# Property of PMA Electrical Solutions, LLC.
#
# Danfoss iC2-Micro (iC2-30, order code 130R1254) — the current-generation
# replacement for the VLT Micro Drive FC 51.
#
# Source: Danfoss iC2-Micro Frequency Converters APPLICATION GUIDE,
# AB413939445838en-000401 (2025.12), the only book that carries the register
# map. Sections used:
#   pp. 78-89   Modbus RTU, telegram structure, coil/register addressing
#   pp. 90-95   FC control profile: CTW/STW bit tables, bus reference scaling
#   pp. 100-133 readout parameter descriptions (units and decimals)
#   pp. 240-243 warning/fault event list and the fault-word bit table
#   pp. 253-266 parameter-number (PNU) appendix — the PNU for every point here
#
# EMBEDDED MODBUS RTU over the built-in RS-485 port (AG p. 79). No option card
# is required. There is no Modbus TCP on this drive.
#
# Drive-side setup: P 10.1.1 Protocol = Modbus, P 10.1.2 Address,
# P 10.1.3 Baud Rate, P 10.1.4 Parity/Stop Bits (AG p. 79, Table 30).
# For bus control also set P 5.5.1.1 Control Place Selection (default
# [0] Digital and Ctrl. word) and P 5.5.1.2 Control Source (default [1] FC
# Port).
#
# THE SPEED REFERENCE IS SUMMED, AND THE BUS TERM IS ALREADY LIVE. The factory
# defaults of the three reference sources (group 5.5.3, PNUs 315/316/317) are
# Ref 1 = [1] Analog Input 33, Ref 2 = [2] Analog Input 34, and Ref 3 =
# [11] Local bus reference — and the AG's own parameter descriptions state "The
# sum of these reference signals defines the actual reference." So the bus
# reference is NOT ignored out of the box, but `speed_register` commands
# bus% + AI33 + AI34, not bus%. Writing 20% does not produce 20% unless AI33 and
# AI34 happen to read zero, and an unterminated analog input rarely does. Set
# P 5.5.3.7 and P 5.5.3.8 to [0] No function before treating the speed reference
# as deterministic.
#
# ADDRESSING: register = PNU * 10 - 1, and that result is the 0-based wire
# address, not a 4xxxx number. Confirmed by the AG's own worked example
# (p. 85): P 5.5.3.3 Reference Maximum, PNU 303, is read at starting address
# 0x0BD5 = 3029. The PNU is NOT the menu index — P 4.1.1 Motor Current is
# PNU 1614, not 411. Every PNU below is from the appendix on pp. 253-266.
#
# The CTW/REF/STW/MAV process data live at holding register NUMBERS
# 50000/50010/50200/50210 (AG p. 90, Table 50), and holding register numbers
# carry the usual -1 offset to the wire (AG p. 85 NOTICE), hence 49999/50009/
# 50199/50209 below.
#
# WIDTH IS PER PARAMETER. The iC2 widths are NOT the FC 202 widths: motor
# current is uint16 here and 32-bit on the FC 202, motor voltage and output
# frequency are uint32 here and 16-bit on the FC 202. Reading a point at the
# wrong width splices in a neighbouring parameter.

name = "Danfoss iC2-Micro"
vendor = "Danfoss"
device_type = "vfd"
verified = false
probe_register = 16029  # P 5.1.8 Drive Status Word, PNU 1603

[connection]
summary = "Connect to the iC2-Micro's built-in RS-485 control terminals 68/69; no option card is used."
warnings = ["Isolate power and verify the DC link is discharged before opening the control cover.", "The front RJ45 service connection is not the Modbus RTU fieldbus connection described by this profile."]

[[connection.methods]]
id = "built_in_rs485"
title = "Built-in RS-485 (68/69)"
transport = "serial"
hardware = "built_in"
port = "Main control board terminals 68 (P+), 69 (N-), optional 61 reference"
connector = "Control-terminal block"
adapter = "Isolated USB-to-RS-485 adapter"
cable = "Shielded twisted-pair RS-485 cable"
parts = ["Small insulated screwdriver", "Main-board terminator switch when at a bus end"]
wiring = [{ adapter = "D+ / B+", device = "68 (P+)", signal = "RS-485 positive" }, { adapter = "D- / A-", device = "69 (N-)", signal = "RS-485 negative" }, { adapter = "COM/GND", device = "61", signal = "Optional RS-485 reference", required = false }]
steps = ["De-energize the drive and locate main-board terminals 68 and 69.", "Connect the positive/negative twisted pair exactly as marked; add the optional reference only if needed.", "Use the main-board terminator only at a physical bus end and route the cable away from power conductors.", "Close the cover, restore power, and select the computer's serial adapter."]
setup = ["Set P 10.1.1 Protocol = Modbus, then configure P 10.1.2 Address, P 10.1.3 Baud Rate, and P 10.1.4 Parity/Stop Bits.", "For control, set P 5.5.1.1/P 5.5.1.2 for the FC port and disable unwanted summed analog references."]
warnings = ["The factory reference is a sum of bus and analog sources; bus percentage alone may not equal the commanded speed."]
source = "Danfoss AB413939445838en-000401, pp. 68-69 and 78-79"

