Lenze AC Tech TMD Series Bedienungsanleitung

Tmd

Series Drives

Modbus Communications Reference Guide

This documentation applies to the use of an

Tmd

Series Variable Frequency Drive in a Modbus Network and

should be used in conjunction with the

Tmd

Series Operating Instructions (Document TD03) 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.

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

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.

About These Instructions

i RG-TDMOD

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

Tmd

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

Tmd

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

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

RG-TDMOD ii

Contents

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

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

1 RG-TDMOD

Safety Information

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

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.

RG-TDMOD 2

Safety Information

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.

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 of Hazardous Electrical

Voltage.

Reference to an imminent danger that may

result in death or serious personal injury if the

corresponding measures are not taken.

WARNING! Impending or possible danger

for persons

Death or injury

STOP! Possible damage to equipment Damage to drive system or its surroundings

NOTE Useful tip: If observed, it will

make using the drive easier

1.2 Reference and Links

Tmd

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

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

3 RG-TDMOD

Introduction

2 Introduction

This document deﬁnes the speciﬁcs required for Modbus serial communication with a Lenze-AC Tech

standard

Tmd

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

with normal drive capabilities and operations is assumed. If this is not the case, refer to the

Tmd

Series

Operating Instructions (TD03) for more information.

2.1 RS485 Details

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

Tmd

control

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

AIN

COM

U V W

L1 L2

A+ A1

2020

E1 E2 E3 71

772

COM

+12 V

+15 V

+10 V

28 7

E4 A2

TXA

TXB

COM

Figure 1:

Tmd

Control Strip

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:

• 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

Tmd

is recommended when using serial communications.

AIN

COM

U V W

L1 L2

A+ A1

2020

E1 E2 E3 71

772

COM

+12 V

+15 V

+10 V

28 7

E4 A2

TXA

TXB

COM

20mm

max

Connect to

drive earth

(PE)

Figure 2: Connector Wiring Diagram

RG-TDMOD 4

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 120W1/4W resistor can be connected as shown in Figure 3.

AIN

COM

U V W

L1 L2

A+ A1

2020

E1 E2 E3 71

772

COM

+12 V

+15 V

+10 V

28 7

E4 A2

TXA

TXB

COM

Connect to

drive earth

(PE)

120Ω

1/4W

Figure 3: Network Termination Resistor

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

Tmd

is recommended when using serial

communications.

2.3 Modbus Details

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:

DATA

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

B. At this time the

Tmd

drive does not support the broadcast function of the protocol.

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

to a slave over the serial link, the actual address transmitted is one less. This is because the addresses

are numbered starting from 0. The

Tmd

WORDS “REGISTER #xx” APPEAR, IT SHOULD BE ASSUMED THAT THEY MEAN “

Tmd

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) . . .”

5 RG-TDMOD

Data & Register Format

D. The function codes supported by the

Tmd

drives are:

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:

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.

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

where noted.

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

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

accept only a single register to be written.

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

treated identically.

E. Exception codes:

01 - Command rejected, Illegal function

02 - No such register

03 - Data out of range

04 - Wrong data format

06 - Slave device busy

F. The

Tmd

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.

RG-TDMOD 6

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 --

Tmd

family

- 66 -- SC family - 69 --

smd

family - 72 -- SMV family

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

dependent. For the

Tmd

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

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).

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