Page 1
Tmd
Modbus Communications Reference Guide
Series Drives
Page 2
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.
Page 3
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
i RG-TDMOD
Page 4
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
RG-TDMOD ii
Page 5
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.
1 RG-TDMOD
Page 6
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
RG-TDMOD 2
Page 7
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
3 RG-TDMOD
Page 8
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”
RG-TDMOD 4
Page 9
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.
5 RG-TDMOD
Page 10
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
RG-TDMOD 6
Page 11
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.
7 RG-TDMOD
Page 12
Drive Setup & Operation
4
Tmd
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
Tmd
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
Tmd
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
value of 8-11. Table 5a lists the selections for Parameter c25, Baud Rate. Table 5b lists the selections for
the controller's reaction to serial timeout (n22).
Tmd
drives this is c25 Baud Rate. Parameter C01 Control Source Setpoint must first be set to a
Tables 5a & 5b: Serial Communications
Table 5a: 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 Controller Inhibit
2 9600, 8, E, 1 2 Quick Stop
3 9600, 8, O, 1 3 Trip Fault FC3
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-TDMOD 8
Page 13
4.4 Watchdog Timer
The
Tmd
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.
Tmd
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.
WARNING
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-TDMOD
Page 14
Drive Control & Communication
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 (serial speed reference).
Note: C01 must be set to 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 watchdog timeout has occurred.
• 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.
Tmd
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 a watchdog timeout has occurred.
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.
Tmd
Register #24 (Modbus Register #25) or any other readable register.
.
RG-TDMOD 10
Page 15
Drive Control & Communication
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. Set the network speed reference by setting bit 8 of Register #1. The drive must be in "NETWORK
SPEED REFERENCE" (Register #1, Drive Control) in order to control speed via Register #40.
6. Control drive operation via various commands to Register #1 (Start, Stop, Reverse direction, etc.) and
change the speed command by writing to Register #40.
7. 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.
8. 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 "NETWORK
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 #62)
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-TDMOD
Page 16
Drive Control & Communication
5
Tmd
Drive Control Registers
Table 6 describes the
Tmd
Drive Control Registers in ascending order of
representation is given in parenthesis next to the
REGISTER NAME
# (HEX
Tmd
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 42 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
Tmd
Tmd
Register #. The HEX
Tmd
Register # in the left-most column.
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
Refer to Section 5.4.4
Refer to Section 5.4.5/6 [4d]
0 800 1V 5.5
C10
C11
Min
Freq.
Max
Freq.
0 9999 None 5.7
0 9999 None 5.8
0 65535 None 5.9
[NOTE]
or
Section
0.1 Hz 5.6
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Page 17
5.1 Abbreviations
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
Tmd
#
5.2 Drive Control - Register #1
Table 8 illustrates the Data High Byte and Data Low Byte format of Register #1, Drive Control.
Tmd
Drive Control Registers:
Table 7: Abbreviations
Tmd
Register # (Modbus Register numbers are 1 larger)
Table 8: Drive Control - Register #1
0 UPDATE BUFFERS
1 LOCK SECURITY
2 STOP DRIVE (COAST TO STOP)
3 START DRIVE
4 UNUSED
5 UNUSED
Data Low Byte
6 SET REVERSE
7 SET FORWARD
8 NETWORK SPEED REFERENCE
9 LOCAL SPEED REFERENCE
10
11
12
13
Data High Byte
14
15
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-TDMOD
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Drive Control & Communication
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)
5.3 Drive Size - Register #21
Table 9 lists the
Tmd
Series drives. Register 21 will contain the value in the "Size" column.