# AG p. 236: P 10.1.3 Baud Rate default [2] 9600, P 10.1.4 Parity/Stop Bits
# default [0] Even Parity, 1 Stop Bit.
[serial]
baudrate = 9600
parity = "E"
stopbits = 1

[monitor]
# --- 16-bit parameters (words = 1) ---
control_word = { address = 15999 }                                            # P 5.1.7  PNU 1600
# P 5.1.8 Drive Status Word, PNU 1603. Bit polarity per AG p. 93, Table 55:
# bit 2 = 1 means ENABLED (0 = coasting) and bit 10 = 1 means WITHIN the
# frequency limits (0 = outside). Bits 14/15 are named from Table 55 and differ
# from the FC 202 labels. Note the book disagrees with itself on bit 14: Table 55
# calls it "Torque exceeded" (the name used here) while §6.1.8.4 p. 94 explains
# it as "the current limit in P 2.7.1 Output Current Limit % is exceeded".
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 = "InOperation", 12 = "StoppedAutoStart", 13 = "VoltageExceeded", 14 = "TorqueExceeded", 15 = "TimerExceeded" } }
reference_pct = { address = 16019, signed = true, scale = 0.1, unit = "%" }   # P 5.1.17 PNU 1602
# P 5.1.19 Main Actual Value [%], PNU 1605: AG p. 133 gives Default 0.00 and
# Range (-200.00-200.00), i.e. TWO decimals, so scale = 0.01. It shipped at 0.1
# and read 10x high. Contrast P 5.1.17 Reference [%] on the same page — Default
# 0.0, Range (-200.0-200.0), one decimal — which is correctly 0.1 above.
main_actual_pct = { address = 16049, signed = true, scale = 0.01, unit = "%" } # P 5.1.19 PNU 1605
motor_current = { address = 16139, scale = 0.01, unit = "A" }                 # P 4.1.1  PNU 1614, uint16
motor_thermal = { address = 16179, unit = "%" }                               # P 4.1.5  PNU 1618
frequency_pct = { address = 16149, scale = 0.1, unit = "%" }                  # P 4.1.7  PNU 1615
torque_pct = { address = 16219, signed = true, unit = "%" }                   # P 4.1.11 PNU 1622
heatsink_temp = { address = 16339, signed = true, unit = "C" }                # P 2.1.9  PNU 1634, int8
# P 5.1.11/5.1.12 are ARRAYS of up to 20 entries. Modbus has no array
# addressing, so the read returns the entry that holding register 9 (the IND
# index pointer, AG p. 84) currently points at — index 0, the first active
# event, unless something has written that pointer. 0 means none active; the
# numbers are the Warning/Fault event numbers in AG Table 70, pp. 240-242.
active_fault_number = { address = 18549 }                                     # P 5.1.11 PNU 1855
active_warning_number = { address = 18559 }                                   # P 5.1.12 PNU 1856

# --- 32-bit parameters (words = 2) ---
motor_voltage = { address = 16119, words = 2, unit = "V" }                    # P 4.1.2  PNU 1612
output_frequency = { address = 16129, words = 2, scale = 0.1, unit = "Hz" }   # P 4.1.6  PNU 1613
power_kw = { address = 16099, words = 2, scale = 0.001, unit = "kW" }         # P 4.1.3  PNU 1610
# P 4.1.8 Motor Shaft Speed, PNU 1617: the AG's own columns disagree — Default
# value "0" (no decimals, the reading used here) against Range
# (-30000.0-30000.0) (one decimal). Neighbouring P 4.1.10 prints Default "0.0"
# with the same range and is correctly scaled 0.1. This is the only point in the
# file where the two columns conflict and no worked example uses this parameter,
# so it cannot be settled on paper. If the Range column is the right one, rpm
# reads 10x high — check against the LCP before trusting it.
motor_speed = { address = 16169, words = 2, signed = true, unit = "rpm" }     # P 4.1.8  PNU 1617
torque_nm = { address = 16159, words = 2, signed = true, scale = 0.1, unit = "Nm" }  # P 4.1.10 PNU 1616
dc_link_voltage = { address = 16299, words = 2, unit = "V" }                  # P 2.1.1  PNU 1630

