{
 "manufacturer": "Yaskawa",
 "manufacturer_slug": "yaskawa",
 "model": "A1000 AC drive (MEMOBUS/Modbus RTU)",
 "model_slug": "a1000",
 "short_model": "A1000",
 "aliases": [
  "CIMR-AU",
  "CIMR-AUA",
  "A1000 High Performance Vector Control Drive"
 ],
 "equipment_type": "Variable frequency drive",
 "applies_to": "Yaskawa A1000 drives (CIMR-AU; 200 V, 400 V and 600 V classes) using the built-in RS-422/485 MEMOBUS/Modbus terminals (TB5), per Technical Manual SIEP C710616 41H.",
 "summary": "Yaskawa's high-performance vector drive with a built-in RS-422/RS-485 MEMOBUS/Modbus RTU port on terminal block TB5. Commands are written to hex registers 0001H-001FH, status, fault and alarm words and key monitors are read from 0020H upwards, and every parameter has its own hex register in the parameter list. This map covers the command block, status/fault/alarm words, the main monitors with fixed units, fault and alarm codes, and the b1/H5 setup parameters.",
 "transport": [
  "RTU"
 ],
 "defaults": {
  "unit_id": 31,
  "baud": 9600,
  "parity": "None",
  "data_bits": 8,
  "stop_bits": 1,
  "tcp_port": null
 },
 "addressing": {
  "convention": "hex 0-based",
  "note": "Register numbers are printed in hex and go into the request unchanged: the manual's read example asks for starting register 0020H by sending 00 20, and its write example starts at 0001H (00 01). Parameters use the hex address printed under each parameter in the parameter list (H5-01 (0425) -> 0425H, b1-01 (0180) -> 0180H)."
 },
 "default_word_order": null,
 "firmware": "Drive software up to PRG 1021-1024 (per the manual's revision history)",
 "source": {
  "title": "YASKAWA AC Drive-A1000 High Performance Vector Control Drive Technical Manual",
  "doc_number": "SIEP C710616 41H",
  "revision_date": "2022-03",
  "url": "https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPC71061641&cmd=documents&documentName=SIEPC71061641.pdf",
  "pages": "Appendix C pp. 703-734: specifications p. 703, wiring/termination pp. 704-706, H5 setup pp. 707-709, drive control p. 710, timing p. 711, function codes p. 712, message examples pp. 714-715, command data pp. 716-717, monitor data pp. 717-728, broadcast p. 728, fault trace codes pp. 729-730, alarm codes p. 731, Enter command p. 732, error codes p. 733; parameter list b1 p. 561, H5 pp. 616-617, o1-03 p. 636, U monitors pp. 646-652"
 },
 "notes": [
  "Frequency registers (0002H reference, 0023H/0040H U1-01, 0024H/0041H U1-02) use the units chosen in o1-03 (0 = 0.01 Hz, 1 = 0.01% of E1-04, 2 = r/min, 3 = user units); o1-03's default depends on A1-02, so they are left unscaled here.",
  "0042H U1-03 output current is scaled 8192 = drive rated current (U-monitor footnotes); the map converts it to % of rated current.",
  "Left out: 0025H output voltage (unit switched by H5-10; use 0045H), 0026H and 00FBH output current (0.01 A, 0.1 A or 1 A depending on drive model), 0027H/0047H output power (unit not printed in the data table), 0028H/0032H torque reference (sign not stated), 002FH frequency reference bias and 0068H U4-08 heatsink temperature (sign not stated), 003EH/003FH, 0044H and 00ACH-00B8H speed/frequency in r/min and % (sign not stated), 004EH-0050H analog input levels (bipolar inputs, sign not stated), 0007H/0008H FM/AM analog outputs and 001BH-001DH option-card outputs (10 V = 4000H, sign not stated), 00ABH drive rated current (model-dependent units), U4-10/U4-11 kWh, the 0082H-008FH fault-trace snapshot values, and option-card fault words 00D8H-00E4H.",
  "Appendix C labels the ov bit of 0021H, 002AH and 00C0H and code ov in Tables C.6/C.7 'Drive Overheat Warning (ov)'. The manual's own fault and alarm lists (pp. 401, 419, 431) define ov as (DC bus) overvoltage, so this map names it overvoltage and keeps the printed label in brackets.",
  "0022H Data Link Status: bit 1 is reserved and bit 2 has no printed meaning, so only bits 0 and 3-6 are listed.",
  "Values for 0080H/0081H/0090H (U2-01, U2-02, U3-01) and 007FH are the fault and alarm codes of Tables C.6 and C.7 converted from hex to decimal (e.g. 0021H CE = 33).",
  "Appendix C lists reading and writing parameters among the things a master can do over MEMOBUS/Modbus, with the qualifier 'not H5-oo', and its setup steps have H5 entered at the digital operator, so the H5 registers are listed read-only and should be set at the keypad (reading them is not explicitly confirmed either).",
  "Torque registers 0004H/0005H only act when torque control is enabled and the matching 000FH bit is set.",
  "Broadcast (slave address 0) accepts only 0001H, with its own bit layout (bit 0 run, bit 1 direction, bit 4 external fault, bit 5 fault reset, bits C-F terminals S5-S8), and 0002H (30000 = 100%); slaves do not reply."
