keep it from timing out by assuring that repeated reads

of drive status (Register #24, 6 registers) are performed at reasonable intervals smaller than the time set in parameter n23.

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

#1).

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.

2. Set parameter C01 (Control Source Setpoint) to selection 10 or 11.

3. Close terminal 28.

4. Unlock Controls and Parameters by writing the current programming password (default 0) to Register

#48.

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

6. Set the network speed reference by setting bit 8 of Register #1. The drive must be in "SERIAL SPEED

REFERENCE" (Register #1, Drive Control) in order to control speed via Register #40.

7. Control Drive Speed by writing the Speed Commands to Register #40 (Serial Speed Command).

8. Change the programming parameters (e.g., change the acceleration rate by writing new acceleration

rate to register #61)

9. If serial timeout is activated (n22 = 1, 2 or 3), keep it from timing out by assuring that repeated reads

of drive status (Register #24, 6 registers) are performed at reasonable intervals smaller than the time set in parameter n23.

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

bit 1 of Register 1).

11 RG-SDMOD

Page 16

Drive Control & Communication

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smd

Drive Control Registers

Table 6 describes the

smd

Drive Control Registers in ascending order of

representation is given in parenthesis next to the

# (HEX

smd

representation)

1 (01) Drive Control

19 (13) Drive Family

21 (15) Drive Size

22 (16) Drive H/W

Drive Status

24 (18)

24 (18) Command Speed

25 (19) Actual Speed

26 (1A)

27 (1B)

28 (1C)

29 (1D)

30 (1E) Motor Voltage

40 (28) Serial Speed Command

48 (30) Unlock Commands

49 (31) Unlock Parameters

50 (32) Register Version

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

Load (DH) / Status (DL)

Act. Direction (DH)/ Control Mode (DL)

Speed Source (DH)/ Speed Reference (DL)

Fault (DH)/ Commanded Direction (DL)

Table 6:

R/W/RS

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 45 CRCH CRCL

R SA 03 00 15 00 01 CRCH CRCL

RS SA 03 02 00 00 CRCH CRCL

R SA 03 00 16 00 01 CRCH CRCL

RS SA 03 02 DH DL CRCH CRCL

R SA 03 00 18 00 06 CRCH CRCL

RS SA 03 0C D1H D1L D2H D2L

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 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

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

smd

Drive Control Registers

MESSAGE MIN MAX UNITS

Refer to Section 5.2 [1]

Refer to Section 5.2 [2]

Refer to Section 5.2 [3]

Refer to Section 5.3

D3H D3L D4H D4L

D5H D5L D6H D6L

CRCH CRCL

Refer to Section 5.4

0 2400 0.1 Hz [4a]

0 2400 0.1 Hz [4b]

Refer to Section 5.4.2 [4c]

Refer to Section 5.4.3/4

Refer to Section 5.4.5/6

Refer to Section 5.4.7/8 [4d]

0 250 1% 5.5

C10

C11

Min

Freq.

Max

Freq.

0 999 None 5.7

0 999 None 5.8

0 65535 None 5.9

[NOTE]

Section

0.1 Hz 5.6

RG-SDMOD 12

Page 17

5.1 Abbreviations

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Drive Control & Communication

Table 7 lists the abbreviations used in Table 6

Abbreviation Description

R Read

W Write

RS Response

SA Slave Address (typically 01 through F7 hex)

CRCH Cyclic Redundancy Check High byte

CRCL Cyclic Redundancy Check Low byte

DH Data High byte

DL Data Low byte

smd

5.2 Drive Control - Register #1

Table 8 illustrates the Data High Byte and Data Low Byte format of Register #1, Drive Control.

smd

Drive Control Registers:

Table 7: Abbreviations

smd

Table 8: Drive Control - Register #1

0 UPDATE BUFFERS

1 LOCK SECURITY

2 STOP DRIVE (COAST TO STOP)

3 START DRIVE

4 UNUSED

Data Low Byte

Data High Byte

5 UNUSED

6 SET REVERSE

7 SET FORWARD

8 SERIAL SPEED REFERENCE

9 LOCAL SPEED REFERENCE

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.

