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MCH Series Drives

Modbus Communications Reference Guide

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Summary of Contents for MCH Series

Page 1: ...MCH Series Drives Modbus Communications Reference Guide ...

Page 2: ...on of the drive 2003 Lenze AC Tech Corporation No part of this documentation may be copied or made available to third parties without the explicit written approval of Lenze AC Tech Corporation All information given in this documentation has been carefully selected and tested for compliance with the hardware and software described Nevertheless discrepancies cannot be ruled out Lenze AC Tech does no...

Page 3: ... 4 3 Data Representation Internal and External 5 3 1 Register Format 5 3 2 Data Types 5 3 3 AC Tech Drive Registers 5 4 MCH Drive Setup Operation 6 4 1 Serial Address 6 4 2 Serial Communications Parameter 6 4 3 Control Parameter 6 4 4 Unlocking Locking Controls 7 4 5 Unlocking Locking Programming Parameters only 8 4 6 Watchdog Timer 8 4 7 Monitoring Only Operation 9 4 8 Normal Control Operation Se...

Page 4: ...rs 24 29 17 5 4 7 Commanded Rotational Direction Registers 24 29 17 5 5 Motor Volts Register 30 17 5 6 Kilowatt Hours Registers 32 33 18 5 7 Keypad Speed Register 40 18 5 8 Total Run Time Registers 36 37 18 5 9 PID Commands Registers 38 39 41 43 18 5 10 Serial Speed Command Register 42 18 5 11 Unlock Commands Register 48 19 5 12 Unlock Parameters Register 49 19 5 13 Register Version 19 6 MCH Progr...

Page 5: ...n installing the drive controllers in machines commissioning i e the starting of operation as directed is prohibited until it is proven that the machine complies with the regulations of the EC Directive 98 37 EC Machinery Directive EN 60204 must be observed Commissioning i e starting drive as directed is only allowed when there is compliance to the EMC Directive 2004 108 EC The drive controllers m...

Page 6: ...cumentation 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 cont...

Page 7: ...refore AC Tech register numbers always correspond exactly with the address transmitted As a result MODBUS REGISTER NUMBERS ARE ALWAYS ONE GREATER THAN AC TECH REGISTER NUMBERS WHENEVER THE WORDS REGISTER xx APPEAR IT SHOULD BE ASSUMED THAT THEY MEAN AC TECH REGISTER xx and the Modbus Register number will be one larger In some instances we may show both for clarity For example Register 24 Modbus Re...

Page 8: ...drives support Modbus based communications Since each drive family has different parameters and size ranges the parameter register definitions are in many cases quite different In order to facilitate communication in a network with a mix of drive types certain AC Tech Register locations have been made universal among AC Tech drives While their locations are consistent their contents may vary as de...

Page 9: ...e controlled variable actually it is the range of the feedback device that we are scaling and this range is mapped to the internal range 0 32736 If the feedback device measured 0 to 200 PSI then 0 PSI is 0 internal units and 200 PSI is 32736 internal units To command a setpoint of 100 PSI the LOCAL PID command Register 41 can be written with the value 16368 32736 100 200 Thus to control PID operat...

Page 10: ...ER serial link allows reading writing of both control programming parameters Watchdog timer is enabled refer to section 4 6 Watchdog Timer WITHOUT TIMER serial link allows reading writing of both control programming parameters Watchdog timer is disabled refer to section 4 6 Watchdog Timer Prior to attempting to communicate with the drive Serial Communications Parameter must be appropriately progra...

Page 11: ...ERIAL START command Under these settings when the drive is in AUTO mode it can only be started via the serial link All control options are subject to the Parameter and Control Locking Unlocking procedures 4 4 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...

Page 12: ...ive out of SERIAL control mode and continues with normal operation SERIAL SPEED or S SPD NO HAND Watchdog timeout takes the drive out of SERIAL control mode and follows the action of the SERIAL LOSS parameter Parameter 56 SERIAL AUTO or S AUTO NO HND In AUTO mode these settings force the user to START the drive through the serial link It is fairly safe to assume that the user would intend to STOP ...

Page 13: ...e with the drive 4 7 Monitoring Only Operation 1 Power up drive with serial enabled 2 Simply read AC Tech Register 24 Modbus Register 25 or any other readable register 3 No unlocking or watchdog issues apply for monitoring 4 8 Normal Control Operation Sequence 1 Power up drive with serial enabled 2 Unlock control by writing a zero to Register 48 3 Control drive operation via various commands to Re...

Page 14: ...bit writing 200H to Register 1 and then writing speed commands to Register 42 Serial Speed Command 5 Change the programming parameters e g change the acceleration rate by writing new acceleration rate to register 59 6 If the Watchdog Timer is enabled keep it from timing out by insuring that repeated reads of any of the registers are performed at reasonable intervals typically less than 5 seconds b...