 ],
 "registers": [
  {
   "table": "holding_register",
   "address": 1,
   "documented": "0001H",
   "name": "Operation commands / multi-function inputs",
   "description": "Run, direction, external fault, fault reset and virtual inputs.",
   "data_type": "BITMAP16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "RW",
   "values": null,
   "bits": {
    "0": "H5-12=0: 1 = forward run / 0 = stop; H5-12=1: 1 = run / 0 = stop",
    "1": "H5-12=0: 1 = reverse run / 0 = stop; H5-12=1: 1 = reverse / 0 = forward",
    "2": "External fault EF0",
    "3": "Fault reset",
    "4": "Multi-function input 1 (ComRef when H1-01 = 40)",
    "5": "Multi-function input 2 (ComCtrl when H1-02 = 41)",
    "6": "Multi-function input 3",
    "7": "Multi-function input 4",
    "8": "Multi-function input 5",
    "9": "Multi-function input 6",
    "10": "Multi-function input 7",
    "11": "Multi-function input 8"
   },
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 2,
   "documented": "0002H",
   "name": "Frequency reference",
   "description": "Units follow o1-03 (0 = 0.01 Hz).",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "RW",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 3,
   "documented": "0003H",
   "name": "Output voltage gain",
   "description": "20-2000 (2.0-200.0%); 1000 at power-up.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 0.1,
   "units": "%",
   "access": "RW",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 4,
   "documented": "0004H",
   "name": "Torque reference / torque limit",
   "description": "Signed; torque control only; enable with 000FH bit 2.",
   "data_type": "INT16",
   "length": 1,
   "word_order": null,
   "scale": 0.1,
   "units": "%",
   "access": "RW",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 5,
   "documented": "0005H",
   "name": "Torque compensation",
   "description": "Signed; torque control only; enable with 000FH bit 3.",
   "data_type": "INT16",
   "length": 1,
   "word_order": null,
   "scale": 0.1,
   "units": "%",
   "access": "RW",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 6,
   "documented": "0006H",
   "name": "PID target",
   "description": "Signed; enable with 000FH bit 1.",
   "data_type": "INT16",
   "length": 1,
   "word_order": null,
   "scale": 0.01,
   "units": "%",
   "access": "RW",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 9,
   "documented": "0009H",
   "name": "Multi-function digital output setting",
   "description": "Drive the digital outputs from the network.",
   "data_type": "BITMAP16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "RW",
   "values": null,
   "bits": {
    "0": "Contact output 1 (M1-M2)",
    "1": "Contact output 2 (M3-M4)",
    "2": "Contact output 3 (M5-M6)",
    "6": "Enables the function in bit 7",
    "7": "Fault contact output MA/MB-MC"
   },
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 10,
   "documented": "000AH",
   "name": "Pulse output terminal MP setting",
   "description": "0-32000 Hz.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "Hz",
   "access": "RW",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 15,
   "documented": "000FH",
   "name": "Control selection setting",
   "description": "Enables network PID, torque and broadcast inputs.",
   "data_type": "BITMAP16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "RW",
   "values": null,
   "bits": {
    "1": "PID setpoint input from MEMOBUS",
    "2": "Torque reference / limit from MEMOBUS",
    "3": "Torque compensation from MEMOBUS",
    "12": "Enable terminal S5 input for broadcast data",
    "13": "Enable terminal S6 input for broadcast data",
    "14": "Enable terminal S7 input for broadcast data",
    "15": "Enable terminal S8 input for broadcast data"
   },
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 32,
   "documented": "0020H",
   "name": "Drive Status 1",
   "description": "",
   "data_type": "BITMAP16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": null,
   "bits": {
    "0": "During run",
    "1": "During reverse",
    "2": "Drive ready",
    "3": "Fault",
    "4": "Data setting error",
    "5": "Contact output 1 (M1-M2) on",
    "6": "Contact output 2 (M3-M4) on",
    "7": "Contact output 3 (M5-M6) on",
    "14": "ComRef enabled",
    "15": "ComCtrl enabled"
   },
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 33,
   "documented": "0021H",
   "name": "Fault Contents 1",
   "description": "Active fault groups.",
   "data_type": "BITMAP16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": null,
   "bits": {
    "0": "oC overcurrent, GF ground fault",
    "1": "ov overvoltage (Appendix C misprints it as 'Drive Overheat Warning')",
    "2": "oL2 drive overload",
    "3": "oH1 overheat 1, oH2 drive overheat warning",
    "4": "rr braking transistor, rH braking resistor overheat",
    "6": "FbL/FbH PID feedback loss",
    "7": "EF to EF8 external fault",
    "8": "CPFxx hardware fault (incl. oFx)",
    "9": "oL1 motor overload, oL3/oL4 overtorque, UL3/UL4 undertorque",
    "10": "PGo, PGoH, oS, dEv",
