# Property of PMA Electrical Solutions, LLC.
#
# Schneider Electric Altivar 21, embedded Modbus RTU. Exact-family source:
# Schneider 1769687, ATV21 Modbus manual (07/2006): port/defaults pp.10-12,
# timeout and response p.19, direct address examples pp.20-27, register map
# pp.29-37, command/status words pp.32-34, and trip enumeration p.37.
# This Toshiba-derived map is not the later Altivar CiA402 W3201/W8501 map.
# The manual's hex register numbers are direct zero-based PDU addresses.
#
# Set CMOd=2 and FMOd=4, or use command bits 15/14 below to select Modbus
# independently. F829 must remain 1 (RTU). F803 ships at 3 s, but commission
# F603=0 (coast stop/error 5): the manual's table shows factory value 4 but
# publishes no safety action for value 4, so the default is not a proven stop.

name = "Schneider Altivar 21"
vendor = "Schneider Electric"
device_type = "vfd"
verified = false
probe_register = 64769

[serial]
baudrate = 19200
parity = "E"
# 1769687 says the port complies with the Modbus serial-line standard but does
# not publish this field; even parity therefore uses the standard one stop bit.
stopbits = 1

[monitor]
status_word = { address = 64769, bits = { 0 = "FL", 1 = "TRIPPED", 2 = "ALARM", 3 = "MAIN_UNDERVOLT", 9 = "REVERSE", 10 = "RUNNING", 11 = "COAST_STOP", 12 = "EMERGENCY_STOP", 13 = "STANDBY_ST_ON", 14 = "STANDBY", 15 = "LOCAL" } }
output_frequency = { address = 64768, scale = 0.01, unit = "Hz" }
motor_current_pct = { address = 65027, scale = 0.01, unit = "%" }
dc_bus_pct = { address = 65028, scale = 0.01, unit = "%" }
output_voltage_pct = { address = 65029, scale = 0.01, unit = "%" }
run_time = { address = 65044, unit = "h" }

[control]
command_register = 64000
speed_register = 64001
speed_scale = 0.01
speed_unit = "Hz"
max_ref = 200.0
step_delay = 0.05
stop = [0xC000]
run_fwd = [0xC400]
run_rev = [0xC600]
reset = [0xC000, 0xE000, 0xC000]

[control.watchdog]
interval_ms = 500
fault = "Err5 Modbus communication timeout"
backstop_requires_setup = true

[running_check]
register = 64769
bit = 10

[direction_check]
register = 64769
bit = 9
reverse_when_set = true

[faults]
register = 64656
history = [65040, 65041, 65042, 65043]

[faults.codes]
0 = "NErr no error"
1 = "OC1 overcurrent during acceleration"
2 = "OC2 overcurrent during deceleration"
3 = "OC3 overcurrent at constant speed"
4 = "OCL load overcurrent at startup"
5 = "OCA arm short circuit"
8 = "EPHI input phase failure"
9 = "EPHO output phase failure"
10 = "OP1 overvoltage during acceleration"
11 = "OP2 overvoltage during deceleration"
12 = "OP3 overvoltage at constant speed"
13 = "OL1 inverter overload"
14 = "OL2 motor overload"
16 = "OH overheat"
17 = "E emergency stop"
18 = "EEP1 EEPROM write fault"
19 = "EEP2 EEPROM read fault"
20 = "EEP3 EEPROM internal fault"
21 = "Err2 RAM fault"
22 = "Err3 ROM fault"
23 = "Err4 CPU fault"
24 = "Err5 communication error"
26 = "Err7 current detector fault"
27 = "Err8 option board fault"
29 = "UC small-current trip"
30 = "UP1 main-circuit undervoltage"
32 = "Ot overtorque"
34 = "EF2 ground fault"
37 = "OC1P power-element overcurrent during acceleration"
38 = "OC2P power-element overcurrent during deceleration"
39 = "OC3P power-element overcurrent during operation"
41 = "EtYP inverter type error"
46 = "OH2 external thermal input"
47 = "SOUt VIA cable break"
50 = "E-18 analog signal cable break"
51 = "E-19 CPU fault"
52 = "E-20 excess torque boost"
53 = "E-21 CPU fault"
84 = "Etn1 autotuning error"

[connection]
summary = "Connect to the ATV21 embedded Modbus interface; no fieldbus option card is required for the documented serial path."
warnings = ["Lock out the drive/starter before opening covers or moving switches.", "Keep communications cable at least 30 cm from line and motor wiring.", "Prove read-only communication with the motor inhibited before enabling network control."]

[[connection.methods]]
id = "built_in_rs485"
title = "Built-in Modbus RJ45"
transport = "serial"
hardware = "built_in"
port = "Built-in Modbus RJ45"
connector = "RJ45; pin 4 D1, pin 5 D0, pin 8 Common; pin 7 is vendor peripheral power"
adapter = "Isolated USB-to-RS-485 adapter"
cable = "VW3A8306D30 RJ45-to-stripped Modbus lead or equivalently pinned shielded twisted-pair cable"
parts = ["Isolated USB-to-RS-485 adapter", "Shielded twisted pair plus common conductor", "End termination for a multidrop bus"]
steps = ["Lock out the equipment and verify it is de-energized.", "Locate Built-in Modbus RJ45.", "Wire D1, D0 and Common exactly as shown below; leave the peripheral-power pin unused.", "Route the communications cable at least 30 cm from power conductors and terminate only the two physical ends.", "Restore control power with the motor inhibited and verify a read before enabling control."]
setup = ["Set CMOd = 2 and FMOd = 4, or use command bits 15/14 for Modbus priority.", "Keep F829 = 1 (RTU).", "Match 19200 baud and even parity", " commission the timeout/stop response."]
warnings = ["Do not connect adapter power to the vendor peripheral-power pin.", "Connect only the documented data and Common conductors."]
source = "Schneider 1769687 (07/2006), pp. 7-12 and 19."

[[connection.methods.wiring]]
adapter = "D1 / B / +"
device = "RJ45 pin 4 — D1"
signal = "RS-485 D1"

[[connection.methods.wiring]]
adapter = "D0 / A / -"
device = "RJ45 pin 5 — D0"
signal = "RS-485 D0"

[[connection.methods.wiring]]
adapter = "COM / signal common"
device = "RJ45 pin 8 — Common"
signal = "Signal reference"