# Property of PMA Electrical Solutions, LLC.
#
# Danfoss VLT DriveMotor FCP 106 and FCM 106. Both models are claimed because
# MG03N202 is written for the pair ("VLT DriveMotor FCP 106/FCM 106") and
# gives one parameter set for both; the FCP 106 is the panel/wall-mount
# electronics and the FCM 106 is the same electronics on the motor.
#
# Sources (printed page numbers, not PDF page index):
#   MG03N202  VLT DriveMotor FCP 106/FCM 106 Programming Guide, 11/2015,
#             software 5.00
#             p.  17     par 8-30..8-37 Modbus communication parameters
#             p.  24     Table 3.11 Network Configuration — protocol, address,
#                        baud and parity to enable Modbus RTU
#             p.  26     Illustration 3.15 PCD write/read lists — the CTW/REF
#                        and STW/MAV holding registers used by [control]
#             pp. 28-29  "10 x parameter number" rule and the worked examples
#                        that pin the -1
#             pp. 30-31  Table 3.26 control word, FC profile, bit by bit
#             p.  32     Table 3.29 status word, FC profile, with the
#                        Bit=0 / Bit=1 polarity columns
#             p.  33     bus reference scaling, 16384 (4000 hex) = 100%
#             pp. 71-74  par 8-0*/8-3*/8-5* and their defaults
#             p.  120    Table 5.3 alarm word / alarm word 2 / alarm word 3
#             pp. 137-138  parameter list 16-** — the per-parameter WIDTH and
#                        conversion index used by every point below
#   MG03M202  VLT DriveMotor FCP 106/FCM 106 Design Guide (cached for the
#             wiring and option context; no register data is taken from it)
#
# FIELDBUS: Modbus RTU and the Danfoss FC protocol are BOTH embedded on the
# RS485 port. No option card is needed. Par 8-30 Protocol default is [0] FC,
# NOT Modbus — this profile assumes 8-30 = [2] Modbus RTU, which must be set
# from the LCP before the drive answers a Modbus master (MG03N202 p. 72).
# For bus control also check par 8-01 Control Site (default [0] Digital and
# ctrl.word) and par 8-02 Control Source. Par 8-53 Start Select defaults to
# [3] Logic OR and 8-50 Coasting Select to [3] Logic OR, so a bus start works
# at factory defaults.
#
# ADDRESSING: register = parameter_number * 10 - 1, where par 16-03 is the
# integer 1603, so 1603 * 10 - 1 = 16029. MG03N202 p. 28 states the PNU rule
# ("The parameter number is translated to Modbus as (10 x parameter number)
# decimal") and pp. 28-29 give the two worked examples that pin the -1:
# par 3-03 -> register 3030 -> wire address 3029 (0x0BD5), and par 1-00 ->
# register 1000 -> wire address 999 (0x03E7). Same formula as the classic
# FC 102/202/301/302, confirmed here from the FCP 106's own book rather than
# carried over.
#
# WIDTH IS PER PARAMETER — see `words` on each point, from the Type column of
# the MG03N202 parameter list, pp. 137-138. The FCP 106 widths are NOT the
# FC 202's: 16-12 Motor Voltage, 16-13 Frequency and 16-30 DC Link Voltage are
# Uint32 here (16-bit on the FC 202), while 16-14 Motor current and 16-22
# Torque [%] are 16-bit here (32-bit on the FC 202). 16-10 Power [kW] is
# conversion index -3 here and -2 on the FC 202. Reading either at the wrong
# width splices in the neighbouring parameter.
#
# CONTROL REGISTERS: MG03N202 p. 26, Illustration 3.15, gives the PCD write
# and read lists as holding registers 2810-2873 (master -> drive) and
# 2910-2973 (drive -> master), with index 0 and 1 of each fixed — the manual
# marks them not changeable and states "The control word and reference is
# always sent in the list from the controller to the frequency converter":
#   register 2810  CTW  control word      register 2910  STW  status word
#   register 2811  REF  bus reference      register 2911  MAV  main actual value
# Those are register NUMBERS in the same space as the parameter numbers above,
# so the wire addresses are 2809 / 2810 / 2909 / 2910. MG03N202 does not
# document the classic FC family's 50000/50010 CTW/REF block, so the PCD
# registers — which this drive's own manual does document — are used.
#
# REFERENCE is % of max, NOT Hz: MG03N202 p. 33, "value 16384 (4000 hex)
# corresponds to 100%", scaled between par 3-02 Minimum Reference and 3-03
# Maximum Reference. raw = value / speed_scale, so 100% -> 16384.
#
# REVERSE: run_rev is deliberately absent. Control word bit 15 reverses only
# when par 8-54 Reversing Select is routed to the bus, and MG03N202 p. 74
# lists the default as [0] Digital input (p. 31 says the same in prose), so a
# "reverse" command at factory settings silently runs the motor FORWARD. Set
# 8-54 = [1] Bus and add run_rev = [1084, 33916] if you need it.
#
# WATCHDOG: par 8-04 Control Timeout Function defaults to [0] Off with 8-03
# Control Timeout Time at 1 s (MG03N202 pp. 71, 133), so a running drive that
# loses its master keeps running. The keepalive below is declared anyway so
# the app holds the link up; set 8-04 = [2] Stop or [5] Stop and trip for a
# real comm-loss stop.