    "11": "Uv main circuit undervoltage",
    "12": "Uv1, Uv2, Uv3 undervoltage",
    "13": "LF output / PF input phase loss",
    "14": "CE MEMOBUS / bUS option communication error",
    "15": "oPr external operator connection fault"
   },
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 34,
   "documented": "0022H",
   "name": "Data Link Status",
   "description": "Result of the last parameter write.",
   "data_type": "BITMAP16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": null,
   "bits": {
    "0": "Writing data or switching motors",
    "3": "Upper or lower limit error",
    "4": "Data conformity error",
    "5": "Writing to EEPROM",
    "6": "0 = write to EEPROM, 1 = RAM only (only when H5-17 = 1)"
   },
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 35,
   "documented": "0023H",
   "name": "Frequency reference (monitor)",
   "description": "Units follow o1-03 (0 = 0.01 Hz).",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 36,
   "documented": "0024H",
   "name": "Output frequency",
   "description": "Units follow o1-03 (0 = 0.01 Hz).",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 41,
   "documented": "0029H",
   "name": "Fault Contents 2",
   "description": "",
   "data_type": "BITMAP16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": null,
   "bits": {
    "0": "SC output short circuit / IGBT fault",
    "1": "GF ground fault",
    "2": "PF input phase loss",
    "3": "LF output phase loss",
    "4": "rH braking resistor overheat",
    "6": "oH4 motor overheat 2 (PTC)"
   },
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 42,
   "documented": "002AH",
   "name": "Alarm Contents 1",
   "description": "Active alarms (minor faults).",
   "data_type": "BITMAP16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": null,
   "bits": {
    "2": "EF forward/reverse run command input error",
    "3": "bb drive baseblock",
    "4": "oL3 overtorque 1",
    "5": "oH heatsink overheat",
    "6": "ov overvoltage (Appendix C misprints it as 'Drive Overheat Warning')",
    "7": "Uv undervoltage",
    "8": "FAn internal fan fault",
    "9": "CE MEMOBUS communication error",
    "10": "bUS option communication error",
    "11": "UL3/UL4 undertorque",
    "12": "oH3 motor overheat",
    "13": "FbL/FbH PID feedback loss",
    "15": "CALL serial transmission error"
   },
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 43,
   "documented": "002BH",
   "name": "Input terminal status",
   "description": "",
   "data_type": "BITMAP16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": null,
   "bits": {
    "0": "Terminal S1 closed",
    "1": "Terminal S2 closed",
    "2": "Terminal S3 closed",
    "3": "Terminal S4 closed",
    "4": "Terminal S5 closed",
    "5": "Terminal S6 closed",
    "6": "Terminal S7 closed",
    "7": "Terminal S8 closed"
   },
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 44,
   "documented": "002CH",
   "name": "Drive Status 2",
   "description": "",
   "data_type": "BITMAP16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": null,
   "bits": {
    "0": "During run",
    "1": "Zero speed",
    "2": "Speed agree",
    "3": "User speed agree",
    "4": "Frequency detection 1",
    "5": "Frequency detection 2",
    "6": "Drive ready",
    "7": "During undervoltage",
    "8": "During baseblock",
    "9": "Frequency reference from operator keypad",
    "10": "Run command from operator keypad",
    "11": "Over/undertorque 1, 2",
    "12": "Frequency reference loss",
    "13": "During fault restart",
    "14": "Fault",
    "15": "Communication timeout"
   },
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 45,
   "documented": "002DH",
   "name": "Output terminal status",
   "description": "",
   "data_type": "BITMAP16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": null,
   "bits": {
    "0": "Contact output 1 (M1-M2)",
    "1": "Contact output 2 (M3-M4)",
    "2": "Contact output 3 (M5-M6)",
    "7": "Fault contact output MA/MB-MC"
   },
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 49,
   "documented": "0031H",
   "name": "DC bus voltage",
   "description": "",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "V",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 52,
   "documented": "0034H",
   "name": "Product code 1",
   "description": "Two ASCII characters; \"A0\" for A1000.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 53,
   "documented": "0035H",
   "name": "Product code 2",
   "description": "Two ASCII characters: region code.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 56,
   "documented": "0038H",
   "name": "PID feedback",
   "description": "Unsigned; 100% = maximum output frequency.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 0.1,
   "units": "%",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 57,
   "documented": "0039H",
   "name": "PID input",
   "description": "Signed; 100% = maximum output frequency.",
   "data_type": "INT16",
   "length": 1,
   "word_order": null,
   "scale": 0.1,