Page 15: ...H DL CRCH CRCL 26 1A Load DH Status DL R SA 03 00 1A 00 01 CRCH CRCL Refer to Section 5 4 1 2 RS SA 03 02 DH DL CRCH CRCL 27 1B Actual Direction DH Control Mode DL R SA 03 00 1B 00 01 CRCH CRCL Refer to Section 5 4 3 4 RS SA 03 02 DH DL CRCH CRCL 28 1C Speed Source DH Speed Reference DL R SA 03 00 1C 00 01 CRCH CRCL Refer to Section 5 4 5 6 RS SA 03 02 DH DL CRCH CRCL 29 1D Fault DH Commanded Dire...

Page 16: ...RCL 43 2B Serial PID Command R SA 03 00 2B 00 01 CRCH CRCL Refer to Section 5 9 RS SA 03 02 DH DL CRCH CRCL W SA 06 00 2B DH DL CRCH CRCL RS SA 06 00 2B DH DL CRCH CRCL 48 30 Unlock Commands W SA 06 00 30 DH DL CRC 0 9999 None 5 10 RS SA 06 00 30 DH DL CRC 49 31 Unlock Parameters W SA 06 00 31 DH DL CRC 0 9999 None 5 11 RS SA 06 00 31 DH DL CRC 50 32 Register Version R SA 03 00 32 00 01 CRC 0 6553...

Page 17: ...bles 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 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 th...

Page 18: ...590 49 150 480 08 7 5 240 21 10 480 35 20 590 50 200 480 09 10 240 22 15 480 36 25 590 51 30 240 10 15 240 23 20 480 37 30 590 52 40 240 11 20 240 24 25 480 38 40 590 53 50 240 12 25 240 25 30 480 39 50 590 54 60 240 26 40 480 40 60 590 55 75 240 41 75 590 56 100 240 5 4 Drive Status Registers 24 29 When reading parameter 24 the number of words requested must be 6 This is an exception to the rule ...

Page 19: ... 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 4 1 Operational Status Register 24 26 Table 11 lists the Operational Status byte D3L Table 11 Operational Status Register 26 Setting Parameter 0 FAULT LOCKOUT 1 FAULT 2 START PENDING 3 STOP 4 DC BRAKE 5 RUN AT 0Hz 6 RUN 7 ACCEL 8 DECEL 9 CURRENT LIMIT 10 DECEL OVERRIDE 5 4 2 A...

Page 20: ...nd Source Register 24 byte D5H or Register 28 DH Table 14 Speed Command Source Setting Source 0 KEYPAD 1 0 10VDC 2 4 20mA 3 PRESET 1 4 PRESET 2 5 PRESET 3 6 PRESET 4 7 MOP 8 KEYPAD SPEED 9 KEYPAD SERIAL PID SETPOINT 10 0 10VDC PID SETPOINT 11 4 20mA PID SETPOINT 12 SERIAL SPEED 13 SERIAL PID SETPOINT 14 SLEEP 5 4 5 Auto Hand Status Registers 24 28 Table 15 lists the Auto Hand Control Register 24 b...

Page 21: ...OL FAULT CONTROL 14 LANGUAGE FAULT LANGUAGE 15 EXTERNAL EXTERNAL 16 INTERNAL 16 INTERNAL 17 POWER TRANSIENT PWR TRAN 18 INTERNAL ERROR 18 INTERN 18 19 INTERNAL ERROR 19 INTERN 19 20 INTERNAL ERROR 20 INTERN 20 21 INTERNAL ERROR 21 INTERN 21 22 INTERNAL ERROR 22 INTERN 22 23 INTERNAL ERROR 23 INTERN 23 5 4 7 Commanded Rotational Direction Registers 24 29 Table 17 lists the Commanded Rotational Dire...

Page 22: ...42 Minutes 5 9 PID Commands Registers 38 39 41 43 Registers 38 PID Setpoint Command 39 PID Feedback Value 41 Local PID Setpoint Command and 43 Serial PID Command are all in drive internal units with a range of 0 to 32736 The real world parameter being controlled is mapped into this internal range based on the feedback device for the parameter being measured and controlled For Example if the device...

Page 23: ...ust be asserted This disables the watchdog and prevents further accesses to registers Note Terminal TB1 must be closed in order to unlock serial control 5 12 Unlock Parameters Register 49 Register 49 Unlock Parameters unlocks programming parameters for writing when the proper Programming Password is entered Whenever a parameter writing session where 49 was activated is to be ended register 1 bit 1...

Page 24: ...TING Message structure for writing 1 word all parameters Request SA 06 00 RA DH DL CRC Response SA 06 00 RA DH DL CRC LEGEND for Parameter List 1st Column AC Tech Register MC Register followed by Hex value in parenthesis 51 33H 2nd Column Parameter 1 Drive s programming parameter number 4th Column Range of Adjustment The Modbus values are whole numbers One decimal place is assumed A superscript 2 ...