13 RG-SDMOD

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Drive Control & Communication

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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)

NOTE 3 - Drive Size

smd

series drives this register always read zero

5.3 Drive Hardware Conﬁguration - Register #22

Table 9 lists the

smd

Drive Hardware Conﬁguration, Register #22. Bits 4 - 15 are not used at this time.

Table 9: Register 22 - Drive Hardware Conﬁguration

BIT # STATE MEANING

0 1 Reserved

0 Reserved

1 1 Reserved

0 Reserved

2 1 OEM defaults present

0 No OEM defaults

3 1 User data on EPM is compatible only

0 Either the parameter version of the EPM matches the current software or the

EPM is not compatible. If incompatible then one of the following faults are responsible: CF (control fault), cF (incompatibility fault) or GF (data fault)

Bit 3 = 1: the USER data on the EPM is compatible only. The data on the EPM is valid and usable by the drive but the parameter version of the data does not match the parameter version that the drive is currently using. Therefore the user will not be able to edit any of the data on the EPM until they perform a TRANSLATE with P48.

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Drive Control & Communication

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5.4 Drive Status - Registers #24-29

5.4.1 Reading Register #24

When reading register #24, the group of words requested can be either 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 Status D5L

Present Fault D6H

Command Rotation D6L

NOTE 4a - Command Speed (Register #24 Bytes D1H and D1L or Register #24)

• In tenths of a Hz

• Most signiﬁcant byte is ﬁrst, followed by Least signiﬁcant

• Example: 02 01 in hex converts to 51.3Hz in decimal (assumed 1 decimal place).

NOTE 4b - Actual Speed (Register #24 Bytes D2H and D2L or Register #25)

• In tenths of a Hz

• Most signiﬁcant byte is ﬁrst, followed by Least signiﬁcant

NOTE 4c - Load (Register #24 Byte D3H or Register #26 DH)

• In percent of full load

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

15 RG-SDMOD

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Drive Control & Communication

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5.4.2 Operational Status - Register #26

Table 11 lists the Operational Status (Register #24 byte D3L or Register #26 DL)

Bit 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 OFF 13 INHIBIT

Table 11: Operational Status

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

Control Mode Speed Source Control Source Program Source

0 Analog Terminal Keypad 1 c40 Terminal Keypad 2 Analog Terminal LECOM 3 LECOM LECOM LECOM 4 Analog Terminal Remote Keypad 5 c40 Terminal Remote Keypad 6 Analog Remote Keypad Remote Keypad 7 c40 Remote Keypad Remote Keypad 8 Analog Terminal Modbus 9 c40 Terminal Modbus 10 Analog Modbus Modbus 11 c40 Modbus Modbus

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Drive Control & Communication

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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 ANALOG FREQ.

1 PRESET c40

2 PRESET 1

3 PRESET 2

4 PRESET 3

5 MOP SPEED

6 SERIAL SPEED

5.4.6 Speed Reference Status - Registers #24 & 28

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

Table 15: Speed Reference

5.4.7 Present Fault - Registers #24 & 29

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

Setting Fault Display Setting Fault Display

0 NO FAULT 14 INTERNAL FAULT 5 F5

1 OUTPUT (TRANSISTOR) FAULT OC1 15 INTERNAL FAULT 6 F6

2 HIGH DRIVE TEMPERATURE OH 16 INTERNAL FAULT 7 F7

3 HIGH DC BUS VOLTAGE OU 17 INTERNAL FAULT 8 F8

4 LOW DC BUS VOLTAGE LU 18 INTERNAL FAULT 9 F9

5 THERMAL OVERLOAD OC6 19 INTERNAL FAULT o Fo

6 CONTROL FAULT CF 20 SINGLE PHASE FAULT SF

7 EXTERNAL FAULT EEr 21 INCOMPATIBILITY FAULT cF

8 SERIAL COMMUNICATION FAILURE FC5 22 DYNAMIC BRAKE OVERHEATED dF

9 START ERROR LC 23 REMOTE KEYPAD FAULT JF

10 INTERNAL FAULT 1 (EPM) F1 24 COMMUNICATION FAULT FC3

11 INTERNAL FAULT 2 F2 25 EARTH FAULT OC2

12 INTERNAL FAULT 3 F3 26 CONFIGURATION FAULT CFG

13 INTERNAL FAULT 4 F4

Setting Status

0 SERIAL SPEED REFERENCE

1 LOCAL SPEED REFERENCE

Table 16: Present Fault

17 RG-SDMOD

Page 22

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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 as a percentage of nominal drive voltage.