Size kW Voltage Size kW Voltage
00 0.55
01 0.37 29 0.37
02 0.75 30 0.75
03 1.1 31 1.1
04 1.5 32 1.5
05 2.2 33 2.2
16 0.75
17 1.1 35 5.5
18 1.5 36 7.5
19 2.2 44 3.0
20 4.0
21 5.5
22 7.5
Table 9: Drive Size - Register #21
28 0.55
1/N/PE or 3/PE
230V
3/PE
400/480V
34 4.0
3/PE
230V
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Drive Control & Communication
5.4 Drive Hardware Configuration - Register #22
Table 10 lists the
Tmd
Drive Hardware Configuration, Register #22. Bits 4 - 15 are not used at this time.
Table 10: Register 22 - Drive Hardware Configuration
BIT # STATE MEANING
0 1 Non-isolated drive (hot)
1 1 Reserved
2 1 Reserved
3 1 OEM defaults present
5.5 Drive Status - Registers #24-29
5.5.1 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:
0 Isolated
0 Reserved
0 Reserved
0 No OEM defaults
Table 11: 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).
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Drive Control & Communication
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).
5.5.2 Operational Status - Register #26
Table 12 lists the Operational Status (Register #24 byte D3L or Register #26 DL)
Bit Parameter
0 FAULT LOCKOUT
1 FAULT
2 START PENDING
3 MOTOR CALIBRATION NOT DONE
4 STOP
5 LOWER TRANSISTORS SWITCHING ON
6 MOTOR CALIBRATION ENABLED
7 RUN AT 0Hz
8 RUN
9 ACCEL
10 DECEL
11 DECEL OVERRIDE
12 DC BRAKE
13 FLYING START
14 SLOW CURRENT LIMIT
15 FAST CURRENT LIMIT
16 OFF
17 INHIBIT
Table 12: Operational Status
5.5.3 Actual Rotational Direction - Registers #24 & 27
Table 13 lists the Actual Rotational Direction (Register #24 byte D4H or Register #27 DH).
Table 13: Actual Rotational Direction
Setting Direction
0 FORWARD
1 REVERSE
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Drive Control & Communication
5.5.4 Control Mode - Registers #24 & 27
Table 14 lists the Control Mode (Register #24 byte D4L or Register #27 DL).
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
Table 14: Control Mode
5.5.5 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
5.5.6 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 Status
Setting Status
0 SERIAL SPEED REFERENCE
1 LOCAL SPEED REFERENCE
17 RG-TDMOD
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Drive Control & Communication
5.5.7 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 18 INTERNAL FAULT 1 (EPM) F1
1, 2 OUTPUT (TRANSISTOR) FAULT OC1 19 INTERNAL FAULT 2 F2
3 EARTH FAULT OC2 20 INTERNAL FAULT 3 F3
4 RESERVED 21, 22 INTERNAL FAULT 5 F5
5 OVER TEMPERATURE FAULT OH 23 INTERNAL FAULT 6 F6
6 FLYING RESTART FAULT rF 24 INTERNAL FAULT 7 F7
7 OVER VOLTAGE FAULT OU 25 INTERNAL FAULT 8 F8
8 UNDER VOLTAGE FAULT LU 26 INTERNAL FAULT 9 F9
9 MOTOR OVERLOAD FAULT OC6 27 IDENTIFICATION FAULT bF
10 OEM DATA FAULT GF 28 A/D CONVERTER FAULT Ad
11 CONFIGURATION FAULT CFG 29 REMOTE KEYPAD FAULT JF
12 DYNAMIC BRAKE OVERHEATED FAULT dF 30 LOSS OF 4-20mA SIGNAL Sd5
13 SINGLE PHASE FAULT SF 31 COMMUNICATION FAULT FC5
14 EXTERNAL FAULT EEr 32 INTERNAL FAULT 4 F4
15 CONTROL FAULT CF 33 LOSS OF MOTOR PHASE LP1
16 AUTOMATIC START INHIBITED LC 34 INTERNAL FAULT 10 Fo
17 INCOMPATIBILITY FAULT cF
Table 16: Present Fault
5.5.8 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
5.6 Motor Volts - Register #30
Output Voltage to the motor is expressed in volts (V). It is not expressed as a percentage of the nominal
drive voltage.