   "units": "%",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 58,
   "documented": "003AH",
   "name": "PID output",
   "description": "Signed; 100% = maximum output frequency.",
   "data_type": "INT16",
   "length": 1,
   "word_order": null,
   "scale": 0.1,
   "units": "%",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 61,
   "documented": "003DH",
   "name": "Communications error log",
   "description": "Held until the fault is reset.",
   "data_type": "BITMAP16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": null,
   "bits": {
    "0": "CRC error",
    "1": "Data length error",
    "3": "Parity error",
    "4": "Overrun error",
    "5": "Framing error",
    "6": "Timeout"
   },
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 64,
   "documented": "0040H",
   "name": "U1-01 Frequency Reference",
   "description": "Units follow o1-03 (0 = 0.01 Hz).",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 65,
   "documented": "0041H",
   "name": "U1-02 Output Frequency",
   "description": "Units follow o1-03 (0 = 0.01 Hz).",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 66,
   "documented": "0042H",
   "name": "U1-03 Output Current",
   "description": "8192 = 100% of drive rated output current.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 0.01220703125,
   "units": "%",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 67,
   "documented": "0043H",
   "name": "U1-04 Control Method",
   "description": "Control method set in A1-02.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": {
    "0": "V/f Control",
    "1": "V/f Control with PG",
    "2": "Open Loop Vector Control",
    "3": "Closed Loop Vector Control",
    "5": "Open Loop Vector Control for PM",
    "6": "Advanced Open Loop Vector Control for PM",
    "7": "Closed Loop Vector Control for PM"
   },
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 69,
   "documented": "0045H",
   "name": "U1-06 Output Voltage Reference",
   "description": "",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 0.1,
   "units": "V",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 70,
   "documented": "0046H",
   "name": "U1-07 DC Bus Voltage",
   "description": "",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "V",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 75,
   "documented": "004BH",
   "name": "U1-12 Drive Status",
   "description": "",
   "data_type": "BITMAP16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": null,
   "bits": {
    "0": "During run",
    "1": "During zero speed",
    "2": "During reverse run",
    "3": "During fault reset signal input",
    "4": "During speed agree",
    "5": "Drive ready",
    "6": "Alarm",
    "7": "Fault",
    "8": "During operation error (oPExx)",
    "9": "During momentary power loss",
    "10": "Motor 2 selected",
    "14": "ComRef / NetRef status",
    "15": "ComCtrl / NetCtrl status"
   },
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 76,
   "documented": "004CH",
   "name": "U4-01 Cumulative Operation Time",
   "description": "Reported in 10 h units over Modbus.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 10,
   "units": "h",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 103,
   "documented": "0067H",
   "name": "U4-03 Cooling Fan Operation Time",
   "description": "Reported in 10 h units over Modbus.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 10,
   "units": "h",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 117,
   "documented": "0075H",
   "name": "U4-02 Number of Run Commands",
   "description": "Count of Run commands (wraps after 65535).",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 124,
   "documented": "007CH",
   "name": "U4-05 Capacitor Maintenance",
   "description": "Percent of expected capacitor life used.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "%",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 126,
   "documented": "007EH",
   "name": "U4-04 Cooling Fan Maintenance",
   "description": "Percent of expected fan life used.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "%",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 127,
   "documented": "007FH",
   "name": "Alarm code",
   "description": "Code of the active alarm (minor fault).",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": {
    "1": "Undervoltage (Uv)",
    "2": "DC Bus Overvoltage (ov) (printed in Table C.7 as 'Drive Overheat Warning (ov)')",
    "3": "Heatsink Overheat (oH)",
    "4": "Drive Overheat Warning (oH2)",
    "5": "Overtorque 1 (oL3)",
    "6": "Overtorque 2 (oL4)",
    "7": "Forward/Reverse Run Command Input Error (EF)",
    "8": "Drive Baseblock (bb)",
    "9": "External Fault 3, input terminal S3 (EF3)",
    "10": "External Fault 4, input terminal S4 (EF4)",
    "11": "External Fault 5, input terminal S5 (EF5)",
    "12": "External Fault 6, input terminal S6 (EF6)",
    "13": "External Fault 7, input terminal S7 (EF7)",
    "14": "External Fault 8, input terminal S8 (EF8)",
    "15": "Internal Fan Fault (FAn)",
    "16": "Overspeed (oS)",