5.6 Serial Speed - Register #40

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

• In tenths 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 parameter writes.

• To use this register, SPEED REFERENCE must be set to SERIAL SPEED REFERENCE by setting bit 8 in

control register #1.

5.7 Unlock Commands - Register #48

Register #48 (Unlock Commands) unlocks commands by using 0000 for the password. If the correct Programming mode password (C94) 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).

5.8 Unlock Parameters - Register #49

Register #49 (Unlock Parameters) unlocks programming parameters for writing when the proper Programming Password (C94) 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.

5.9 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 ( are quite stable.

smd

RG-SDMOD 18

Page 23

Drive Control & Communication

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smd

Programming Parameters

6.1 Format

Abbreviations:

SA (1byte) Drive Address (1-247)

RA (1byte) Register Address

CRCH Cyclic Redundancy Check High byte

CRCL Cyclic Redundancy Check Low byte

READING:

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

NOTE - Attention

Parameter list presented in Section 6.2 is valid only for

507. For revisions, refer to appropriate

Request: SA 03 00 RA 00 01 CRCH CRCL

Response: SA 03 02 DH DL CRCH CRCL

smd

Manual.

smd

parameter version 400 and

Message structure for reading 4 word: (Parameter C99 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: Parameter No.

4th Column: Range of Adjustment 2 = Selections in bold are for

= Drive's programming code number

smd

models with PV507 only.

19 RG-SDMOD

Page 24

Drive Control & Communication

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6.2 Parameter List

Parameter No.

C01 51 (33H) 51 (33H) Setpoint and Control

C02 52 (34H) 52 (34H) Load Lenze setting 0 No action/loading complete

CE1 CE2 CE3

smd

(hexadecimal

representation)

PV400 PV507

53 (35H) 54 (36H) 55 (37H)

53 (35H) 54 (36H) 55 (37H

Parameter Name Range of Adjustment

Modbus value (decimal value)

Speed Control Program

Source

Conﬁguration Digital Inputs E1, E2, E3

1 Load 50Hz Defaults

2 Load 60Hz Defaults 3 Load OEM Defaults 4 Translate compatible EPM

NOTE: Drive must be in OFF or Inhibit state to change

1 Activate ﬁxed setpoint 1 (JOG1) 2 Activate ﬁxed setpoint 2 (JOG2) 3 DC Braking (DCB) 4 Direction of Rotation 5 Quick Stop 6 CW Rotation 7 CCW Rotation 8 UP 9 DOWN 10 TRIP set 11 TRIP reset

12 Accel/decel 2 13 Deactivate PI 14 Activate ﬁxed PI setpoint 1 15 Activate ﬁxed PI setpoint 2

Factory Default

CE1 = 1 CE2 = 4 CE3 = 3

1 = The drive's programming code number; 2 = Selections in bold are for

smd

models with PV507 only.

RG-SDMOD 20

Page 25

Drive Control & Communication

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smd

(hexadecimal

Parameter Name Range of Adjustment

Modbus value (decimal value)

Factory Default

representation)

PV400 PV507

Parameter No.

C08 57 (39H) 57 (39H) Conﬁguration

Relay Output

0 Ready 1 Fault

2 Motor is running 3 Motor is running - CW rotation 4 Motor is running - CCW rotation 5 Output frquency = 0Hz 6 Frequency setpoint reached 7 Threshold (C17) exceeded 8 Current limit reached

9 Feedback within min/max alarm range 10 Feedback outside min/max alarm range

C09 58 (3AH) 58 (3AH) Network Address 1 - 247 1

C10 59 (3BH) 59 (3BH) Minimum Output Freq. 0 - 2400 (0.0 - 240 Hz) 0.0 Hz

C11 60 (3CH) 60 (3CH) Minimum Output Freq. 75 - 2400 (7.5 - 240 Hz) 50.0 Hz

C12 61 (3DH) 61 (3DH) Acceleration Time 0 - 9990 (0.0 - 999 sec) 5.0 sec

C13 62 (3EH) 62 (3EH) Deceleration Time 0 - 9990 (0.0 - 999 sec) 5.0 sec

C14 63 (3FH) 63 (3FH) Operating Mode 0 Linear with Auto Boost

2 1 Square Law with Auto Boost 2 Linear with Constant V 3 Square Law with Constant V