RG-TDMOD 18
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Drive Control & Communication
5.7 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 first be set to SERIAL SPEED REFERENCE by setting bit
8 in control register #1.
5.8 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).
5.9 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.
5.10 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.
Tmd
Register #1 through #50)
19 RG-TDMOD
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Drive Control & Communication
6
Tmd
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
parameter version 503. For revisions, refer to appropriate
Request: SA 03 00 RA 00 01 CRCH CRCL
Response: SA 03 02 DH DL CRCH CRCL
Tmd
Tmd
Manual.
software version 1.20,
Message structure for reading 4 word: (Register #114, 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 The Modbus values are whole numbers. One decimal place is
1
= Drive's programming code number
assumed. A superscript 2 denotes parameter where two decimal
places are assumed.
RG-TDMOD 20
Page 25
Drive Control & Communication
6.2 Parameter List
1
Tmd
Register #
(hexadecimal
representation)
Parameter Name Range of Adjustment
Modbus value (decimal value)
Factory
Default
Parameter No.
C01 51 (33H) Setpoint and Control Source Speed Control Program
C02 52 (34H) Load Lenze setting 0 No action/loading complete
CE1
CE2
CE3
CE4
C09 59 (3BH) Network Address 1 - 247 1
C10 60 (3CH) Minimum Output Freq. 0 - 2400 (0.0 - 240 Hz) 0.0 Hz
C11 61 (3DH) Maximum Output Freq. 75 - 2400 (7.5 - 240 Hz) 50.0 Hz
C12 62 (3EH) Acceleration Time 0 - 9990 (0.0 - 999 sec) 5.0 sec
C13 63 (3FH) Deceleration Time 0 - 9990 (0.0 - 999 sec) 5.0 sec
PV503
53 (35H)
54 (36H)
55 (37H)
56 (38H)
57 (39H) Not Used
58 (3AH) RESERVED
Configuration
Digital Inputs
E1, E2, E3, E4
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
1 Load 50Hz Lenze settings
2 Load 60Hz Lenze settings
3 Load OEM settings (if present)
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
0
0
CE1 = 1
CE2 = 2
CE3 = 3
CE4 = 4
1 = The drive's programming code number; (2) = Two decimal places assumed
21 RG-TDMOD
Page 26
1
Tmd
Register #
(hexadecimal
representation)
Drive Control & Communication
Parameter Name Range of Adjustment
Modbus value (decimal value)
Factory
Default
Parameter No.
C14 64 (40H) Operating Mode 0 Linear with Auto Boost
PV503
2
1 Square Law with Auto Boost
2 Linear with Constant V
3 Square Law with Constant V
min
Boost
min
Boost
4 Vector Speed Control
5 Vector Torque Control
6 Enhanced Linear Characteristic with Auto Boost
7 Enhanced Linear Characteristic with V
min
Boost
C15 65 (41H) V/f Reference Point 250 - 9990 (25.0 - 999 Hz) 50.0 Hz
C16 66 (42H) V
Boost 0 - 400 (0.0 - 40.0%) 4.0%
min
C17 67 (43H) Frequency Threshold 0 - 2400 (0.0 - 240 Hz) 0.0 Hz
C18 68 (44H) Chopper Frequency 0 4kHz
2
1 6kHz
2 8kHz
3 10kHz
69 (45H) RESERVED
C21 70 (46H) Slip Compensation 0 - 400 (0.0 - 40.0%) 0.0%
C22 71 (47H) Current Limit 30 - 200% 200%
C24 72 (48H) Accel Boost 0 - 200 (0.0 - 20.0%) 0.0%
C34 73 (49H) Configuration
Analog Input
0 0...10V
1 0...5V
0
2 -10...+10V
3 0...20mA
4 4...20mA
5 4...20mA Monitored
74 (4AH) RESERVED
C36 75 (4BH) Voltage (DCB)
0 - 500 (0.0 - 50.0%) 4.0%
DC Injection Brake
C37 76 (4CH) Fixed Setpoint 1 (JOG1) 0 - 2400 (0.0 - 240 Hz) 20.0 Hz
C38 77 (4DH) Fixed Setpoint 2 (JOG2) 0 - 2400 (0.0 - 240 Hz) 30.0 Hz
C39 78 (4EH) Fixed Setpoint 3 (JOG3) 0 - 2400 (0.0 - 240 Hz) 40.0 Hz
79 (4FH) Not Used
80 (50H) Not Used
C46 81 (51H) Frequency Setpoint 0 - 2400 (0.0 - 240 Hz)
C47 82 (52H) Torque Setpoint 0 - 400% 100%
83 (53H) RESERVED
C50 84 (54H) Output Frequency 0 - 2400 (0.0 - 240 Hz) Read Only
85 (55H) RESERVED
1 = The drive's programming code number; (2) = Two decimal places assumed.
