Lenze Tmd Series Drives Modbus Communications User Manual

Tmd

Modbus Communications Reference Guide

Series Drives

About These Instructions

This documentation applies to the use of an
should be used in conjunction 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.

Modbus® and Modicon® are registered trademarks of Schneider Electric; http://www.schneider-electric.com.

For more information about the Modbus Protocol please refer to the Modicon Modbus Protocol Reference Guide;
http://www.Modbus.org

Tmd

Tmd

Series Variable Frequency Drive in a Modbus Network and

Series Operating Instructions (Document TD03) that shipped with the

© 2003 AC Technology Corporation

No part of this documentation may be copied or made available to third parties without the explicit written approval
of AC Technology Corporation. All information given in this documentation has been carefully selected and tested
for compliance with the hardware and software described. Nevertheless, discrepancies cannot be ruled out. 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 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

4

Tmd

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

Tmd

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

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

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Contents

5

Tmd

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

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

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

5.3 Drive Size - Register #21 ......................................................................................14

5.4 Drive Hardware Configuration - Register #22 ........................................................15

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

5.5.1 Reading Register #24 ...............................................................................15

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

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

5.5.4 Control Mode - Registers #24 & 27 ..........................................................17

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

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

5.5.7 Present Fault - Registers #24 & 29 ...........................................................18

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

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

5.7 Serial Speed - Register #40 ..................................................................................19

5.8 Unlock Commands - Register #48 .........................................................................19

5.9 Unlock Parameters - Register #49 ........................................................................19

5.10 Register Version ....................................................................................................19

6

Tmd

Programming Parameters ..........................................................................................20

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

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

7 Quick Start Instructions .....................................................................................................27

7.1 Initial Settings .......................................................................................................27

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

7.3 Basic Drive Commands .........................................................................................28

7.4 Basic Drive Status .................................................................................................29

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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
(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.

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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

Tmd

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
with normal drive capabilities and operations is assumed. If this is not the case, refer to the
Operating Instructions (TD03) for more information.

2.1 RS485 Details

Tmd

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

Introduction

Tmd

Series

Only standard

Tmd

models with an “L” as the eighth digit in the model number (ex. ETMD371L4TXA) are
equipped with Modbus RS-485 capabilities. When using this feature the drive can communicate with a PC,
PLC, or other external device that utilizes Modbus RS-485 serial communication for control or monitoring.
Refer to the

Tmd

Operating Instructions (TD03) for connection details. Figure 1 illustrates the

strip. Terminals 7 (COM), 71 (TXB) and 72 (TXA) are used for RS485 communication.

COM

AIN

28 7

COM

8U

9

+10 V

+12 V

A+ A1

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:

COM

+15 V

+15 V

2020

E1 E2 E3 71

Figure 1:

E4 A2

Tmd

Control Strip

AIN

COM

772

8I

Tmd

control

L1 L2

L3

TXB

TXA

62

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

Tmd

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

COM

AIN

28 7

COM

8U

9

+10 V

+12 V

A+ A1

+15 V

+15 V

2020

E1 E2 E3 71

Tmd

is recommended when using serial communications.

L1 L2

COM

TXB

TXA

U V W

20mm

max

E4 A2

Connect to
drive earth

(PE)

AIN

COM

772

8I

62

L3

Figure 2: Connector Wiring Diagram

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Introduction

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.

AIN

COM

9

8U

28 7

RS-485 half-duplex interface allows up to 32 devices to communicate on the network using a twisted
pair of wires. The wires must be terminated at both ends of the network with resistors equal to their
characteristic impedance, typically 120W. In noisy environments, twisted and shielded wire should be
used. Ground the shield at the drive end only. This will further reduce unwanted noise and improve overall
communication reliability. In addition, grounding terminal 7 on the
communications.

+10 V

COM

+12 V

A+ A1

COM

+15 V

+15 V

2020

E1 E2 E3 71

E4 A2

Connect to
drive earth

(PE)

AIN

772

8I

COM

62

TXB

Figure 3: Network Termination Resistor

Tmd

L1 L2

L3

TXA

U V W

120Ω

1/4W

is recommended when using serial

2.3 Modbus Details

A.

Tmd

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. By default the Tmd uses no parity and 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

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

Tmd

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 “
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) . . .”

DATA

Tmd

drive does not support the broadcast function of the protocol.

Tmd

register numbers are also numbered starting from 0. Therefore,

Tmd

REGISTER NUMBERS. WHENEVER THE

Tmd

REGISTER xx”

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Data & Register Format

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:
The

Tmd

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 #114 (Modbus Register #115), Software version, should be read as a group of 4 words.

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.

Tmd

drives are:

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

F. The

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

Tmd

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

importance when configuring networks for DDE Servers.

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.

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Drive Setup & Operation

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

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 Lenze-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

22 Hardware Configuration word register (READ ONLY). Individual bit flags.

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).

Tmd

series, the drive size values are shown in Table 9.

smd

family - 72 -- SMV family

Tmd

family

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Drive Setup & Operation

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 60Hz = 600

TIME .1Sec 30.0 Sec = 300

Tmd

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
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 503, writing to any register on the
drive MUST NOT BE ATTEMPTED unless your Controller has been setup to support the new configuration.

Tmd

Tmd

Series Internal Units

Drive Software # 1.20 (Parameter Configuration = 503). If a later

Tmd

series.

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