# Property of PMA Electrical Solutions, LLC.
#
# Schneider Altivar Process ATV930 over the EMBEDDED Modbus serial port
# (RJ45 on the control block). No option card is assumed or required — the
# drive firmware embeds the Modbus serial firmware (NHA80939 p. 45).
#
# Sources, all Schneider-hosted primary documentation:
#   NHA80939  Altivar Process ATV900 Modbus SL Manual (Embedded), 07/2015, 118 pp
#   NHA80944  Altivar Process ATV900 Communication Parameters, V4.6 (xlsx)
#   NHA80757  Altivar Process ATV930/950/960/980 Programming Manual, rev .14, 702 pp
#
#   NHA80939 pp. 26-27  control word bit map + the command value table
#   NHA80939 p. 28      control word bit assignment (bit 11 = rrS by default)
#   NHA80939 p. 29      status word bit map + the CiA402 state table
#   NHA80939 pp. 36-38  Modbus protocol, supported functions, worked address example
#   NHA80939 pp. 55-57  tbr / tFO / ttO factory settings
#   NHA80939 pp. 104-107 configuring the control channel
#   NHA80939 p. 113     per-channel command/reference parameters (LFr is 0.1 Hz)
#   NHA80939 p. 114     SLF1 on [Modbus Timeout] ttO expiry
#   NHA80944 "Parameters" sheet   every logic address below
#   NHA80944 "Enumerations" sheet LFT fault code list
#   NHA80757 p. 90      LCR rating-dependent current step, THR
#   NHA80757 p. 92      LFR range +/-599.0 Hz
#   NHA80757 pp. 206-208 command/reference channels, [Not separ.] SIM behaviour
#   NHA80757 p. 687     [Mdb Com Interrupt] SLF1
#
# ADDRESSING. Schneider publishes a "logic address" per parameter, as hex and
# decimal (e.g. LFR = 16#2136 = 8502). That number IS the 0-based Modbus
# starting address on the wire — no 4xxxx offset, no conversion:
#   0-based register = decimal logic address
# NHA80939 p. 37 works the example explicitly: reading W3102..W3105 puts
# 0C1E hex (= 3102 decimal) in the FC03 starting-address field. Every address
# in this file is that number as-is.
#
# MODEL COVERAGE. Claimed for the ATV930 only. NHA80757 is titled for
# ATV930/ATV950/ATV960/ATV980 and NHA80939/NHA80944 are ATV900-wide, so the
# siblings are documented by the same books — but ATV950/960/980 are cabinet
# and drive-system versions with AFE, cabinet-circuit and cooling parameters
# this profile neither exercises nor validates, so they are not claimed.
#
# DRIVE-SIDE SETUP — without this the drive ACKs the writes and ignores them.
#   [Ref Freq 1 Config] Fr1 (8413)  = [Modbus] Mdb
#   [Control Mode]      CHCF (8401) = [Not separ.] SIM   (factory setting)
#   In SIM the command channel FOLLOWS the reference channel, so Fr1 alone
#   routes both (NHA80757 p. 208). For [Separate] SEp also set
#   [Cmd channel 1] Cd1 (8423) = [Modbus] Mdb — its factory value is
#   [Terminal block] TER (NHA80939 pp. 106-107).
#   Serial: [Device Modbus address] Add (6001) SHIPS AT 0, which is the
#   broadcast address and answers nothing — it must be set to 1...247.
#   [Modbus baud rate] tbr (6003) = 19200 and [Modbus format] tFO (6004) = 8E1
#   are the factory settings and are what [serial] below assumes.

name = "Schneider Altivar Process ATV930"
vendor = "Schneider Electric"
device_type = "vfd"
verified = false
probe_register = 3201  # ETA, readable whenever the drive is powered