    "17": "Speed Deviation (dEv)",
    "18": "PG Disconnected (PGo)",
    "20": "MEMOBUS/Modbus Communication Error (CE)",
    "21": "Option Communication Error (bUS)",
    "22": "Serial Communication Transmission Error (CALL)",
    "23": "Motor Overload (oL1)",
    "24": "Drive Overload (oL2)",
    "26": "Option Card External Fault (EF0)",
    "27": "Motor Switch command input during run (rUn)",
    "29": "Serial Communication Transmission Error (CALL)",
    "30": "Undertorque Detection 1 (UL3)",
    "31": "Undertorque Detection 2 (UL4)",
    "32": "MEMOBUS/Modbus Communication Test Mode Error (SE)",
    "34": "Motor Overheat (oH3)",
    "39": "PID Feedback Loss (FbL)",
    "40": "PID Feedback Loss (FbH)",
    "42": "Drive Disabled (dnE)",
    "43": "PG Disconnected (PGo)",
    "49": "MECHATROLINK Watchdog Timer Error (E5)",
    "50": "Station Address Setting Error (AEr)",
    "51": "MECHATROLINK Comm. Cycle Setting Error (CyC)",
    "52": "High Current Alarm (HCA)",
    "53": "Cooling Fan Maintenance Time (LT-1)",
    "54": "Capacitor Maintenance Time (LT-2)",
    "56": "SI-S EEPROM Error (EEP)",
    "57": "External Fault (input terminal S1) (EF1)",
    "58": "External Fault (input terminal S2) (EF2)",
    "59": "Safe Disable Input (HbbF)",
    "60": "Safe Disable Input (Hbb)",
    "61": "Mechanical Weakening Detection 1 (oL5)",
    "62": "Mechanical Weakening Detection 2 (UL5)",
    "63": "PLC Alarm (PA1)",
    "64": "PLC Alarm (PA2)",
    "65": "Output Voltage Detection Fault (voF)",
    "66": "IGBT Maintenance Time (90%) (TrPC)",
    "67": "Soft Charge Bypass Relay Maintenance Time (LT-3)",
    "68": "IGBT Maintenance Time (50%) (LT-4)",
    "69": "Braking Transistor Overload (boL)",
    "72": "Motor Overheat (NTC Input) (oH5)",
    "73": "DriveWorksEZ Fault (dWAL)",
    "77": "Thermistor Disconnect (THo)"
   },
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 128,
   "documented": "0080H",
   "name": "U2-01 Current Fault",
   "description": "Code of the fault now active.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": {
    "2": "DC Bus Undervoltage (Uv1)",
    "3": "Control Power Supply Voltage Fault (Uv2)",
    "4": "Undervoltage 3 (Uv3)",
    "5": "Output Short-Circuit or IGBT Fault (SC)",
    "6": "Ground Fault (GF)",
    "7": "Overcurrent (oC)",
    "8": "Overvoltage (ov) (printed in Table C.6 as 'Drive Overheat Warning (ov)')",
    "9": "Heatsink Overheat (oH)",
    "10": "Overheat 1 (oH1)",
    "11": "Motor Overload (oL1)",
    "12": "Drive Overload (oL2)",
    "13": "Overtorque Detection 1 (oL3)",
    "14": "Overtorque Detection 2 (oL4)",
    "15": "Dynamic Braking Transistor (rr)",
    "16": "Braking Resistor Overheat (rH)",
    "17": "External Fault at Input Terminal S3 (EF3)",
    "18": "External Fault at Input Terminal S4 (EF4)",
    "19": "External Fault at Input Terminal S5 (EF5)",
    "20": "External Fault at Input Terminal S6 (EF6)",
    "21": "External Fault at Input Terminal S7 (EF7)",
    "22": "External Fault at Input Terminal S8 (EF8)",
    "23": "Internal Fan Fault (FAn)",
    "24": "Overspeed (oS)",
    "25": "Speed Deviation (dEv)",
    "26": "PG Disconnect (PGo)",
    "27": "Input Phase Loss (PF)",
    "28": "Output Phase Loss (LF)",
    "29": "Motor Overheat (PTC input) (oH3)",
    "30": "Digital Operator Connection (oPr)",
    "31": "EEPROM Write Error (Err)",
    "32": "Motor Overheat (PTC input) (oH4)",
    "33": "MEMOBUS/Modbus Communication Error (CE)",
    "34": "Option Communication Error (bUS)",
    "37": "Control Fault (CF)",
    "38": "Zero-Servo Fault (SvE)",
    "39": "Option External Fault (EF0)",
    "40": "PID Feedback Loss (FbL)",
    "41": "Undertorque Detection 1 (UL3)",
    "42": "Undertorque Detection 2 (UL4)",
    "43": "High Slip Braking Overload (oL7)",
    "48": "Hardware Fault (including oFx)",
    "50": "Z Pulse Fault (dv1)",
    "51": "Z Pulse Noise Fault Detection (dv2)",
    "52": "Inversion Detection (dv3)",
    "53": "Inversion Prevention Detection (dv4)",
    "54": "Output Current Imbalance (LF2)",
    "55": "Pullout Detection (Sto)",
    "56": "PG Hardware Fault (PGoH)",
    "57": "MECHATROLINK Watchdog Timer Error (E5)",
    "59": "Too Many Speed Search Restarts (SEr)",
    "65": "PID Feedback Loss (FbH)",
    "66": "External Fault 1, Input Terminal S1 (EF1)",
    "67": "External Fault 2, Input Terminal S2 (EF2)",
    "68": "Mechanical Weakening Detection 1 (oL5)",
    "69": "Mechanical Weakening Detection 2 (UL5)",
    "70": "Current Offset Fault (CoF)",
    "71": "PLC Detection Error 1 (PE1)",
    "72": "PLC Detection Error 2 (PE2)",
    "73": "DriveWorksEZ Fault (dWFL)",
    "74": "EEPROM Memory DriveWorksEZ Data Error (dWF1)",
    "77": "Output Voltage Detection Fault (voF)",
    "78": "Braking Resistor Transistor Fault (rF)",
    "79": "Braking Transistor Overload Fault (boL)",
    "80": "Motor Overheat (NTC Input) (oH5)",
    "81": "LSo Fault (LSo)",
    "82": "Node Setup Fault (nSE)",
    "83": "Thermistor Disconnect (THo)",
    "91": "Initial Polarity Estimation Timeout (dv7)",