min

Boost

min

Boost

C15 64 (40H) 64 (40H) V/f Reference Point 250 - 9990 (25.0 - 999 Hz) 50.0 Hz

C16 65 (41H) 65 (41H) V

Boost 0 - 400 (0.0 - 40.0%) 4.0%

min

C17 66 (42H) 66 (42H) Frequency Threshold 0 - 2400 (0.0 - 240 Hz) 0.0 Hz

C18 67 (43H) 67 (43H) Chopper Frequency 0 4kHz

2 1 6kHz 2 8kHz 3 10kHz

C21 68 (44H) 68 (44H) Slip Compensation 0 - 400 (0.0 - 40.0%) 0.0%

C22 69 (45H) 69 (45H) Current Limit 30 - 150% 150%

C24 70 (46H) 70 (46H) Accel Boost 0 - 200 (0.0 - 20.0%) 0.0%

C31 71 (47H) Analog Input Deadband 0 Deadband Enabled

0 1 Deadband Disabled

C34 71 (47H) 72 (48H) Conﬁguration

Analog Input

0 0...10V 1 0...5V

2 0...20mA 3 4...20mA

4 4...20mA Monitored

C36 72 (48H) 73 (49H) Voltage (DCB)

0 - 500 (0.0 - 50.0%) 4.0%

DC Injection Brake

C37 73 (49H) 74 (4AH) Fixed Setpoint 1 (JOG1) 0 - 9990 (0.0 - 999) 20.0 Hz

smd

1 = The drive's programming code number; 2 = Selections in bold are for

models with PV507 only.

21 RG-SDMOD

Page 26

Drive Control & Communication

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smd

(hexadecimal

Parameter Name Range of Adjustment

Modbus value (decimal value)

Factory Default

representation)

PV400 PV507

Parameter No.

C38 74 (4AH) 75 (4BH) Fixed Setpoint 2 (JOG2) 0 - 9990 (0.0 - 999) 30.0 Hz

C39 75 (4BH) 76 (4CH) Fixed Setpoint 3 (JOG3) 0 - 9990 (0.0 - 999) 40.0 Hz

C46 78 (4EH) 79 (4FH) Frequency Setpoint 0 - 2400 (0.0 - 240 Hz) Read Only

C50 79 (4FH) 80 (50H) Output Frequency 0 - 2400 (0.0 - 240 Hz) Read Only

C52 80 (50H) 82 (52H) Motor Voltage 0 - 255% Read Only

C53 81 (51H) 83 (53H) DC Bus Voltage 0 - 255% Read Only

C54 82 (52H) 84 (54H) Motor Current 0 - 255% Read Only

C56 83 (53H) 85 (55H) Drive Load 0 - 255% Read Only

C59 86 (56H) PI Actual Feedback c86 - c87 Read Only

C70 89 (59H) PI Proportional Gain 0 - 999 (0 - 99.9%) 5.0%

C71 90 (5AH) PI Integral Gain 0 - 999 (0 - 99.9 sec) 0.0 sec

C90 86 (56H) 92 (5CH) Input Voltage Selection 0 Auto

0 1 Low 2 High

C94 88 (58H) 94 (5EH) User Password 0 - 999 0

C99 89 (59H) 95 (5FH) Software Version Read 4 words (format 'SMD 1.51') Read Only

c01 96 (60H) Accel Rate 2 0 - 9990 (0.0 - 999 sec) 5.0 sec

c03 97 (61H) Decel Rate 2 0 - 9990 (0.0 - 999 sec) 5.0 sec

c06 90 (5AH) 98 (62H) Holding Time - Auto

0 - 9990 (0.0 - 999 sec) 0.0 sec

DC Injection Brake

c08 91 (5BH) 99 (63H) Analog Output Scaling 10 - 9990 (1.0 - 999) 100.0

c11 92 (5CH) 100 (64H) Conﬁguration

Analog Output (62)

0 None 1 Output frequency 0 - 10V

2 Output frequency 2 - 10V 3 Load 0 - 10V 4 Load 2- 10V 5 Dynamic Braking

c17 93 (5DH) 101 (65H) Conﬁguration

Digital Output (A1)

0 Ready 1 Fault

2 Motor is running 3 Motor is running - CW rotation 4 Motor is running - CCW rotation 5 Output frquency = 0Hz 6 Frequency setpoint reached 7 Threshold (C17) exceeded 8 Current limit reached

9 Feedback within min/max alarm range 10 Feedback outside min/max alarm range

c20 94 (5EH) 102 (66H) I

T Switch-Off 30 - 100% 100%

smd

1 = The drive's programming code number; 2 = Selections in bold are for

models with PV507 only.