RG-TDMOD 22
Page 27
1
Tmd
Register #
(hexadecimal
representation)
Drive Control & Communication
Parameter Name Range of Adjustment
Modbus value (decimal value)
Factory
Default
Parameter No.
PV503
C52 86 (56H) Motor Voltage 0 - 255% Read Only
C53 87 (57H) DC Bus Voltage 0 - 255% Read Only
C54 88 (58H) Motor Current 0 - 255% Read Only
C56 89 (59H) Drive Load 0 - 255% Read Only
C57 90 (5AH) Motor Torque 0 - 400% Read Only
91 (5BH) RESERVED
C61 92 (5CH) Heatsink Temperature 0 - 255 °C Read Only
C65 93 (5DH) Vector Speed Loop Gain 0 - 1000 (0.0 - 100) 30.0
C66 94 (5EH) Vector Speed Stability 0 - 1000 (0.0 - 100) 30.0
95 (5FH) Not Used
96 (60H) RESERVED
97 (61H) RESERVED
98 (62H) RESERVED
99 (63H) RESERVED
C77 100 (64H) Imax Gain 0 - 1600 (0.00 - 16.0)
(2)
0.25
C78 101 (65H) Integral Action Time 12 - 9990 ms 65 ms
C84 102 (66H) Motor Stator Resistance 0 - 6400 (0.00 - 64.0 W)
C86 103 (67H) Motor Rated Power 0 - 9990 (0.00 - 99.9 kW)
(2)
(2)
0.00 W
C87 104 (68H) Motor Rated Speed 300 - 65000 RPM 1390 RPM
C88 105 (69H) Motor Rated Current 0 - 4800 (0.0 - 480 A) 0.0 A
C89 106 (6AH) Motor Rated Frequency 10 - 999 Hz 50 Hz
C90 107 (6BH) Motor Rated Voltage 0 - 600 V 0 V
C91 108 (6CH) Motor Cosine Phi 40 - 100 (0.40 - 1.00)
(2)
0.80
C92 109 (6DH) Motor Stator Inductance 0 - 20000 (0.0 - 2000 mH) 0.0 mH
C93 110 (6EH) Drive Identification
C94 111 (6FH) User Password 0 - 999 0
112 (70H) RESERVED
113 (71H) RESERVED
C99 114 (72H) Software Version Read 4 words (fromat 'TMD 1.20') Read Only
c01 115 (73H) Acceleration Time 2 0 - 9990 (0.0 - 999 sec) 5.0 sec
c03 116 (74H) Deceleration Time 2 0 - 9990 (0.0 - 999 sec) 5.0 sec
c06 117 (75H) Holding Time - Auto
0 - 9990 (0.0 - 999 sec) 0.0 sec
DC Injection Brake
c08 118 (76H) Analog Output Scaling 0 - 9990 (0.0 - 999) 100.0
119 (77H) RESERVED
1 = The drive's programming code number; (2) = Two decimal places assumed.