    "95": "Power Unit Output Phase Loss 3 (LF3)",
    "96": "Current Unbalance (UnbC)",
    "97": "Power Supply Module Undervoltage (Uv4)",
    "131": "A/D Conversion Error (CPF02)",
    "132": "PWM Data Fault (CPF03)",
    "135": "EEPROM Memory Data Error (CPF06)",
    "136": "Terminal Board Connection Error (CPF07)",
    "137": "EEPROM Serial Communication Fault (CPF08)",
    "140": "RAM Fault (CPF11)",
    "141": "Flash Memory Circuit Exception (CPF12)",
    "142": "Watchdog Circuit Exception (CPF13)",
    "143": "Control Circuit Fault (CPF14)",
    "145": "Clock Fault (CPF16)",
    "146": "Timing Fault (CPF17)",
    "147": "Control Circuit Fault (CPF18)",
    "148": "Control Circuit Fault (CPF19)",
    "149": "Hardware Fault at Power Up (CPF20)",
    "150": "Hardware Fault at Communication Start Up (CPF21)",
    "151": "A/D Conversion Fault (CPF22)",
    "152": "PWM Feedback Fault (CPF23)",
    "153": "Drive Unit Signal Fault (CPF24)",
    "154": "Terminal Board is Not Properly Connected. (CPF25)",
    "155": "ASIC BB Circuit Error (CPF26)",
    "156": "ASIC PWM Setting Register Error (CPF27)",
    "157": "ASIC PWM Pattern Error (CPF28)",
    "158": "ASIC On-delay Error (CPF29)",
    "159": "ASIC BBON Error (CPF30)",
    "160": "ASIC Code Error (CPF31)",
    "161": "ASIC Start-up Error (CPF32)",
    "162": "Watch-dog Error (CPF33)",
    "163": "ASIC Power/Clock Error (CPF34)",
    "164": "External A/D Converter Error (CPF35)",
    "169": "Control Circuit Error (CPF40)",
    "170": "Control Circuit Error (CPF41)",
    "171": "Control Circuit Error (CPF42)",
    "172": "Control Circuit Error (CPF43)",
    "173": "Control Circuit Error (CPF44)",
    "174": "Control Circuit Error (CPF45)",
    "257": "Option Compatibility Error (oFA00)",
    "258": "Option Not Properly Connected (oFA01)",
    "262": "A/D Conversion Error (oFA05)",
    "263": "Option Response Error (oFA06)",
    "273": "Option RAM Fault (oFA10)",
    "274": "Option Operation Mode Fault (SLMOD) (oFA11)",
    "275": "Drive Receive CRC Error (oFA12)",
    "276": "Drive Receive Frame Error (oFA13)",
    "277": "Drive Receive Abort Error (oFA14)",
    "278": "Option Receive CRC Error (oFA15)",
    "279": "Option Receive Frame Error (oFA16)",
    "280": "Option Receive Abort Error (oFA17)",
    "305": "Comm. ID Error (oFA30)",
    "306": "Model Code Error (oFA31)",
    "307": "Sumcheck Error (oFA32)",
    "308": "Comm. Option Timeout Waiting for Response (oFA33)",
    "309": "MEMOBUS Timeout (oFA34)",
    "310": "Drive Timeout Waiting for Response (oFA35)",
    "311": "CI Check Error (oFA36)",
    "312": "Drive Timeout Waiting for Response (oFA37)",
    "313": "Control Command Selection Error (oFA38)",
    "314": "Drive Timeout Waiting for Response (oFA39)",
    "315": "Control Response Selection 1 Error (oFA40)",
    "316": "Drive Timeout Waiting for Response (oFA41)",
    "317": "Control Response Selection 2 Error (oFA42)",
    "318": "Drive Timeout Waiting for Response (oFA43)",
    "513": "Option Compatibility Error (oFb00)",
    "514": "Option Connection Error (oFb01)",
    "515": "Same Type of Option Card Already Connected (oFb02)",
    "518": "A/D Conversion Error (oFb05)",
    "519": "Option Response Error (oFb06)",
    "529": "Option RAM Fault (oFb10)",
    "530": "Option Operation Mode Fault (SLMOD) (oFb11)",
    "531": "Drive Receive CRC Error (oFb12)",
    "532": "Drive Receive Frame Error (oFb13)",
    "533": "Drive Receive Abort Error (oFb14)",
    "534": "Option Receive CRC Error (oFb15)",
    "535": "Option Receive Frame Error (oFb16)",
    "536": "Option Receive Abort Error (oFb17)",
    "561": "Comm. ID Error (oFb30)",
    "562": "Model Code Error (oFb31)",
    "563": "Sumcheck Error (oFb32)",
    "564": "Comm. option Timeout Waiting for Response (oFb33)",
    "565": "MEMOBUS Timeout (oFb34)",
    "566": "Drive Timeout Waiting for Response (oFb35)",
    "567": "CI Check Error (oFb36)",
    "568": "Drive Timeout Waiting for Response (oFb37)",
    "569": "Control Command Selection Error (oFb38)",
    "570": "Drive Timeout Waiting for Response (oFb39)",
    "571": "Control Response Selection 1 Error (oFb40)",
    "572": "Drive Timeout Waiting for Response (oFb41)",
    "573": "Control Response Selection 2 Error (oFb42)",
    "574": "Drive Timeout Waiting for Response (oFb43)",
    "769": "Option Compatibility Error (oFC00)",
    "771": "Option Not Properly Connected (oFC01)",
    "772": "Same Type of Option Card Already Connected (oFC02)",
    "774": "A/D Conversion Error (oFC05)",
    "775": "Option Response Error (oFC06)",
    "785": "Option RAM Fault (oFC10)",
    "786": "Option Operation Mode Fault (SLMOD) (oFC11)",
    "787": "Drive Receive CRC Error (oFC12)",
    "788": "Drive Receive Frame Error (oFC13)",
    "789": "Drive Receive Abort Error (oFC14)",
    "790": "Option Receive CRC Error (oFC15)",
    "791": "Option Receive Frame Error (oFC16)",
    "792": "Option Receive Abort Error (oFC17)",
    "849": "Encoder Option AD Conversion Error (oFC50)",