RG-SDMOD 22

Page 27

Drive Control & Communication

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Parameter No.

c25 95 (5FH) 103 (67H) LECOM Baud Rate 0 9600 bps (9600, 8, N, 2 if C01 = 8...11)

c38 105 (69H) PI Actual Setpoint c86 - c87 Read Only

c40 97 (61H) 106 (6AH) Freq. Setpoint Command 0 - 2400 (0.0 - 240 Hz) 0.0 Hz

c42 98 (62H) 107 (6BH) Start Condition 0 Start after LOW-HIGH chnage at 28

c60 109 (6DH) Mode Select for c61 0 Monitor Only

c61 100 (64H) 110 (6EH) Present Fault Status / Error Message (refer to Note 5) Read Only

c62 101 (65H) 111 (6FH) Last Fault Error Message (refer to Note 5) Read Only

c63 102 (66H) 112 (70H) Last but one Fault Error Message (refer to Note 5) Read Only

c70 103 (67H) 113 (71H) Conﬁguration

c71 104 (68H) 114 (72H) Auto TRIP Reset Delay 0 - 600 (0.0 - 60.0 sec) 0.0 sec

c78 105 (69H) 115 (73H) Operating Time Counter Read Only

c79 106 (6AH) 116 (74H) Mains Conn Time Counter Read Only

c81 117 (75H) PI Setpoint c86 - c87 0.0

c82 118 (76H) S-Ramp Integral Time 0 - 500 (0.0 - 50.0 sec) 0.0 sec

c86 119 (77H) PI Min Feedback 0 - 9990 (0.0 - 999.0) 0.0

c87 120 (78H) PI Max Feedback 0 - 9990 (0.0 - 999.0) 100.0

d25 123 (7BH) PI Setpoint Accel/Decel 0 - 9990 (0.0 - 999.0 sec) 5.0 sec

d38 124 (7CH) PI Enable 0 PI Disabled

d46 125 (7DH) PI Min Alarm 0 - 9990 (0.0 - 999.0) 0.0

d47 126 (7EH) PI Max Alarm 0 - 9990 (0.0 - 999.0) 0.0

n20 113 (71H) 131 (83H) LECOM Power-Up State 0 Quick Stop

n22 114 (72H) 132 (84H) Serial Timeout Action 0 Not Active

n23 115 (73H) 133 (85H) Serial Fault Time 50 - 65535 ms 50 ms

smd

(hexadecimal

representation)

PV400 PV507

Parameter Name Range of Adjustment

Modbus value (decimal value)

1 4800 bps (9600, 8, N, 1 if C01 = 8...11) 2 2400 bps (9600, 8, E, 1 if C01 = 8...11) 3 1200 bps (9600, 8, O, 1 if C01 = 8...11)

1 Auto Start if 28 = HIGH

1 Monitor and Edit

0 TRIP reset by LOW-HIGH signal at 28 or mains

TRIP Reset

switching or LOW-HIGH signal at digital input "TRIP reset"

1 Auto TRIP reset

1 PI Enabled - Normal Acting 2 PI Enabled - Reverse Acting

1 Inhibit

1 Controller Inhibit 2 Quick Stop 3 Trip Fault "FC3"

Factory Default

smd

1 = The drive's programming code number; 2 = Selections in bold are for

models with PV507 only.

23 RG-SDMOD

Page 28

Drive Control & Communication

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NOTE 5 -

smd

- Fault History

Parameters c61 (Present Fault), c62 (Last Fault) and c63 (Last but one Fault) provide the Fault History for the

smd

drive. Table 18 lists the fault codes.