23 RG-TDMOD
Page 28
1
Tmd
Register #
(hexadecimal
representation)
Drive Control & Communication
Parameter Name Range of Adjustment
Modbus value (decimal value)
Factory
Default
Parameter No.
c11 120 (78H) Configuration
c17
c18
c20 123 (7BH) I2T Switch-Off 30 - 100% 100%
c25 124 (7CH) LECOM Baud Rate 0 (9600, 8, N, 2 if C01 = 8...11)
c40 127 (7FH) Freq. Setpoint Command 0 - 2400 (0.0 - 240 Hz) 0.0 Hz
c42 128 (80H) Start Condition 0 Start after LOW-HIGH change at 28
c43 129 (81H) Flying Restart Selection 0 Search range: C11 ... 0Hz
c48 131 (83H) Motor Auto-Calibration 0 Calibration not done
c60 133 (85H) Mode Select for c61 0 Monitor Only
c61 134 (86H) Present Fault Status / Error Message (refer to Note 5) Read Only
c62 135 (87H) Last Fault Error Message (refer to Note 5) Read Only
c63 136 (88H) Last but one Fault Error Message (refer to Note 5) Read Only
c64 137 (89H) Last but two Fault Error Message (refer to Note 5) Read Only
PV503
Analog Output (62)
121 (79H)
122 (7AH)
125 (7DH) Not Used
126 (7EH) RESERVED
130 (82H) Not Used
132 (84H) Not Used
Configuration Digital Outputs
(A1, A2)
0 None
1 Output frequency 0 - 10V
2 Output frequency 2 - 10V
3 Load 0 - 10V
4 Load 2- 10V
5 Dynamic Braking
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
1 (9600, 8, N, 1 if C01 = 8...11)
2 (9600, 8, E, 1 if C01 = 8...11)
3 (9600, 8, O, 1 if C01 = 8...11)
1 Auto Start if 28 = HIGH
2 Flying restart (auto start disabled)
3 Auto Start if 28 = HIGH, with flying restart
1 Search range: last frequency ... 0Hz
1 Calibration enabled
2 Calibration complete
1 Monitor and Edit
0
c17 = 0
c18 = 1
0
1
0
Read Only
0
1 = The drive's programming code number; (2) = Two decimal places assumed.
RG-TDMOD 24
Page 29
1
Tmd
Register #
(hexadecimal
representation)
Drive Control & Communication
Parameter Name Range of Adjustment
Modbus value (decimal value)
Factory
Default
Parameter No.
c70 138 (8AH) Configuration
c71 139 (8BH) Auto TRIP Reset Delay 0 - 600 (0.0 - 60.0 sec) 0.0 sec
c73 140 (8CH) Input Voltage Selection 0 Low
c78 141 (8DH) Operating Time Counter (In hours) Read Only
c79 142 (8EH) Mains Connect Time Counter (In hours) Read Only
c82 144 (90H) S-Ramp Integral Time 0 - 500 (0.0 - 50.0 sec) 0.0 sec
L25 155 (9BH) Skip Frequency 1 0 - 2400 (0.0 - 240 Hz) 0.0 Hz
L26 156 (9CH) Skip Frequency 2 0 - 2400 (0.0 - 240 Hz) 0.0 Hz
L28 157 (9DH) Skip Frequency Bandwidth 0 - 100 (0.0 - 10.0 Hz) 0.0 Hz
n20 160 (A0H) LECOM Power-Up State 0 Quick Stop
n22 161 (A1H) Serial Timeout Action 0 Not Active
n23 162 (A2H) Serial Fault Time 50 - 65535 milliseconds 50 ms
PV503
TRIP Reset
143 (8FH) RESERVED
145 (91H) RESERVED
146 (92H) RESERVED
147 (93H) RESERVED
148 (94H) RESERVED
149 (95H) RESERVED
150 (96H) RESERVED
151 (97H) RESERVED
152 (98H) RESERVED
153 (99H) Not Used
154 (9AH) Not Used
158 (9EH) RESERVED
159 (9FH) RESERVED
0 TRIP reset by LOW-HIGH signal at 28
or mains switching
or LOW-HIGH signal at digital input "TRIP reset"
1 Auto TRIP reset
1 High
1 Inhibit
1 Controller Inhibit
2 Quick Stop
3 Trip Fault "FC3"
0
1 = The drive's programming code number; (2) = Two decimal places assumed
25 RG-TDMOD
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Drive Control & Communication
NOTE 5 -
Tmd
Fault History
Parameters c61 (Present Fault), c62 (Last Fault), c63 (Last but one Fault) and c64 (Last
but two Fault) provide the Fault History for the
Tmd
drive. Table 18 lists the fault codes.
