Lenze TCF Series Drives Modbus Communications User Manual
TCF Series Drives
Modbus Communications Reference Guide
About These Instructions
This documentation applies to the use of an TCF Series Variable Frequency Drive in a Modbus Network and should
be used in conjunction with the TCF Series Installation and Operation Manual (Document TF01) 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.
© 2003 Lenze AC Tech Corporation
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 TCF 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 ....................................................................................8
4.8 Normal Control Operation Sequence .....................................................................8
4.9 Start/Stop, Speed Control and Parameter Change Operation .................................9
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Contents
5 TCF Drive Control Registers ...............................................................................................10
5.1 Abbreviations ........................................................................................................11
5.2 Drive Control - Register #1....................................................................................11
5.3 Drive Size - Register 21 ........................................................................................12
5.4 Drive Status - Registers #24-29 ............................................................................13
5.4.1 Reading Register #24 ...............................................................................13
5.4.2 Operational Status - Registers #24 & 26 ...................................................14
5.4.3 Actual Rotational Direction - Registers #24 & 27 ......................................14
5.4.4 Control Mode - Registers #24 & 27 ..........................................................14
5.4.5 Speed Command Source - Registers #24 & 28 .........................................15
5.4.6 Auto/Manual Status - Registers #24 & 28 .................................................15
5.4.7 Present Fault - Registers #24 & 29 ...........................................................16
5.4.8 Commanded Rotational Direction - Registers #24 & 29 ............................17
5.5 Motor Volts - Register #30 ....................................................................................17
5.6 Keypad Speed - Register #40 ...............................................................................17
5.7 Unlock Commands - Register #48 .........................................................................17
5.8 Unlock Parameters - Register #49 ........................................................................17
5.9 Register Version ....................................................................................................17
6 TCF Programming Parameters ...........................................................................................18
6.1 Format ..................................................................................................................18
6.2 Parameter List ......................................................................................................19
7 Quick Start Instructions .....................................................................................................26
7.1 Initial Settings .......................................................................................................26
7.2 Drive Control .........................................................................................................27
7.3 Basic Drive Commands .........................................................................................27
7.4 Basic Drive Status .................................................................................................28
7.5 Basic Drive Network Programming ........................................................................28
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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.
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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
TCF Series Variable Frequency Drives visit: http://www.lenze-actech.com
Modbus-IDA visit: http://www.modbus.org
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2 Introduction
This document defines the specifics required for Modbus serial communication with a Lenze-AC Tech
standard TCF Series drives 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 TCF Series
Installation and Operation manual (TF01) 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). There are provisions for Odd parity
1 stop bit and Even parity 1 stop bit as well. 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 (Modbus Register #25) Drive Status, 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.
Register #100 (Modbus Register #101), Fault history, should be read as a group of 4 words.
Register #101 (Modbus Register #102), Software version, should be read as a group of 4 words.
04 Read Input Registers (3X references). As with function 03, we read one register at a time except
where noted.
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Introduction
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. Registers cannot be written when the drive is in keypad programming mode.
F. The TCF 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,
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 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 TCF drive index value (RAM copy) 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
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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).
Example: Register #1.
• 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
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 TCF series.
3.3 AC Tech 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
Table 3: TCF Series Internal Units
Type Unit Example
SPEED .1Hz 60Hz = 600
TIME .1Sec 30.0Sec = 300
mode parameters. Programming Mode Parameters are the parameters
that can be accessed from the local keypad on the drive. There is a
direct correspondence between the TCF Drive Programming Mode
Parameter number and the AC Tech Register number (and consequently,
the Modbus register number):
AC Tech Register # = (TCF Programming Parameter #) + 50
Modbus Register # = (TCF Programming Parameter #) + 51
The entries in Table 5 are based on TCF Drive Software # 213-128 Revision 01 (Parameter Configuration =
501). 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 501, writing to
any register on the drive MUST NOT BE ATTEMPTED unless your Controller has been setup to support the
new configuration.
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Drive Setup & Operation
4 TCF 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 #43 / AC Tech Register #93).
4.2 Serial Communications Parameter
All AC Tech drives have a Serial Communications Parameter that governs the operation of the Serial Link.
On TCF drives this is #15 SERIAL LINK (register #65). Table 4 lists the selections for TCF Parameter 15,
SERIAL LINK.
Table 4: TCF Parameter 15 Selections
Setting Description Watchdog Timeout Period
1 DISABLE
2 9600,N,2 WITH TIMER 10 sec
3 9600,N,2 WITHOUT TIMER
4 9600,E,1 WITH TIMER 10 sec
5 9600,E,1 WITHOUT TIMER
6 9600,O,1 WITH TIMER 10 sec
7 9600,O,1 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
Programming parameter #14 (control) must be programmed to 01 (terminal strip only). Serial operation will
not work correctly if 02 (remote keypad only) or 03 (terminal strip or remote keypad) are selected.
Watchdog timer is enabled (refer to section 4.6,
Watchdog timer is disabled (refer to section 4.6,
Watchdog Timer
Watchdog Timer
).
).
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