Lenze AC Tech MCH Series User manual

MCH Series Drives
Modbus Communications Reference Guide

This documentation applies to the use of an MCH Series Variable Frequency Drive in a Modbus Network and should
be used in conjunction with the MCH Series Installation and Operation Manual (Document MH01) that shipped with
the drive. These documents should be read in their entirety as they contain important technical data and describe
the installation and operation of the drive.
© 2003 Lenze AC Tech Corporation
No part of this documentation may be copied or made available to third parties without the explicit written approval
of Lenze AC Tech Corporation. All information given in this documentation has been carefully selected and tested
for compliance with the hardware and software described. Nevertheless, discrepancies cannot be ruled out. Lenze
AC Tech does not accept any responsibility nor liability for damages that may occur. Any necessary corrections will
be implemented in subsequent editions.
About These Instructions

i RG-MHMOD
Contents
1 Safety Information.............................................................................................................1
1.1 Warnings, Cautions and Notes ..............................................................................1
1.1.1 General ....................................................................................................1
1.1.2 Application ...............................................................................................1
1.1.3 Installation ...............................................................................................1
1.1.4 Electrical Connection................................................................................2
1.1.5 Operation .................................................................................................2
1.2 Reference and Links .............................................................................................2
2 Introduction.......................................................................................................................3
2.1 Modbus Details.....................................................................................................3
2.2 Universal Registers ...............................................................................................4
3 Data Representation - Internal and External.......................................................................5
3.1 Register Format ....................................................................................................5
3.2 Data Types ...........................................................................................................5
3.3 AC Tech Drive Registers........................................................................................5
4 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 Sequence .....................................................................9
4.9 Start/Stop, Speed Control and Parameter Change Operation .................................10

RG-MHMOD ii
Contents
5 MCH Drive Control Registers .............................................................................................11
5.1 Abbreviations........................................................................................................12
5.2 Drive Control - Register #1....................................................................................13
5.3 Drive Size - Register #21 ......................................................................................14
5.4 Drive Status - Registers #24-29............................................................................14
5.4.1 Operational Status - Register #24 & 26 ....................................................15
5.4.2 Actual Rotational Direction - Registers #24 & 27 ......................................15
5.4.3 Control Mode - Registers #24 & 27 ..........................................................16
5.4.4 Speed Command Source - Registers #24 & 28.........................................16
5.4.5 Auto/Hand Status - Registers #24 & 28 ....................................................16
5.4.6 Present Fault - Registers #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 Programming Parameters .........................................................................................20
6.1 Format..................................................................................................................20
6.2 Parameter List ......................................................................................................21
7 Quick Start Instructions .....................................................................................................26
7.1 Initial Settings.......................................................................................................26
7.2 Drive Control.........................................................................................................26
7.3 Basic Drive Commands.........................................................................................27
7.4 Basic Drive Status.................................................................................................28
7.5 Basic Drive Network Programming........................................................................28

1 RG-MHMOD
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 (2004/108/EC).
The drive controllers meet the requirements of the Low Voltage Directive 2006/95/EC. The harmonised
standards of the series EN 50178/DIN VDE 0160 apply to the controllers.
The availability of controllers is restricted according to EN 61800-3. These products can cause
radio interference in residential areas. In the case of radio interference, special measures may be
necessary for drive controllers.
1.1.3 Installation
Ensure proper handling and avoid excessive mechanical stress. Do not bend any components and do not
change any insulation distances during transport or handling. Do not touch any electronic components
and contacts. Controllers contain electrostatically sensitive components, which can easily be damaged by
inappropriate handling. Do not damage or destroy any electrical components since this might endanger
your health! When installing the drive ensure optimal airflow by observing all clearance distances in the
drive's user manual. Do not expose the drive to excessive: vibration, temperature, humidity, sunlight, dust,
pollutants, corrosive chemicals or other hazardous environments.