Page 25: ...7 BAND WID 0 1000 00 10 00 Hz 100 1 00 Hz 2 59 3B 8 ACCEL Refer to Note 4 300 30 0 sec 60 3C 9 DECEL Refer to Note 5 300 30 0 sec 61 3D 10 MIN FREQ 00 Max Frequency 50 50 Hz 2 62 3E 11 MAX FREQ Min Frequency 12000 120 00 Hz 6000 60 00 Hz 2 63 3F 12 DC BRAKE Refer to Note 6 0 0 VDC 64 40 13 DC TIME 0 9999 0 999 9 sec 0 0 sec 65 41 14 DYN BRAKE 00 Off 01 On 00 Off 67 43 16 CURRENT 25 180 25 180 Refe...

Page 26: ...erial Auto 05 Serial Auto No Hand 00 Normal 82 52 31 UNITS 00 Hertz 01 RPM 02 Hz 03 SEC 04 MIN 05 HR 06 None 07 08 PSI 09 FPM 10 CFM 11 GPM 12 IN 13 FT 14 SEC 15 MIN 16 HR 17 F 18 C 19 MPM 00 Hertz 83 53 32 HZ MULT 10 65000 10 650 00 100 1 00 2 84 54 33 UNITS DP 00 XXXXX 01 XXX X 02 XX XX 03 X XXX 04 XXXX 00 XXXXX 85 55 34 LOAD MLT 95 139 95 139 100 100 86 56 35 CONTRAST 00 Low 01 Medium 02 High 0...

Page 27: ...03 PRESET 3 04 HAND 05 REVERSE 00 None 101 65 50 TB13D 00 EXT Fault 01 EXT Fault 02 EXT Clear 00 EXT Fault 103 67 104 68 105 69 52 53 54 TB14OUT TB15OUT RELAY 00 None 01 Run 02 Fault 03 INV Fault 04 Fault Lockout 05 Speed 06 Above Preset 3 07 Current Limit 08 AUTO HAND SRC 09 FLWR PRESET 10 MIN MAX ALARM 11 INV MIN MAX ALM 12 MIN ALARM 13 INV MIN ALARM 14 MAX ALARM 15 INV MAX ALARM 16 RUN REVERSE ...

Page 28: ...ODE 00 Off 01 Normal 02 Reverse 00 Off 125 7D 74 PID FB 00 TB 5A 01 TB 5B 00 TB 5A 126 7E 75 FB MIN 0 65000 0 0 0 127 7F 76 FB MAX 0 65000 65000 100 128 80 77 P GAIN 0 9999 0 0 999 9 50 5 0 129 81 78 I GAIN 0 100 0 0 10 0 sec 0 0 0 sec 130 82 79 D GAIN 0 100 0 0 10 0 sec 0 0 0 sec 131 83 80 PID ACC 0 1000 0 0 100 0 sec 300 30 0 sec 132 84 81 MIN ALRM FB MIN FB MAX 0 0 133 85 82 MAX ALRM FB MIN FB ...

Page 29: ...5 60 10 20 10 36000 1 0 3600 sec 2 36000 0 2 3600 sec 25 60 20 36000 2 0 3600 sec 2 36000 0 2 3600 sec NOTE 6 MAX DC BRAKE VOLTAGE Register 63 Maximum DC Brake Voltage Model MH100 MH200 MH400 MH500 Voltage 240 120 Vac 240 200 Vac 480 400 Vac 590 480 Vac MAX Brake Voltage 24 V 24 V 48 V 59 V NOTE 7 CURRENT Register 67 If LINE VOLTS Register 51 is set to LOW or set to Auto and the input voltage is l...

Page 30: ...tor network communications to the drive The timer is fixed at a value of 10 seconds If the drive is under network control with Parameter 30 Control set to SERIAL AUTO or S AUTO NO HND and the master does not communicate with the MCH drive for longer than the 10 second timeout period the drive will trip to FLWR SERIAL fault The timer can either be enabled or disabled as outlined in the next step 4 ...

Page 31: ...not need to write another unlock to the drive before writing any other function 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 the stop method programmed in Parameter 26 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 4000...

Page 32: ... Value Operational State 0 FAULT LOCKOUT 1 FAULT 2 START PENDING 3 STOP 4 DC BRAKE 5 RUN AT 0Hz 6 RUN 7 ACCEL 8 DECEL 9 CURRENT LIMIT 10 DECEL OVERRIDE 16 SLEEP MODE This is the decimal equivalent value of the binary number of the bits in that byte 7 5 Basic Drive Network Programming The programming parameters of the MCH drive may be altered by a Modbus master To do so simply write the desired val...

Page 33: ...Lenze AC Tech Corporation 630 Douglas Street Uxbridge MA 01569 USA Sales 800 217 9100 Service 508 278 9100 www lenze actech com RG MHMOD e7 ...

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