# NHA80939 pp. 55-56: factory settings are 19200 bps, 8E1.
[serial]
baudrate = 19200
parity = "E"
stopbits = 1

[monitor]
# ETA, the CiA402 status word (NHA80939 p. 29). Bits 0-7 and 9-11 are the
# standard CiA402 set; bit 15 is Schneider's direction-of-rotation bit.
status_word = { address = 3201, bits = { 0 = "ReadyToSwitchOn", 1 = "SwitchedOn", 2 = "OperationEnabled", 3 = "Fault", 4 = "VoltageEnabled", 5 = "QuickStop", 6 = "SwitchOnDisabled", 7 = "Warning", 9 = "Remote", 10 = "TargetReached", 11 = "InternalLimit", 14 = "StopKey", 15 = "Direction" } }
output_frequency = { address = 3202, signed = true, scale = 0.1, unit = "Hz" }  # RFR
# LCR scaling depends on drive rating (NHA80757 p. 90, footnote 2): 0.01 A at
# <=15 kW, 0.1 A at 18...160 kW, and 1 A above 160 kW. Expose the register raw
# until profiles can select a scale from the exact frame rating.
motor_current_raw = { address = 3204 }
# OTR. NHA80944 gives the fieldbus unit as 0.1 % and NHA80757 p. 90 defines
# 100 % = [Nom Motor torque] TQN. The same page's HMI value range is quoted in
# Nm, so the two presentations disagree — treat the % reading as unconfirmed.
motor_torque = { address = 3205, signed = true, scale = 0.1, unit = "%" }
ext_status = { address = 3206 }                              # ETI internal state, NOT power
mains_voltage = { address = 3207, scale = 0.1, unit = "V" }  # ULN
output_voltage = { address = 3208, unit = "V" }              # UOP, 1 V per count
drive_thermal_state = { address = 3209, unit = "%" }         # THD (drive, not motor)
motor_power = { address = 3211, signed = true, unit = "%" }  # OPR, 1 % per count
dc_voltage = { address = 3243, scale = 0.1, unit = "V" }     # VBUS
motor_thermal_state = { address = 9630, unit = "%" }         # THR, 100 % = normal
command_word = { address = 8501 }                            # CMD read-back
speed_setpoint = { address = 8502, signed = true, scale = 0.1, unit = "Hz" }  # LFR

# CiA402 state machine on CMD (NHA80939 p. 26):
# shutdown (0006) -> switch on (0007) -> enable operation (000F).
[control]
command_register = 8501   # CMD
speed_register = 8502     # LFR, reference frequency in 0.1 Hz (NHA80939 p. 113)
speed_scale = 0.1
speed_unit = "Hz"
# LFR itself accepts +/-599.0 Hz (NHA80757 p. 92). Actual motion is clamped by
# [Max frequency] tFr (3103) and [High speed] HSP (3104), whose factory values
# are rating- and region-dependent — this is the register limit, not a speed
# the drive will necessarily run.
max_ref = 599.0
step_delay = 0.05
stop = [0x0006]
run_fwd = [0x0006, 0x0007, 0x000F]
# Bit 11 is the direction bit and is assigned to [Reverse Assign] rrS by
# default (NHA80939 pp. 26, 28). Direction is NOT the sign of the reference
# here, so run_rev is a genuinely different word, not a copy of run_fwd.
run_rev = [0x0006, 0x0007, 0x080F]
# Fault reset is the 0->1 edge of bit 7; NHA80939 p. 26 gives the whole word as
# 0080 hex. That word holds Enable operation LOW, so it is not itself a run
# command; 0006 then returns the drive to Ready to switch on.
reset = [0x0080, 0x0006]

[[control.preconditions]]
register = 8504 # CMI
mask = 0x0200
expected = 0
message = "CMI bit 9 must be clear so LFR/RFR use the documented 0.1 Hz scale"

# NHA80939 p. 114: if the drive receives NO Modbus request addressed to it for
# [Modbus Timeout] ttO (6005, factory 10.0 s, range 0.1...30.0 s), it triggers
# SLF1. [Modbus Interrupt Resp] SLL (7010) decides what SLF1 does — factory
# setting is [Freewheel stop] YES, i.e. the motor coasts. Keepalive is 50 ms,
# below the minimum 0.1 s ttO.
[control.watchdog]
interval_ms = 50
fault = "SLF1 Mdb Com Interrupt"

[running_check]
register = 3201
bit = 2       # Operation enabled

[direction_check]
register = 3201
bit = 15
reverse_when_set = true

# LFT last error; history is DP0-DP9 and DPA-DPF (NHA80944).
[faults]
register = 7121
history = [7200, 7201, 7202, 7203, 7204, 7205, 7206, 7207, 7208, 7209, 7600, 7601, 7602, 7603, 7604, 7605]