RG-MHMOD 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
MCH Series Variable Frequency Drives visit: http://www.lenze-actech.com
Modbus-IDA visit: http://www.modbus.org

3 RG-MHMOD
Introduction
2 Introduction
This document defines the specifics required for Modbus serial communication with a Lenze-AC Tech
standard MCH Series drives for control, status monitoring, and programming parameters. A familiarity
with normal drive capabilities and operations is assumed. If this is not the case, refer to the MCH Series
Installation and Operation manual (MH01) for more information.
2.1 Modbus Details
A. AC Tech Drives running the Modbus communication protocol use the RTU (Remote Terminal Unit)
transmission mode and are slaves only. Therefore, the device communicating with the drives must be
a Modbus Master. The baud rate is 9600, no parity (two stop bits). The bit sequence is:
DATA
Start bit 1 2 3 4 5 6 7 8 Stop bit Stop bit
B. At this time the AC Tech drives do not support the broadcast function of the protocol.
C. IMPORTANT NOTE: Modbus 3X and 4X Registers are numbered starting at 1. However, when
transmitted to a slave over the serial link, the actual address transmitted is one less. This is because
the addresses are numbered starting from 0. AC Tech register numbers are also numbered starting
from 0. Therefore, AC Tech register numbers always correspond exactly with the address transmitted.
As a result, MODBUS REGISTER NUMBERS ARE ALWAYS ONE GREATER THAN AC TECH REGISTER
NUMBERS. WHENEVER THE WORDS “REGISTER #xx” APPEAR, IT SHOULD BE ASSUMED THAT THEY
MEAN “AC TECH REGISTER xx” and the Modbus Register number will be one larger. In some instances
we may show both for clarity. For example: “Register #24 (Modbus Register #25) . . .”
D. The function codes supported by AC Tech drives are:
03 Read Holding Registers (4X references). In general we can read only one register at a time. However,
there are a few limited exceptions.
Exception One:
Register #24 (Modbus Register #25) Drive Status, can also be read as a group of 6 words.
Exception Two:
AC Tech uses a method of reading a group of related registers that may not be consecutive within
the drive memory map. When this is done for the registers below, the response from the drive will
be for the number of words requested but will not be with consecutive registers.
Register #100 (Modbus Register #101), Fault history, should be read as a group of 4 words.
Register #101 (Modbus Register #102), Software version, should be read as a group of 4 words.
04 Read Input Registers (3X references). As with function 03, we read one register at a time except
where noted.
06 Preset Single Register (4X references). Write single register.

RG-MHMOD 4
Introduction
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. In Keypad Programming mode, cannot write registers.
F. The AC Tech drive will most nearly conform to the Modicon® Micro 84 in capabilities. This may be of
importance when configuring networks for DDE Servers.
G. Modbus® and Modicon® are registered trademarks of Schneider Electric. For more information about
the Modbus Protocol please refer to the Modicon Modbus Protocol Reference Guide. Web resources:
http://www.Modbus-IDA.org and http://www.schneider-electric.com.
2.2 Universal Registers
Lenze-AC Tech manufactures several drive families. Currently the QC, MC, MCH, SC, TC, 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 AC Tech Register locations have been made
universal among AC Tech drives. While their locations are consistent, their contents may vary as defined
in Table 2.
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 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 MCH series refer to section 5.3.
24 Drive Status (READ ONLY). Various operational variables.
48 Unlock Control (WRITE ONLY).
49 Unlock Writing of registers (WRITE ONLY).
50 Parameter Configuration Number (READ ONLY).

