NAME

       vfdb_vfd - HAL userspace component for Delta VFD-B Variable Frequency Drives

SYNOPSIS

       vfdb_vfd [OPTIONS]

DESCRIPTION

       This  manual  page explains the vfdb_vfd component. This component reads and writes to the
       VFD-B device via a Modbus connection.

       vfdb_vfd is for use with LinuxCNC.

QUICK START

       The VFD-B ships in a configuration that can not talk to this driver.  The  VFD-B  must  be
       reconfigured via the face plate by the integrator before it will work.  This section gives
       a brief description of what changes need to be made, consult your Delta VFD-B  manual  for
       more details.

              Switch the VFD-B to Modbus RTU frame format:
                     Switch  parameter  09-04 from the factory default of 0 (Ascii framing) to 3,
                     4, or 5 (RTU framing).  The setting you choose will determine several serial
                     parameters in addition to the Modbus framing protocol.

              Set the frequency control source to be Modbus, not the keypad:
                     Switch  parameter  02-00  from  factory  default of 00 (keypad control) to 5
                     (control from RS-485).

              Set the run/stop control source to be Modbus, not the keypad:
                     Switch parameter 02-01 from the factory default of 0 (control  from  keypad)
                     to 3 (control from Modbus, with Stop enabled on the keypad).

OPTIONS

       -n --name <halname>
              set the HAL component name

       -d --debug
              Turn  on  debugging messages. Also toggled by sending a USR1 signal to the vfdb_vfd
              process.

       -m --modbus-debug
              Turn on Modbus debugging messages. This  will  cause  all  Modbus  messages  to  be
              printed  in  hex  on  the  terminal.   Also toggled by sending a USR2 signal to the
              vfdb_vfd process.

       -I --ini <inifilename>
              take  configuration  from  this  ini  file.  Defaults   to   environment   variable
              INI_FILE_NAME.   Most  vfdb_vfd  configuration  comes  from  the ini file, not from
              command-line arguments.

       -S --section <section name>
              take configuration from this section in the ini file. Defaults to 'VFD-B'.

       -r --report-device
              report device propertiers on console at startup

INI CONFIG VARIABLES

       DEBUG  Set to a non-zero value to enable general  debug  output  from  the  VFD-B  driver.
              Optional.

       MODBUS_DEBUG
              Set  to  a  non-zero  value  to  enable  modbus debug output from the VFD-B driver.
              Optional.

       DEVICE Serial port device file to use for Modbus communication with the  VFD-B.   Defaults
              to '/dev/ttyS0'.

       BAUD   Modbus baud rate.  Defaults to 19200.

       BITS   Modbus data bits.  Defaults to 8.

       PARITY Modbus parity.  Defaults to Even.  Accepts 'Even', 'Odd', or 'None'.

       STOPBITS
              Modbus stop bits.  Defaults to 1.

       TARGET Modbus target number of the VFD-B to speak to.  Defaults to 1.

       POLLCYCLES
              Only  read  the  less  important  variables  from  the VFD-B once in this many poll
              cycles.  Defaults to 10.

       RECONNECT_DELAY
              If  the  connection  to  the  VFD-B  is  broken,  wait  this  many  seconds  before
              reconnecting.  Defaults to 1.

       MOTOR_HZ, MOTOR_RPM
              The  frequency  of  the  motor (in Hz) and the corresponding speed of the motor (in
              RPM).  This information is provided by the motor  manufacturer,  and  is  generally
              printed on the motor's name plate.

PINS

       <name>.at-speed (bit, out)
              True when drive is at commanded speed (see speed-tolerance below)

       <name>.enable (bit, in)
              Enable  the  VFD.  If False, all operating parameters are still read but control is
              released and panel control is enabled (subject to VFD setup).

       <name>.frequency-command (float, out)
              Current target frequency in HZ as set through speed-command (which is in RPM), from
              the VFD.

       <name>.frequency-out (float, out)
              Current output frequency of the VFD.

       <name>.inverter-load-percentage (float, out)
              Current load report from VFD.

       <name>.is-e-stopped (bit, out)
              The VFD is in emergency stop status (blinking "E" on panel).

       <name>.is-stopped (bit, out)
              True when the VFD reports 0 Hz output.

       <name>.jog-mode (bit, in)
              1  for  ON  and 0 for OFF, enables the VFD-B 'jog mode'. Speed control is disabled.
              This might be useful for spindle orientation.

       <name>.max-rpm (float, out)
              Actual RPM limit based on maximum frequency the VFD may generate,  and  the  motors
              nameplate  values.  For instance, if nameplate-HZ is 50, and nameplate-RPM is 1410,
              but the VFD may generate up to 80Hz, then max-rpm would read as 2256  (80*1410/50).
              The  frequency  limit  is  read  from  the  VFD  at startup.  To increase the upper
              frequency limit, the UL and FH parameters must be changed on the  panel.   See  the
              VFD-B manual for instructions how to set the maximum frequency.

       <name>.modbus-ok (bit, out)
              True  when  the  Modbus  session  is  successfully  established  and  the  last  10
              transactions returned without error.

       <name>.motor-RPM (float, out)
              Estimated current RPM value, from the VFD.

       <name>.motor-RPS (float, out)
              Estimated current RPS value, from the VFD.

       <name>.output-voltage (float, out)
              From the VFD.

       <name>.output-current (float, out)
              From the VFD.

       <name>.speed-command (float, in)
              Speed sent to VFD in RPM. It is an error to send a speed faster than the Motor  Max
              RPM as set in the VFD.

       <name>.spindle-on (bit, in)
              1 for ON and 0 for OFF sent to VFD, only on when running.

       <name>.max-speed (bit, in)
              Ignore  the  loop-time parameter and run Modbus at maximum speed, at the expense of
              higher CPU usage. Suggested use during spindle positioning.

       <name>.status (s32, out)
              Drive Status of the VFD (see the VFD manual). A bitmap.

       <name>.error-count (s32, out)
              Total number of transactions returning a Modbus error.

       <name>.error-code (s32, out)
              Most recent Error Code from VFD.

       <name>.frequency-limit (float, out)
              Upper limit read from VFD setup.

PARAMETERS

       <name>.loop-time (float, RW)
              How often the Modbus is polled (default interval 0.1 seconds).

       <name>.nameplate-HZ (float, RW)
              Nameplate Hz of motor (default 50). Used to calculate  target  frequency  (together
              with nameplate-RPM ) for a target RPM value as given by speed-command.

       <name>.nameplate-RPM (float, RW)
              Nameplate RPM of motor (default 1410)

       <name>.rpm-limit (float, RW)
              Do-not-exceed soft limit for motor RPM (defaults to nameplate-RPM ).

       <name>.tolerance (float, RW)
              Speed  tolerance  (default  0.01) for determining whether spindle is at speed (0.01
              meaning: output frequency is within 1% of target frequency).

USAGE

       The vfdb_vfd driver takes precedence over panel control while it is enabled  (see  .enable
       pin), effectively disabling the panel. Clearing the .enable pin re-enables the panel. Pins
       and parameters can still be set, but will not be written to the VFD untile the .enable pin
       is set. Operating parameters are still read while bus control is disabled.

       Exiting  the  vfdb_vfd  driver  in  a controlled way will release the VFD from the bus and
       restore panel control.

       See the LinuxCNC  Integrators  Manual  for  more  information.  For  a  detailed  register
       description of the Delta VFD-B, see the VFD manual.

AUTHOR

       Yishin Li; based on vfd11_vfd by Michael Haberler.

LICENSE

       GPL