    "850": "Encoder Option Analog Circuit Error (oFC51)",
    "851": "Encoder Communication Timeout (oFC52)",
    "852": "Encoder Communication Data Error (oFC53)",
    "853": "Encoder Error (oFC54)",
    "854": "Resolver Error (oFC55)"
   },
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 129,
   "documented": "0081H",
   "name": "U2-02 Previous Fault",
   "description": "Previous fault; same codes as U2-01.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 144,
   "documented": "0090H",
   "name": "U3-01 Most Recent Fault",
   "description": "Newest fault history entry; same codes as U2-01.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 152,
   "documented": "0098H",
   "name": "U4-01 Cumulative Operation Time (upper digits)",
   "description": "U4-01 divided by 10 (12345 h reads 1234).",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 10,
   "units": "h",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 153,
   "documented": "0099H",
   "name": "U4-01 Cumulative Operation Time (last digit)",
   "description": "Ones digit of U4-01 (12345 h reads 5).",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "h",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 154,
   "documented": "009AH",
   "name": "U4-03 Cooling Fan Operation Time (upper digits)",
   "description": "U4-03 divided by 10.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 10,
   "units": "h",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 155,
   "documented": "009BH",
   "name": "U4-03 Cooling Fan Operation Time (last digit)",
   "description": "Ones digit of U4-03.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "h",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 191,
   "documented": "00BFH",
   "name": "oPE error number",
   "description": "Number of the active oPExx setting error.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 192,
   "documented": "00C0H",
   "name": "Fault Contents 3",
   "description": "",
   "data_type": "BITMAP16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": null,
   "bits": {
    "1": "Uv1 DC bus undervoltage",
    "2": "Uv2 control power supply undervoltage",
    "3": "Uv3 soft-charge bypass circuit fault",
    "4": "SC output short circuit / IGBT fault",
    "5": "GF ground fault",
    "6": "oC overcurrent",
    "7": "ov overvoltage (Appendix C misprints it as 'Drive Overheat Warning')",
    "8": "oH heatsink overheat",
    "9": "oH1 overheat 1",
    "10": "oL1 motor overload",
    "11": "oL2 drive overload",
    "12": "oL3 overtorque 1",
    "13": "oL4 overtorque 2",
    "14": "rr braking transistor fault",
    "15": "rH braking resistor overheat"
   },
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 193,
   "documented": "00C1H",
   "name": "Fault Contents 4",
   "description": "",
   "data_type": "BITMAP16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": null,
   "bits": {
    "0": "EF3 external fault S3",
    "1": "EF4 external fault S4",
    "2": "EF5 external fault S5",
    "3": "EF6 external fault S6",
    "4": "EF7 external fault S7",
    "5": "EF8 external fault S8",
    "6": "FAn internal fan fault",
    "7": "oS overspeed",
    "8": "dEv excessive speed deviation",
    "9": "PGo PG disconnected",
    "10": "PF input phase loss",
    "11": "LF output phase loss",
    "12": "oH3 motor overheat (PTC)",
    "13": "oPr external operator connection fault",
    "14": "Err EEPROM write error",
    "15": "oH4 motor overheat fault (PTC)"
   },
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 194,
   "documented": "00C2H",
   "name": "Fault Contents 5",
   "description": "",
   "data_type": "BITMAP16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": null,
   "bits": {
    "0": "CE MEMOBUS communication error",
    "1": "bUS option communication error",
    "4": "CF control fault",
    "5": "SvE zero servo fault",
    "6": "EF0 option external fault",
    "7": "FbL PID feedback loss",
    "8": "UL3 undertorque 1",
    "9": "UL4 undertorque 2",
    "10": "oL7 high slip braking overload",
    "15": "Hardware fault (incl. oFx)"
   },
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 384,
   "documented": "0180H",
   "name": "b1-01 Frequency Reference Selection 1",
   "description": "Set 2 for frequency reference over Modbus.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "RW",
   "values": {
    "0": "Digital operator",
    "1": "Analog input terminals",
    "2": "MEMOBUS/Modbus communications",
    "3": "Option PCB",
    "4": "Pulse input (terminal RP)"
   },
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 385,
   "documented": "0181H",
   "name": "b1-02 Run Command Selection 1",
   "description": "Set 2 for Run command over Modbus.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "RW",
   "values": {
    "0": "Digital operator",
    "1": "Digital input terminals",
    "2": "MEMOBUS/Modbus communications",
    "3": "Option PCB"
   },
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 1061,
   "documented": "0425H",
   "name": "H5-01 Drive Node Address",
