Lenze AC Tech TMD Series User manual

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
© 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.
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
4 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
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

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 AIN
COM
U V W
L1 L2
9 A+ A1 2020 E1 E2 E3 71 62 772
COM COM +12 V +15 V +15 V +10 V
8U 28 7
L3
E4 A2
TXA
TXB
COM
8I
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 AIN
COM
U V W
L1 L2
9 A+ A1 2020 E1 E2 E3 71 62 772
COM COM +12 V +15 V +15 V +10 V
8U 28 7
L3
E4 A2
TXA
TXB
COM
8I
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 AIN
COM
U V W
L1 L2
9 A+ A1 2020 E1 E2 E3 71 62 772
COM COM +12 V +15 V +15 V +10 V
8U 28 7
L3
E4 A2
TXA
TXB
COM
8I
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
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:
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 register numbers are also numbered starting from 0. Therefore,
Tmd register numbers always correspond exactly with the address transmitted. As a result, MODBUS
REGISTER NUMBERS ARE ALWAYS ONE GREATER THAN Tmd REGISTER NUMBERS. WHENEVER THE
WORDS “REGISTER #xx” APPEAR, IT SHOULD BE ASSUMED THAT THEY MEAN “ Tmd 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) . . .”

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:
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.
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).

7 RG-TDMOD
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
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 Tmd series.
Table 3: Tmd Series Internal Units
Type Unit Example
SPEED .1Hz 60Hz = 600
TIME .1Sec 30.0 Sec = 300
3.3 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 Tmd Drive Software # 1.20 (Parameter Configuration = 503). If a later
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.

RG-TDMOD 8
Drive Setup & Operation
4 Tmd Drive Setup & Operation
4.1 Control Parameter
In order to communicate using Modbus protocol, the Tmd Control Source Setpoint (parameter #C01) must
be set to one of the selections listed in Table 4.
Table 4: Control Source Setpoint C01 (Register 51)
Setting Source Description
Program
(Monitoring)
Control
(Start/Stop,
Direction)
Speed
(Source)
8 Modbus Terminal Analog Input Drive is controlled via terminal programming and is monitored via Modbus
interface or keypad. The default speed source is the analog input.
9 Modbus Terminal c40 Drive is controlled via terminal programming and is monitored via Modbus
interface or keypad. The default speed source is c40.
10 Modbus Modbus Analog Input Drive is controlled via serial interface and is monitored via Modbus
interface or keypad. The default speed source is the analog input.
11 Modbus Modbus c40 Drive is controlled via serial interface and is monitored via Modbus
interface or keypad. The default speed source is c40
4.2 Serial Address
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 Tmd drives this is c25 Baud Rate. Parameter C01 Control Source Setpoint must first be set to a
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).
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.

9 RG-TDMOD
Drive Setup & Operation
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).
Selection of n22 determines the Tmd drive's reaction to serial timeout:
n22 = 0: Not Active The Watchdog Timer is disabled
n22 = 1: Controller Inhibit If the drive doesn't receive valid communication for period longer
than time specified in parameter n23, it will COAST to a STOP and
status display (c61) will show inhibit state 'Inh'.
n22 = 2: Quick Stop If drive doesn't receive valid communication for period longer than
time specified in parameter n23, it will RAMP to a STOP and status
display (c61) will show inhibit state 'Stp'.
n22 = 3: Trip Fault FC3 If drive doesn't receive valid communication for period longer than
time specified in parameter n23, it will TRIP with an 'FC3' fault.
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.
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.

RG-TDMOD 10
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 Tmd series drives is 0.
• 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.
• 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 Tmd Register #24 (Modbus Register #25) or any other readable register.
4. No unlocking or watchdog issues apply for monitoring.

11 RG-TDMOD
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).

RG-TDMOD 12
Drive Control & Communication
5 Tmd Drive Control Registers
Table 6 describes the Tmd Drive Control Registers in ascending order of Tmd Register #. The HEX
representation is given in parenthesis next to the Tmd Register # in the left-most column.
Table 6: Tmd Drive Control Registers
Tmd
# (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 CRCH CRCL Refer to Section 5.2 [1]
RS SA 06 00 01 DH DL CRCH CRCL
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 5.2 [3]
RS SA 03 02 00 00 CRCH CRCL
22 (16) Drive H/W R SA 03 00 16 00 01 CRCH CRCL Refer to Section 5.3
RS SA 03 02 DH DL 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
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 [4a]
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 [4b]
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 5.4.2 [4c]
RS SA 03 02 DH DL CRCH CRCL
27 (1B) Act. Direction (DH)/
Control Mode (DL)
R SA 03 00 1B 00 01 CRCH CRCL Refer to Section 5.4.3
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 5.4.4
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 5.4.5/6 [4d]
RS SA 03 02 DH DL CRCH CRCL
30 (1E) Motor Voltage R SA 03 00 1E 00 01 CRCH CRCL 0 800 1V 5.5
RS SA 03 02 DH DL CRCH CRCL
40 (28) Serial Speed Command
R SA 03 00 28 00 01 CRCH CRCL
C10
Min
Freq.
C11
Max
Freq.
0.1 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
48 (30) Unlock Commands W SA 06 00 30 DH DL CRCH CRCL 0 9999 None 5.7
RS SA 06 00 30 DH DL CRCH CRCL
49 (31) Unlock Parameters W SA 06 00 31 DH DL CRCH CRCL 0 9999 None 5.8
RS SA 06 00 31 DH DL CRCH CRCL
50 (32) Register Version R SA 03 00 32 00 01 CRCH CRCL 0 65535 None 5.9
RS SA 03 02 DH DL CRCH CRCL

13 RG-TDMOD
Drive Control & Communication
5.1 Abbreviations
Table 7 lists the abbreviations used in Table 6 Tmd 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
Tmd # Tmd Register # (Modbus Register numbers are 1 larger)
5.2 Drive Control - Register #1
Table 8 illustrates the Data High Byte and Data Low Byte format of Register #1, Drive Control.
Table 8: Drive Control - Register #1
Data Low Byte
0 UPDATE BUFFERS
1 LOCK SECURITY
2 STOP DRIVE (COAST TO STOP)
3 START DRIVE
4 UNUSED
5 UNUSED
6 SET REVERSE
7 SET FORWARD
Data High Byte
8 NETWORK SPEED REFERENCE
9 LOCAL SPEED REFERENCE
10
11
12
13
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.

RG-TDMOD 14
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.
Table 9: Drive Size - Register #21
Size kW Voltage Size kW Voltage
00 0.55
1/N/PE or 3/PE
230V
28 0.55
3/PE
400/480V
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
3/PE
230V
34 4.0
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

15 RG-TDMOD
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)
0 Isolated
1 1 Reserved
0 Reserved
2 1 Reserved
0 Reserved
3 1 OEM defaults present
0 No OEM defaults
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:
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).

RG-TDMOD 16
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)
Table 12: 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
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