5 RG-MHMOD
Data & Register Format
3 Data Representation - Internal and External
3.1 Register Format
All registers are 16 bits. The data within these registers can take on the following forms:
• Individual bit commands (16 per register). Example: Register #1 (Modbus Register #2).
• Individual bit flags (16 per register). Example: Register #1.
• A chain of two 8 bit unsigned integers.
• A 16 bit unsigned integer.
This unsigned integer could represent many different types of data with various scaling rules and
units, which are defined by the DATA TYPE of the register.
3.2 Data Types
Data passed in registers across the Modbus communications link are always in INTERNAL units. The drive
itself may show the information in alternate DISPLAYED units. For Example: drive speeds are always stored
internally as hundredths of a Hz but the drive may display that speed in terms of RPM's using programmed
conversion factors. Table 3 lists examples of the internal units used on the MCH series.
Table 3: MCH Series Internal Units
Type Unit Example
SPEED 0.01 Hz 60 Hz = 6000
TIME 0.1 Sec 30.0 Sec = 300
The data type "PID" requires further explanation. The internal range of any data of PID type is 0 to 32736.
Many variables can be controlled in a PID system (pressure, temperature, flow, etc.). To simplify drive
calculation, the drive programmer enters the type and range of the 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 operations using real world units, the Modbus Master
must have knowledge of the range of the feedback device.
3.3 AC Tech Drive Registers
Registers #0 - #50: (Modbus Reg #1 - #51) Reserved for configuration and control
Registers #51 - #260 (Modbus Reg #52 - #261) Reserved for drive's programming mode parameters
Programming Mode Parameters are the parameters accessible from the local keypad on the drive. There is a direct
correspondence between the MCH Drive Programming Mode Parameter number and the AC Tech Register number
(and consequently, the Modbus register number):
AC Tech Register # = (MH Programming Parameter #) + 51
Modbus Register # = (MH Programming Parameter #) + 52
The Table 6 entries are based on MCH Drive Software # 213-070 Revision 00 (Parameter Configuration = 148). If a
later revision of software were to change register definitions, drive operation could be seriously affected. Examine
Register #50 (Parameter Configuration Number) for revision. The number displayed at power up on drive display also
identifies it. If it is not 148, writing to any register on the drive MUST NOT BE ATTEMPTED unless your Controller has
been setup to support the new configuration.

RG-MHMOD 6
Drive Setup & Operation
4 MCH Drive Setup & Operation
4.1 Serial Address
All AC Tech drives have a Serial Address Parameter that must be programmed prior to attempting to
operate the serial interface (Programming Parameter #58 / AC Tech Register #109).
4.2 Serial Communications Parameter
All AC Tech drives have a Serial Communications Parameter that governs the operation of the Serial Link.
On MCH drives this is #57 SERIAL LINK (register #108). Table 4 lists the selections for MCH Parameter 57,
SERIAL LINK.
Table 4: MCH Parameter 57 Selections
Setting Description Watchdog Timeout Period
00 DISABLE
01 WITH TIMER 10 sec
02 WITHOUT TIMER
Explanation of Terms:
• DISABLED serial link not operational (this is the drive's default setting)
• WITH TIMER 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
programmed.
4.3 Control Parameter
The Control Parameter on MCH drives (Programming Parameter #30 / AC Tech Register #81) determines
how much control a user has over a drive via the serial link. The Control Parameter must be appropriately
programmed for a particular application. Refer to the MCH Series Installation and Operation Manual (MH01)
for a detailed explanation on programming the drive parameters.
Table 5: Control (Parameter 30)
Setting Description
00 NORMAL (default)
01 NORM NO HAND
02 SERIAL SPEED
03 S SPD / NO HAND
04 SERIAL AUTO
05 S AUTO / NO HAND

7 RG-MHMOD
Drive Setup & Operation
• Setting the control parameter to “NORMAL” or “NORM NO HAND” gives the user read/write access to
the Program Parameters but prevents them from writing to any of the control registers.
• Setting the control parameter to “SERIAL SPEED” or “S SPD / NO HAND” maintains the user’s read/
write access to the Program parameters but also gives the user write access to all control registers
except for SERIAL START. In AUTO mode, the SERIAL SELECT, SERIAL SPEED and SERIAL PID control
registers can be used to control the drive speed or PID setpoint. Writing a 512 (200h) to the Drive
Control register sets the SERIAL SELECT flag thus commanding the drive to follow the SERIAL SPEED
or SERIAL PID command register. Writing a 256 (100h) to the Drive Control register clears the SERIAL
SELECT flag returning speed control to the previously selected source. The user can still write values
to the SERIAL SPEED and SERIAL PID registers but they will not be used until the SERIAL SELECT flag
is set again.
• Setting the control parameter to “SERIAL AUTO” or “S AUTO / NO HND” provides the user with all of the
functionality of the “SERIAL SPEED” and “S SPD / NO HAND” settings with the addition of the SERIAL
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
of Register #1 – the Drive Control Register.
• If Register #48 (Unlock Controls) is written with a value that is the Drive’s Programming Password, then
in addition to Register #1(Drive Control), writing to all other writeable registers is enabled (e.g.: register
#52 -- Preset Speed #1). The factory default password for MH series drives is 19.
• Once Register #48 (Unlock Controls) has been written, Controls are unlocked until the Lock Security
flag (Bit 1 of Register#1) has been set or until a Watchdog Timeout occurs.
• Writing to Register #1 (Drive Control) with bit 1 set will Lock both Controls and Parameters (prevents
writing to any register).
• The serial drive control can only be unlocked when the drive is not in programming mode.
• When LOCK is asserted, the drive drops out of SERIAL control and reverts back to the previous source
of control.
• 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 .