# Subset of the LFT enumeration in NHA80944, carrying the codes an operator
# actually meets. The full list is 150 entries; the rest are internal-error and
# cabinet/AFE codes that mean nothing without the manual open.
[faults.codes]
0 = "[No Error] (NOF) No error detected"
2 = "[Ctrl Memory Error] (EEF1) Control memory error"
3 = "[Incorrect Config] (CFF) Incorrect configuration"
4 = "[Invalid Config] (CFI) Invalid configuration"
5 = "[Mdb Com Interrupt] (SLF1) Modbus communication interruption"
6 = "[Internal Link Error] (ILF) Internal communication interruption with option module"
7 = "[Fdbus Com Interrupt] (CNF) Fieldbus communication interruption"
8 = "[External Error] (EPF1) External detected error"
9 = "[Overcurrent] (OCF) Overcurrent"
10 = "[Precharge Capa] (CRF1) Precharge capacitor"
11 = "[Enc Fdbk Loss] (SPF) Encoder feedback loss"
12 = "[Load slipping] (ANF) Load slipping"
15 = "[Input Overheating] (IHF) Input Overheating"
16 = "[Device Overheat] (OHF) Device overheating"
17 = "[Motor Overload] (OLF) Motor overload"
18 = "[DC Bus OverV] (OBF) DC bus overvoltage"
19 = "[Supply Mains OverV] (OSF) Supply mains overvoltage"
20 = "[Single out ph loss] (OPF1) Single output phase loss"
21 = "[Input Phase Loss] (PHF) Input phase loss"
22 = "[Supply Mains UnderV] (USF) Supply mains undervoltage"
23 = "[Motor short circuit] (SCF1) Motor short circuit"
24 = "[Motor Overspeed] (SOF) Motor overspeed"
25 = "[Autotuning Error] (TNF) Autotuning detected error"
26 = "[Internal Error 1] (INF1) Internal error 1 (Rating)"
27 = "[Internal Error 2] (INF2) Internal error 2 (Soft)"
28 = "[Internal Error 3] (INF3) Internal error 3 (Intern Comm)"
29 = "[Internal Error 4] (INF4) Internal error 4 (Manufacturing)"
30 = "[Pwr Memory Error] (EEF2) Power memory error"
32 = "[Ground Short Circuit] (SCF3) Ground short circuit"
33 = "[Output Ph Loss] (OPF2) Output phase loss"
34 = "[CANopen Com Interrupt] (COF) CANopen communication interruption"
35 = "[Brake Control] (BLF) Brake control"
37 = "[Internal Error 7] (INF7) Internal error 7 (Init)"
38 = "[Fieldbus Error] (EPF2) External error detected by Fieldbus"
40 = "[Internal Error 8] (INF8) Internal error 8 (Switching Supply)"
41 = "[Brake Feedback] (BRF) Brake feedback"
42 = "[PC Com Interrupt] (SLF2) PC communication interruption"
43 = "[Encoder Coupling] (ECF) Encoder coupling"
44 = "[Torque Limit Error] (SSF) Torque limitation error"
45 = "[HMI Com Interruption] (SLF3) HMI communication interruption"
51 = "[Internal Error 9] (INF9) Internal error 9 (Measure)"
52 = "[Internal Error 10] (INFA) Internal error 10 (Mains)"
53 = "[Internal Error 11] (INFB) Internal error 11 (Temperature)"
54 = "[Device Overheat] (TJF) Device overheating"
55 = "[IGBT Short Circuit] (SCF4) IGBT short circuit"
56 = "[Mot Short Circuit] (SCF5) Motor short circuit"
57 = "[Torque timeout] (SRF) Torque timeout"
58 = "[Out Contact Closed Error] (FCF1) Output contactor closed error"
59 = "[Out Contact Opened Error] (FCF2) Output contactor opened error"
60 = "[Internal Error 12] (INFC) Internal error 12 (Internal current supply)"
62 = "[Encoder] (ENF) Encoder"
64 = "[Input Contactor] (LCF) input contactor"
65 = "[DB unit sh. circuit] (BUF) DB unit sh. circuit"