name = "Danfoss VLT DriveMotor FCP 106 / FCM 106"
vendor = "Danfoss"
device_type = "vfd"
verified = false
probe_register = 16029  # 16-03 status word

[connection]
summary = "Use the embedded RS-485 terminals 68/69 on the FCP 106 or FCM 106 control board."
warnings = ["Isolate and prove dead before opening the unit or motor-mounted electronics.", "Keep the RS-485 pair away from motor conductors and restore all enclosure seals."]

[[connection.methods]]
id = "built_in_rs485"
title = "Built-in RS-485 (68/69)"
transport = "serial"
hardware = "built_in"
port = "Control terminals 68 (P/TX+/RX+), 69 (N/TX-/RX-), 61 common"
connector = "Internal control-terminal block"
adapter = "Isolated USB-to-RS-485 adapter"
cable = "Shielded twisted-pair RS-485 cable"
parts = ["Suitable cable gland", "Small insulated screwdriver", "End termination when required"]
wiring = [{ adapter = "D+ / B+", device = "68 (P, TX+/RX+)", signal = "RS-485 positive" }, { adapter = "D- / A-", device = "69 (N, TX-/RX-)", signal = "RS-485 negative" }, { adapter = "COM/GND", device = "61", signal = "Optional RS-485 common", required = false }]
steps = ["De-energize the assembly and open the control compartment.", "Identify terminals 68, 69, and 61 and land the pair with the documented polarity.", "Bond/route the shield as specified and restore the enclosure before applying power.", "Connect the USB adapter to the computer and select its serial port."]
setup = ["Set 8-30 = 2 Modbus RTU, 8-31 address, 8-32 baud, and 8-33 parity/stop bits.", "For control, verify 8-01/8-02 select the FC port."]
warnings = ["Factory protocol is FC, not Modbus RTU.", "Do not leave a motor-mounted FCM enclosure open or improperly sealed."]
source = "Danfoss MG03N202, pp. 17-18 and 24; MG03M202, pp. 69-71"

# MG03N202 p. 72: par 8-32 Baud Rate value [3] 19200 Baud is the "Default
# setting for Modbus RTU" — the FC-protocol default of 9600 does NOT apply
# once 8-30 is switched to Modbus. p. 24 Table 3.11: par 8-33 Parity / Stop
# Bits default "Even parity, 1 stop bit".
[serial]
baudrate = 19200
parity = "E"
stopbits = 1

[monitor]
# --- 16-bit parameters (words = 1) ---
control_word = { address = 15999 }                                          # 16-00 Uint16
reference_pct = { address = 16019, signed = true, scale = 0.1, unit = "%" }  # 16-02 Int16, conv -1
# 16-03 status word, Uint16. Polarity is from MG03N202 p. 32 Table 3.29, read
# off the Bit=0/Bit=1 columns rather than inferred from the names: bit 2 = 1
# means the drive will START on a start command (0 = coasting), and bit 10 = 1
# means the output frequency is WITHIN 4-12/4-14 (0 = outside). Bit 5 is
# reserved. Bit 14 is "Torque OK / torque exceeded" and bit 15 is
# "Timer OK / timer exceeded" on this platform — NOT the FC 202's current
# limit and thermal warning.
status_word = { address = 16029, bits = { 0 = "CtrlReady", 1 = "DriveReady", 2 = "NotCoasting", 3 = "Trip", 4 = "ErrorNoTrip", 6 = "TripLock", 7 = "Warning", 8 = "SpeedEqRef", 9 = "BusControl", 10 = "WithinFreqLimits", 11 = "Running", 12 = "StoppedAutoStart", 13 = "VoltageExceeded", 14 = "TorqueExceeded", 15 = "TimerExceeded" } }
main_actual_value_pct = { address = 16049, signed = true, scale = 0.01, unit = "%" }  # 16-05 Int16, conv -2
motor_current = { address = 16139, scale = 0.01, unit = "A" }   # 16-14 Uint16, conv -2
frequency_pct = { address = 16149, scale = 0.1, unit = "%" }    # 16-15 Uint16, conv -1
motor_thermal = { address = 16179, unit = "%" }                 # 16-18 Uint8
torque_pct = { address = 16219, signed = true, unit = "%" }     # 16-22 Int16, conv 0
heatsink_temp = { address = 16339, signed = true, unit = "C" }  # 16-34 Int8, conv 100 = factor 1
inverter_thermal = { address = 16349, unit = "%" }              # 16-35 Uint8
external_reference_pct = { address = 16499, signed = true, scale = 0.1, unit = "%" }  # 16-50 Int16, conv -1