RG-MHMOD 8
Drive Setup & Operation
4.5 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 to Register #49 (Unlock Parameters). This would be done when Drive Control (start, forward/
reverse, keypad speed control, etc.) is not required.
• The Factory Default password is 19.
• Once Register #49 (Unlock Parameters) has been written, the writing of parameter registers is enabled
until Bit 1 of Register #1 has been set.
4.6 Watchdog Timer
All AC Tech drives are 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” (refer to section 5.10).
If the Watchdog Timer is enabled and controls have been unlocked, the Master MUST PERIODICALLY
COMMUNICATE with the drive or the timer will timeout. The timeout period is fixed at 10 seconds. It is
recommended to communicate at least once every 5 seconds. As an example, Register #24 can be read
repeatedly for this purpose.
The action of a Watchdog timeout depends on the setting of the CONTROL parameter. If the CONTROL
parameter is set for:
− NORMAL or NORM NO HAND: Watchdog timeout takes the drive 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 the drive through the
serial link as well. Under these circumstances, a loss of serial communications is considered somewhat
more serious. Therefore, when a watchdog timeout occurs, the drive is taken out of SERIAL control
mode and tripped into a FLWR/SER FAULT regardless of the setting of the SERIAL LOSS parameter.
The Watchdog Timer does not operate unless Controls have been UNLOCKED via Register #48, or Parameter
writing has been unlocked via Register #49. In the case of unlocking parameters only, the watchdog timer
will disable write permissions but will otherwise continue with normal operation.
Watchdog Timer Controls
− For some applications, it is inappropriate to shut down the drive because of a Watchdog Timeout.
Therefore, we have provided a means of disabling the Watchdog using Programming Parameter
#57 (SERIAL LINK):
Programming Parameter #57 controls both the enabling of the serial link and the Watchdog. Setting
Parameter #57 to WITH TIMER enables the serial link WITH the Watchdog. Conversely, setting
Parameter #57 to WITHOUT TIMER enables the serial link WITHOUT the Watchdog.

9 RG-MHMOD
Drive Setup & Operation
− A Watchdog failure can be recognized by reading the drive status (AC Tech Registers #24 – 29) and
looking at the control mode. If it has reverted from SERIAL to LOCAL without the Modbus Master
commanding it via Register #1 bit 1 (LOCK) then a watchdog failure has occurred. Serial Control
can be reestablished by unlocking Register #48.
− If the Watchdog Timer has been disabled, the Unlock Control Register #48 or Unlock Writing
Register #49 must still be asserted in order to write to Register #1 (Drive Control) or to any of
the programming parameters (in case of unlocking writing). However, there are no longer any
constraints on how often the Master must communicate 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 Register #1 (Start, Stop, etc.).
4. If the Watchdog Timer is enabled, keep it from timing out by assure that repeated reads of drive
status (Register #24 – 6 registers) are performed at reasonable intervals (typically less than 5 seconds
between reads because the Watchdog typically faults at 10 seconds).
5. Lock Control when drive operations are complete by writing a 2 to Register #1
(assert bit 1 of Register 1).
6. Drive is now returned to AUTO mode (control from the drive keypad and/or terminal strip).