68 = "[Internal Error 6] (INF6) Internal error 6 (Option)"
69 = "[Internal Error 14] (INFE) Internal error 14 (CPU)"
70 = "[Braking Resistor ovld] (BOF) Braking resistor overload"
71 = "[AI3 4-20mA loss] (LFF3) AI3 4-20mA loss"
72 = "[AI4 4-20mA loss] (LFF4) AI4 4-20mA loss"
73 = "[Boards Compat] (HCF) Boards compatibility"
76 = "[Dyn Load Error] (DLF) Dynamic load detected error"
77 = "[Conf Transfer Error] (CFI2) Configuration transfer error"
79 = "[AI5 4-20 mA loss] (LFF5) AI5 4-20 mA loss"
80 = "[Fan Feedback Error] (FFDF) Fan feedback error"
81 = "[Module Overheat] (MOF) Module overheat error"
82 = "[ON Lock Error] (LKON) ON lock error"
99 = "[Channel Switch Error] (CSF) Channel switching detected error"
100 = "[Proc Underload] (ULF) Process underload"
101 = "[Process Overload] (OLC) Process overload"
105 = "[Angle error] (ASF) Angle error"
106 = "[AI1 4-20 mA loss] (LFF1) AI1 4-20 mA loss"
107 = "[Safety Func Error] (SAFF) Safety function detected error"
112 = "[AI3 Th Level Error] (TH3F) AI3 thermal level error"
113 = "[AI3 Th Sensor Err] (T3CF) Thermal sensor error on AI3"
114 = "[PumpCycle start Error] (PCPF) Pump cycle start error"
120 = "[AI4 Th Level Error] (TH4F) AI4 thermal level error"
121 = "[AI4 Th Sensor Err] (T4CF) Thermal sensor error on AI4"
122 = "[AI5 Th Level Error] (TH5F) AI5 thermal level error"
123 = "[AI5 Th Sensor Err] (T5CF) Thermal sensor error on AI5"
127 = "[PID Fdbk Error] (PFMF) PID feedback detected error"
128 = "[Prog Load Error] (PGLF) Program loading detected error"
129 = "[Prog Run Error] (PGRF) Program running detected error"
133 = "[Safety Violation] (SAVF) Safety violation"
134 = "[Safety Config Error] (SCFF) Safety configuration error"
135 = "[Safety IO Error] (SIOF) Safety IO error"
142 = "[Internal Error 16] (INFG) Internal error 16 (IO module - relay)"
143 = "[Internal Error 17] (INFH) Internal error 17 (IO module - Standard)"
144 = "[Internal Error 0] (INF0) Internal error 0 (IPC)"
146 = "[Internal Error 13] (INFD) Internal error 13 (Diff current)"
147 = "[Internal Error 18] (INFI) Internal error 18 (Safety function module)"
148 = "[Motor Stall Error] (STF) Motor stall detected error"
149 = "[Internal Error 21] (INFL) Internal error 21 (RTC)"
150 = "[Embd Eth Com Interrupt] (ETHF) Embedded Ethernet communication interruption"
151 = "[Internal Error 15] (INFF) Internal error 15 (Flash)"
152 = "[FW Update Error] (FWER) Firmware Update error"
153 = "[Internal Error 22] (INFM) Internal error 22 (Embedded Ethernet)"
154 = "[Internal Error 25] (INFP) Internal error 25 (Incompatibility CB & SW)"
155 = "[Internal Error 20] (INFK) Internal error 20 (option interface PCBA)"
156 = "[Internal Error 19] (INFJ) Internal error 19 (Encoder module)"
157 = "[Internal Error 27] (INFR) Internal error 27 (Diagnostics CPLD)"
158 = "[Internal Error 23] (INFN) Internal error 23 (Module link)"
159 = "[AFE ShortCircuit error] (SCF6) AFE ShortCircuit error"
160 = "[AFE Bus unbalancing] (OBF2) AFE Bus unbalancing"
161 = "[Internal Error 28] (INFS) Internal error 28 (AFE)"
162 = "[MonitorCirc A Error] (IFA) Monitoring circuit A error"
163 = "[MonitorCirc B Error] (IFB) Monitoring circuit B error"
164 = "[MonitorCirc C Error] (IFC) Monitoring circuit C error"