# --- 32-bit parameters (words = 2) ---
power_kw = { address = 16099, words = 2, scale = 0.001, unit = "kW" }     # 16-10 Uint32, conv -3
motor_voltage = { address = 16119, words = 2, scale = 0.1, unit = "V" }   # 16-12 Uint32, conv -1
output_frequency = { address = 16129, words = 2, scale = 0.1, unit = "Hz" }  # 16-13 Uint32, conv -1
# 16-16 is torque in Nm (0.1 Nm/count), NOT percent. Percent is 16-22 above.
torque_nm = { address = 16159, words = 2, signed = true, scale = 0.1, unit = "Nm" }  # Int32, conv -1
dc_link_voltage = { address = 16299, words = 2, unit = "V" }              # 16-30 Uint32, conv 0

[control]
command_register = 2809   # PCD write index 0, register 2810 -> wire 2809
speed_register = 2810     # PCD write index 1, register 2811 -> wire 2810
# Reference is % of max, NOT Hz. raw = value / scale, so 100% -> 16384.
speed_scale = 0.006103515625
speed_unit = "%"
max_ref = 100.0
step_delay = 0.05
# FC-profile control word values, from MG03N202 pp. 30-31: bit 2 ramp, bit 3
# no coasting, bit 4 no quick stop, bit 5 use ramp, bit 10 data valid = 0x043C
# idle. Adding bit 6 gives start (0x047C); adding bit 7 instead gives the
# reset edge (0x04BC) WITHOUT a start bit. Par 16-85 FC Port CTW 1 has a
# factory value of 1084 = 0x043C (MG03N202 p. 138), which independently
# confirms 0x043C as the resting control word for this drive.
stop = [1084]             # 0x043C
run_fwd = [1084, 1148]    # 0x043C then 0x047C
reset = [1212, 1084]      # 0x04BC rising edge, then back to stop

[control.watchdog]
interval_ms = 500
fault = "control timeout (8-04, defaults to Off)"

[running_check]
register = 16029          # 16-03 status word, 16-bit
bit = 11                  # "No operation / in operation"

# 16-90 Alarm Word is a 32-bit BITFIELD, not an enum: several bits can be set
# at once, so there is no code table to look up. Bit names are from MG03N202
# p. 120 Table 5.3, and are the FCP 106's own — the table marks bits 0, 3, 6,
# 13, 18, 22, 24-28 and 30 "not used in FCP 106", and bit 1 is the POWER CARD
# temperature here where the FC 202 has the heatsink.
#
# 16-91 Alarm Word 2 (register 16909) and 16-97 Alarm Word 3 (register 16969)
# exist on this platform and carry a completely different bit layout each;
# they are not decoded here.
#
# 16-92 Warning Word is NOT included: its layout (MG03N202 p. 121) matches the
# alarm word for bits 1-11 and 14 but diverges after that — bit 15 is
# "no motor" as a warning and "AMA not OK" as an alarm — so decoding it with
# these names would mislabel the tail.
[faults]
register = 16899          # 16-90 alarm word
words = 2
bitfield = true
bits = { 1 = "PowerCardTemp", 2 = "EarthFault", 4 = "CtrlWordTimeout", 5 = "OverCurrent", 7 = "MotorThermistor", 8 = "MotorETR_OverTemp", 9 = "InverterOverloaded", 10 = "DCUnderVoltage", 11 = "DCOverVoltage", 12 = "ShortCircuit", 14 = "MainsPhaseLoss", 15 = "AMA_NotOK", 16 = "LiveZeroError", 17 = "InternalFault", 19 = "U_PhaseLoss", 20 = "V_PhaseLoss", 21 = "W_PhaseLoss", 23 = "Supply24V_Low", 29 = "DriveInitialized", 31 = "MechBrakeLow" }

# 16-36 Inv. Nom. Current, Uint16, conversion index -2 (MG03N202 p. 137).
# Frame identity in amps; the FCP/FCM 106 range tops out at 22 kW, so
# 0.01 A/count cannot overflow a single register here.
[rating]
register = 16359
words = 1
scale = 0.01
unit = "A"
label = "Inverter nominal current"