RG-MHMOD 10
Drive Control & Communication
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 with serial enabled.
2. Unlock Controls and Parameters by writing the current programming password (default 19) to Register
#48.
3. Control Drive Operation via various commands to Register #1 (Start, Stop, etc.).
4. Control Drive Speed by writing the Speed Commands to Register #40 (Keypad Speed Command) or
by setting the SERIAL SELECT 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 between reads because
the Watchdog typically faults at 10 seconds). Note: It is suggested that the drive status register (#24)
be used for this function.
7. Lock Controls and Parameters when drive operations are complete by writing a 2 to Register #1 (assert
bit 1 of Register 1).
8. Drive is now returned to AUTO mode (control from the drive’s keypad).

11 RG-MHMOD
Drive Control & Communication
5 MCH Drive Control Registers
Table 6 describes the MCH Drive Control Registers in ascending order of AC Tech Register #. The HEX
representation is given in parenthesis next to the AC Tech Register # in the left-most column.
Table 6: MCH Drive Control Registers
ACT# (HEX representation)
REGISTER NAME
R/W/RS
MESSAGE MIN MAX UNITS
[NOTE]
or
Section
1 (01) Drive Control W SA 06 00 01 DH DL CRC Refer to Section 5.2 [1]
RS SA 06 00 01 DH DL CRC
19 (13) Drive Family R SA 03 00 13 00 01 CRCH CRCL Refer to Section 5.2 [2]
RS SA 03 02 00 42 CRCH CRCL
21 (15) Drive Size R SA 03 00 15 00 01 CRCH CRCL Refer to Section 5.3
RS SA 03 02 00 00 CRCH CRCL
24 (18)
Drive Status
(6 register read)
(reg. #24 to 29)
R SA 03 00 18 00 06 CRCH CRCL
Refer to Section 5.4
[3a]
[3b]
[3c]
RS SA 03 0C D1H D1L D2H D2L D3H
D3L D4H D4L D5H D5L
D6H D6L CRCH CRCL
24 (18) Command Speed R SA 03 00 18 00 01 CRCH CRCL 0 2400 0.1 Hz
RS SA 03 02 DH DL CRCH CRCL
25 (19) Actual Speed R SA 03 00 19 00 01 CRCH CRCL 0 2400 0.1 Hz
RS SA 03 02 DH 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 Direction (DL)
R SA 03 00 1D 00 01 CRCH CRCL Refer to Section 5.4.7/8
RS SA 03 02 DH DL CRCH CRCL
30 (1E) Motor Voltage R SA 03 00 1E 00 01 CRCH CRCL 0 999 V 5.10
RS SA 03 02 DH DL CRCH CRCL
32 (20) Kilowatt Hours
Low Word
R SA 03 00 20 00 01 CRCH CRCL Refer to Section 5.6
RS SA 03 02 DH DL CRCH CRCL
33 (21) Kilowatt Hours
High Word
R SA 03 00 21 00 01 CRCH CRCL Refer to Section 5.6
RS SA 03 02 DH DL CRCH CRCL
36 (24) Total Run Time Hours R SA 03 00 24 00 01 CRCH CRCL Refer to Section 5.8
RS SA 03 02 DH DL CRCH CRCL
37 (25) Total Run Time Minutes R SA 03 00 25 00 01 CRCH CRCL Refer to Section 5.8
RS SA 03 02 DH DL CRCH CRCL
38 (26) PID Setpoint R SA 03 00 26 00 01 CRCH CRCL Refer to Section 5.9
RS SA 03 02 DH DL CRCH CRCL
39 (27) PID Feedback R SA 03 00 27 00 01 CRCH CRCL Refer to Section 5.9
RS SA 03 02 DH DL CRCH CRCL