[control]
command_register = 49999   # CTW, holding register number 50000
speed_register = 50009     # REF, holding register number 50010
# AG p. 95: the bus reference is a relative value in percent, 16384 (0x4000)
# = 100%, negatives in two's complement. NOT Hz.
speed_scale = 0.006103515625
speed_unit = "%"
max_ref = 100.0
step_delay = 0.05
# FC-profile control word, AG p. 90 Table 52. Bits 2 (ramp, not DC brake),
# 3 (no coast), 4 (no quick stop), 5 (use ramp) and 10 (data valid) must all
# be 1 for the drive to accept the word at all; bit 6 is start.
stop = [1084]             # 0x043C
run_fwd = [1084, 1148]    # 0x043C then 0x047C, bit 6 start
reset = [1212, 1084]      # 0x04BC — bit 7 is edge-triggered — then back to stop
# run_rev is deliberately absent, but NOT for the reason the FC 202 profile
# gives — that justification does not survive this drive's own parameter list.
# AG p. 92 does print "In the default setting, reversing is set to [0] Digital
# input", near-verbatim the FC 202 wording, but P 5.5.2.5 Reversing Select
# (PNU 854) is documented in the same book with default [3] Logic OR: "The
# fieldbus/serial communication port OR a digital input triggers the reversing
# function." The p. 92 sentence is legacy FC boilerplate contradicted by the
# parameter list. So bit 15 DOES reverse from the bus out of the box on this
# drive. It stays out because reverse remains unverified on hardware and this
# profile is verified = false, not because the command would run forward.
# To use it, confirm PNU 854 on the unit and add run_rev = [1084, 33916].

# P 5.2.16 Watchdog Response (PNU 804) defaults to [0] Off and P 5.2.17
# Watchdog Delay (PNU 803) to 1.0 s, so out of the box a run command followed
# by silence leaves the motor running with no master attached.
[control.watchdog]
interval_ms = 500
fault = "17 Control Word Timeout (needs P 5.2.16 Watchdog Response != Off)"

[running_check]
register = 16029          # status word, 16-bit
bit = 11                  # In operation

# P 5.1.1 Fault Word 1 (PNU 1690) is a 32-bit BITFIELD — several bits can be
# set at once, so there is no code to look up. Bit names from AG Table 71,
# pp. 242-243, "Fault word" column ONLY.
#
# Fault Word 2 (PNU 1691) and Fault Word 3 (PNU 1697) carry a DIFFERENT set
# of causes at the same bit positions (bit 1 is "gate drive fault" there, not
# "power card temp"), and the Warning Word columns diverge again — decoding
# any of them with these names would mislabel them, so they are left out.
#
# This layout is NOT the FC 202 alarm word: bits 1, 3, 13, 22, 25 and 28 name
# different faults or are reserved here.
[faults]
register = 16899          # P 5.1.1 Fault Word 1
words = 2
bitfield = true
bits = { 0 = "BrakeCheck", 1 = "PowerCardTemp", 2 = "EarthFault", 4 = "CtrlWordTimeout", 5 = "OverCurrent", 6 = "TorqueLimit", 7 = "MotorThermistor", 8 = "MotorETR_OverTemp", 9 = "InverterOverloaded", 10 = "DCUnderVoltage", 11 = "DCOverVoltage", 12 = "ShortCircuit", 14 = "MainsPhaseLoss", 15 = "AMA_NotOK", 16 = "LiveZeroError", 17 = "InternalFault", 18 = "BrakeOverload", 19 = "U_PhaseLoss", 20 = "V_PhaseLoss", 21 = "W_PhaseLoss", 23 = "Supply24V_Low", 24 = "MainsFailure", 26 = "BrakeResistorShort", 27 = "BrakeChopperFault", 29 = "DriveInitialized", 31 = "MechBrakeLow" }

# P 2.1.3 Unit Nominal Current (PNU 1636, uint16, 0.00-655.35 A) — the
# inverter's own rating, so a restore onto a different frame is caught.
[rating]
register = 16359
scale = 0.01
unit = "A"
label = "Unit nominal current"