Table 18: Fault Codes
Code Fault Description Display
0 NO FAULT
1, 2 OUTPUT (TRANSISTOR) FAULT OC1
3 EARTH FAULT OC2
4 RESERVED
5 OVER TEMPERATURE FAULT OH
6 FLYING RESTART FAULT rF
7 OVER VOLTAGE FAULT OU
8 UNDER VOLTAGE FAULT LU
9 MOTOR OVERLOAD FAULT OC6
10 OEM DATA FAULT GF
11 CONFIGURATION FAULT CFG
12 DYNAMIC BRAKE OVERHEATED FAULT dF
13 SINGLE PHASE FAULT SF
14 EXTERNAL FAULT EEr
15 CONTROL FAULT CF
16 AUTOMATIC START INHIBITED LC
17 INCOMPATIBILITY FAULT cF
18 INTERNAL FAULT 1 (EPM) F1
19 INTERNAL FAULT 2 F2
20 INTERNAL FAULT 3 F3
21, 22 INTERNAL FAULT 5 F5
23 INTERNAL FAULT 6 F6
24 INTERNAL FAULT 7 F7
25 INTERNAL FAULT 8 F8
26 INTERNAL FAULT 9 F9
27 IDENTIFICATION FAULT bF
28 A/D CONVERTER FAULT Ad
29 REMOTE KEYPAD FAULT JF
30 LOSS OF 4-20mA SIGNAL Sd5
31 SERIAL COMMUNICATION FAULT FC5
32 INTERNAL FAULT 4 F4
33 LOSS OF MOTOR PHASE LP1
34 INTERNAL FAULT 10 Fo
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Drive Control & Communication
7 Quick Start Instructions
Follow these Quick Start instructions to use ModBus Communications for basic network control of an
Tmd
drive. These instructions are for basic start, stop, direction and speed control of the
download the
7.1 Initial Settings
Tmd
product manual visit the AC Tech Technical Library at http://www.lenze-actech.com.
Tmd
drive. To
These instructions are for basic start, stop, direction and speed control of the
Tmd
drive using modbus
communications.
1. For this application set Parameter C01 of the drive to 11.
2. Set 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 not to 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 TMD
drive.
4. The TMD 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.
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7.2 Drive Control
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 TMD 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
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 MOTOR CALIBRATION NOT DONE
4 STOP
5 LOWER TRANSISTORS SWITCHING ON
6 MOTOR CALIBRATION ENABLED
7 RUN AT 0Hz
8 RUN
9 ACCEL
10 DECEL
11 DECEL OVERRIDE
12 DC BRAKE
13 FLYING START
14 SLOW CURRENT LIMIT
15 FAST CURRENT LIMIT
16 OFF
17 INHIBIT
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AC Technology Corporation
630 Douglas Street • Uxbridge MA 01569 • USA
Sales: 800-217-9100 •Service: 508-278-9100
www.lenze-actech.com
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