RG-MHMOD 12
Drive Control & Communication
ACT# (HEX representation)
REGISTER NAME
R/W/RS
MESSAGE MIN MAX UNITS
[NOTE]
or
Section
40 (28) Keypad Speed Command
R SA 03 00 28 00 01 CRCH CRCL
0 65000 0.01 Hz 5.6
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
41 (29) Local PID Command
R SA 03 00 29 00 01 CRCH CRCL
Refer to Section 5.9
RS SA 03 02 DH DL CRCH CRCL
W SA 06 00 29 DH DL CRCH CRCL
RS SA 06 00 29 DH DL CRCH CRCL
42 (2A) Serial Speed Command
R SA 03 00 2A 00 01 CRCH CRCL
0 65000 0.01 Hz 5.9
RS SA 03 02 DH DL CRCH CRCL
W SA 06 00 2A DH DL CRCH CRCL
RS SA 06 00 2A DH DL CRCH CRCL
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 65535 None 5.12
RS SA 03 02 DH DL CRC
5.1 Abbreviations
Table 7 lists the abbreviations used in Table 6 MCH Drive Control Registers:
Table 7: Abbreviations
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
ACT# AC Tech Register # (Modbus Register numbers are 1 larger)

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Drive Control & Communication
5.2 Drive Control - Register #1
Table 8 illustrates the Data format of Register #1, Drive Control.
Table 8: Drive Control - Register #1
Bit Command
Data Low Byte
0 UPDATE BUFFERS
1 LOCK SECURITY
2 STOP DRIVE
3 START DRIVE
4 UNUSED
5 UNUSED
6 UNUSED
7 UNUSED
Data High Byte
8 CLEAR SERIAL SELECT FLAG
9 SET SERIAL SELECT FLAG
10 UNUSED
11 UNUSED
12 UNUSED
13 UNUSED
14 UNUSED
15 UNUSED
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.
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 code 04.
NOTE 2 - Drive Family
The QC and DL Series drives return 64 (40H) The smd Series drives return 69 (45H)
The MC Series drives return 65 (41H) The TC Series drives return 70 (46H)
The SC Series drives return 66 (42H) The Tmd Series drives return 71 (47H)
The MCH Series drives return 68 (44H) The SMV Series drives return 72 (48H)

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Drive Control & Communication
5.3 Drive Size - Register #21
Table 9 lists the MCH Series drives. Register 21 will contain the value in the "Size" column. The drives are
listed in ascending order by the "Size" number.
Table 9: Drive Size - Register #21
Size HP Voltage Size HP Voltage Size HP Voltage Size HP Voltage
00 0.25 120 13 50 480 27 1 590 42 100 590
01 0.25 240 14 60 480 28 1.5 590 43 125 590
02 0.5 240 15 1 480 29 2 590 44 150 590
03 1 240 16 1.5 480 30 3 590 45 200 590
04 1.5 240 17 2 480 31 5 590 46 75 480
05 2 240 18 3 480 32 7.5 590 47 100 480
06 3 240 19 5 480 33 10 590 48 125 480
07 5 240 20 7.5 480 34 15 590 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 of
being able to read only one register at a time. The drive will send back 6 registers to the master. If 6 words
are requested at parameter #24, the following will be returned:
Table 10: 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
Auto/Hand Status D5L
Present Fault D6H
Command Rotation D6L

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Drive Control & Communication
NOTE 3a - Command Speed (Register #24 Bytes D1H and D1L or Register #25)
• In hundredths of a Hz
• Most significant byte is first, followed by Least significant
• Example: 02 01 in hex converts to 5.13Hz in decimal.
NOTE 3b - Actual Speed (Register #24 Bytes D2H and D2L or Register #25)
• In hundredths of a Hz
• Most significant byte is first, followed by Least significant
NOTE 3c - 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).
5.4.1 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 Actual Rotational Direction - Registers #24 & 27
Table 12 lists the Actual Rotational Direction (Register #24 byte D4H or Register #27 DH).
Table 12: Actual Rotational Direction
Setting Direction
0 FORWARD
1 REVERSE

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Drive Control & Communication
5.4.3 Control Mode - Registers #24 & 27
Table 13 lists the Control Mode (Register #24 byte D4L or Register #27 DL).
Table 13: Control Mode
Setting Control
0 OFF
1 HAND
2 AUTO
3 SERIAL
5.4.4 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 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 byte D5L or Register #28 DL).
Table 15: Speed Reference Control
Setting Control
0 HAND
1 AUTO