165 = "[MonitorCirc D Error] (IFD) Monitoring circuit D error"
166 = "[CabinetCirc A Error] (CFA) Cabinet circuit A error"
167 = "[CabinetCirc B Error] (CFB) Cabinet circuit B error"
168 = "[CabinetCirc C Error] (CFC) Cabinet circuit C error"
169 = "[MotorWinding A Error] (TFA) Motor winding A error"
170 = "[MotorWinding B Error] (TFB) Motor winding B error"
171 = "[MotorBearing A Error] (TFC) Motor bearing A error"
172 = "[MotorBearing B Error] (TFD) Motor bearing B error"
173 = "[Cabinet Overheat Error] (CHF) Cabinet overheat error"
174 = "[AFE Mains Undervoltage] (URF) AFE Mains undervoltage"
175 = "[Internal Error 31] (INFV) Internal error 31 (Missing brick)"
176 = "[Internal Error 29] (INFT) Internal error 29 (Inverter)"
177 = "[Internal Error 30] (INFU) Internal error 30 (Rectifier)"
179 = "[AFE IGBT over-heat error] (TJF2) AFE IGBT over-heat error"
180 = "[AFE contactor feedback error] (CRF3) AFE contactor feedback error"
181 = "[Pre-settings Transfer Error] (CFI3) Pre-settings transfer error"
182 = "[Circuit Breaker Error] (CBF) Circuit breaker error"
184 = "[DB unit op. circuit] (BUFO) DB unit open circuit"
185 = "[Drive Overload] (TLOF) Drive overload"
186 = "[MultiDrive Link Error] (MDLF) MultiDrive Link error"
187 = "[AI1 Th Level Error] (TH1F) AI1 thermal level error"
188 = "[AI1 Th Sensor Error] (T1CF) Thermal sensor error on AI1"
189 = "[Backlash Error] (BSQF) Backlash error"
190 = "[M/S Device Error] (MSDF) M/S device error"
191 = "[AFE DC-Caps Error] (ACF1) AFE DC-capacitors error"
192 = "[AFE Current Control Error] (ACF2) AFE current control error"
193 = "[Mains Freq Out Of Range] (MFF) Mains frequency out of range"
194 = "[Encoder Th Level Error] (THEF) Encoder module thermal level error"
195 = "[Encoder Th Sensor Error] (TECF) Thermal sensor error on encoder module"
196 = "[Empty Config] (CFI4) Empty configuration"
197 = "[Internal Error 32] (INFW) Internal error 32 (Firmware Update)"
198 = "[BUO Overheat error] (BUHF) BUO overheat error"
199 = "[BUO Overcurrent error] (BUOC) BUO overcurrent error"
200 = "[FDR 1 Error] (FDR1) FDR Eth embedded error"
201 = "[FDR 2 Error] (FDR2) FDR Eth module error"
202 = "[AFE Bus Ref Error] (MDF) AFE bus reference error"
203 = "[Cab I/O 24V Error] (P24C) Cabinet I/O 24V missing error"
206 = "[DC Bus Ripple Error] (DCRE) DC Bus ripple error"
208 = "[Egy Saving Exit Error] (IDLF) Idle mode exit error"
209 = "[Load Mvt Error] (MDCF) Load movement error"
211 = "[Security Files Corrupt] (SPFC) Security files corrupt"
212 = "[AFE Line Filter Error] (ACF3) AFE Line filter error"
213 = "[Cooling Pump Error] (COPF) Cooling pump error"
221 = "[SD Error] (SDFT) Synchro to drive error"

[connection]
summary = "Connect to the ATV930 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 Add @6001 to 1..247 (factory broadcast address 0 does not answer).", "Set Fr1 = Modbus and CHCF = SIM, or Cd1 = Modbus in separate mode.", "Match 19200, 8-E-1 and configure ttO."]
warnings = ["Do not connect adapter power to the vendor peripheral-power pin.", "Connect only the documented data and Common conductors."]
source = "Schneider NHA80939 (07/2015), pp. 47-49, 55-57 and 104-114."

[[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"