Table 18: Fault Codes - c61, c62 & c63

Code Fault Description Display

0 NO FAULT

1 OUTPUT (TRANSISTOR) FAULT OC1

2 HIGH DRIVE TEMPERATURE OH

3 HIGH DC BUS VOLTAGE OU

4 LOW DC BUS VOLTAGE LU

5 THERMAL OVERLOAD OC6

6 CONTROL FAULT CF

7 EXTERNAL FAULT EEr

8 SERIAL COMMUNICATION FAILURE FC5

9 START ERROR LC

10 INTERNAL FAULT 1 (EPM) F1

11 INTERNAL FAULT 2 F2

12 INTERNAL FAULT 3 F3

13 INTERNAL FAULT 4 F4

14 INTERNAL FAULT 5 F5

15 INTERNAL FAULT 6 F6

16 INTERNAL FAULT 7 F7

17 INTERNAL FAULT 8 F8

18 INTERNAL FAULT 9 F9

19 INTERNAL FAULT o Fo

20 SINGLE PHASE FAULT SF

21 INCOMPATIBILITY FAULT cF

22 DYNAMIC BRAKE OVERHEATED dF

23 REMOTE KEYPAD FAULT JF

24 COMMUNICATION FAULT FC3

25 EARTH FAULT “OC2”

26 CONFIGURATION FAULT “CFG”

RG-SDMOD 24

Page 29

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Initial Settings

These instructions are for basic start, stop direction and speed control of the smd drive using Modbus communication.

1. Set Drive Parameter C01 to 11.

2. Set Drive Parameter C09 to the desired network address that the Modbus master will poll. Valid Modbus addresses are 1-247.

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.

3. The Modbus master needs to be set to use 9600 baud. No other baud rates are supported by the SMD drive.

Drive Control & Communication

4. The SMD series drive has the provision for a watchdog timer to monitor network communications to the drive. The drive’s timeout behavior is set using Parameter n22 and the timeout period is set using Parameter n23 as shown in Table 19.

Table 19: Watchdog Timer

Code Possible Settings Important

No. Name Lenze Selection

n22 Serial Timeout Action 0 0 Not Active

1 Controller Inhibit 2 Quick Stop 3 Trip Fault "FC3"

n23 Serial Fault Time 50 50 - 65535 ms Sets the serial timeout length

Selects controller reaction to serial timeout

Set n22 and n23 as appropriate for the application:

5. The drive needs to have its network data formatting set the same as the Modbus master.

a. If the Modbus master is set to use 8 data bits, no parity and two stop bits, set c25 to 0.

b. If the Modbus master is set to use 8 data bits, no parity and one stop bit, set c25 to 1.

c. If the Modbus master is set to use 8 data bits, even parity and one stop bit, set c25 to 2.

d. If the Modbus master is set to use 8 data bits, odd parity and one stop bit, set c25 to 3.

25 RG-SDMOD

Page 30

7.2 Drive Control

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1. Please be advised that while the drive is under network control the local STOP circuit is always enabled. Input 28 needs to be asserted in order for the drive to start. If you will not be using start/stop simply jumper TB28 input to TB20.

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

3. Unlocking the Drive.

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

If you want 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 SMD drive is 0.

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.

Drive Control & Communication

4. Setting the Drive to Network Speed reference:

In order for the drive to respond to speed commands written to the keypad speed register the drive must be put into manual mode. To do this write a value of 100H to Modbus register 40002 (the drive’s control register).

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 COAST TO 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.

4. To Set Forward direction (the drive powers up with forward direction already selected) write a value of 0080hex to Modbus register 40002.

5. If you want the network to control speed of the drive, write the speed to the Serial Speed Command Register, Modbus register 40041 (AC Tech register 40). Speed is written in 0.1Hz (so 412 would be

41.2 Hz). In this mode the drive’s initial speed reference on power up will be the last speed written to the drive.

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Drive Control & Communication

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7.4 Basic Drive Status

AC Tech register 24 is a 6 word entity containing the drive’s status information. To read the entire status block use Modbus function code 3 with a length of 6 to read starting at Modbus register number 40025. The low byte of the third word in this block of data contains the operational status. If this is the only data you want you can use Modbus function code 3 with a length of 1 to read register 40027.

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

Table 20: Operational Status

Bit 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 OFF 13 INHIBIT

27 RG-SDMOD