   "description": "0-FF hex; 0 = no response. Power cycle to apply.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 1062,
   "documented": "0426H",
   "name": "H5-02 Communication Speed Selection",
   "description": "Power cycle to apply.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": {
    "0": "1200 bps",
    "1": "2400 bps",
    "2": "4800 bps",
    "3": "9600 bps",
    "4": "19200 bps",
    "5": "38400 bps",
    "6": "57600 bps",
    "7": "76800 bps",
    "8": "115200 bps"
   },
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 1063,
   "documented": "0427H",
   "name": "H5-03 Communication Parity Selection",
   "description": "Power cycle to apply.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": {
    "0": "No parity",
    "1": "Even parity",
    "2": "Odd parity"
   },
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 1064,
   "documented": "0428H",
   "name": "H5-04 Stopping Method after Communication Error",
   "description": "Reaction to a CE fault.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": {
    "0": "Ramp to stop",
    "1": "Coast to stop",
    "2": "Fast stop",
    "3": "Alarm only"
   },
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 1065,
   "documented": "0429H",
   "name": "H5-05 Communication Fault Detection Selection",
   "description": "Enables CE detection.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": {
    "0": "Disabled",
    "1": "Enabled"
   },
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 1066,
   "documented": "042AH",
   "name": "H5-06 Drive Transmit Wait Time",
   "description": "5-65 ms delay before the drive replies.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "ms",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 1067,
   "documented": "042BH",
   "name": "H5-07 RTS Control Selection",
   "description": "1 for RS-485 or multi-drop RS-422.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": {
    "0": "Disabled - RTS always on",
    "1": "Enabled - RTS on only while sending"
   },
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 1077,
   "documented": "0435H",
   "name": "H5-09 CE Detection Time",
   "description": "0.0-10.0 s without messages before CE.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 0.1,
   "units": "s",
   "access": "R",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 1078,
   "documented": "0436H",
   "name": "H5-10 Unit Selection for Register 0025H",
   "description": "Unit of the output voltage monitor at 0025H.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": {
    "0": "0.1 V units",
    "1": "1 V units"
   },
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 1084,
   "documented": "043CH",
   "name": "H5-11 Communications Enter Function Selection",
   "description": "Whether parameter writes need the Enter command.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": {
    "0": "Changes apply only after an Enter command",
    "1": "Changes apply immediately; Enter (0900H) still needed to save to EEPROM"
   },
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 1085,
   "documented": "043DH",
   "name": "H5-12 Run Command Method Selection",
   "description": "Meaning of 0001H bits 0/1.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": {
    "0": "FWD/Stop, REV/Stop",
    "1": "Run/Stop, FWD/REV"
   },
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 2304,
   "documented": "0900H",
   "name": "Enter command (save to EEPROM)",
   "description": "Write 0: apply parameter writes to RAM and EEPROM.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "W",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 2320,
   "documented": "0910H",
   "name": "Enter command (RAM only)",
   "description": "Write 0: apply parameter writes to RAM only.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "W",
   "values": null,
   "bits": null,
   "offset": 0
  },
  {
   "table": "holding_register",
   "address": 4513,
   "documented": "11A1H",
   "name": "H5-17 Operation when Unable to Write into EEPROM",
   "description": "PRG 1018 and later.",
   "data_type": "UINT16",
   "length": 1,
   "word_order": null,
   "scale": 1,
   "units": "",
   "access": "R",
   "values": {
    "0": "Cannot write into EEPROM",
    "1": "Write in RAM only"
   },
   "bits": null,
   "offset": 0
  }
 ],
 "integration": {
  "summary": "Set H5-01..H5-03 at the keypad and power-cycle, set b1-01 = 2 and b1-02 = 2 so the frequency reference and Run command come from Modbus, then write 0001H (run bits) and 0002H (frequency reference) together with function 10H and poll 0020H-002CH for status, faults and alarms.",
  "minimum_registers": [
   {
    "table": "holding_register",
    "address": 1,
    "why": "Run/stop, direction, fault reset"
   },
   {
    "table": "holding_register",
    "address": 2,
    "why": "Frequency reference (o1-03 units)"
   },
   {
    "table": "holding_register",
    "address": 32,
    "why": "Drive Status 1: run/ready/fault"
   },
   {
    "table": "holding_register",
    "address": 33,
    "why": "Fault Contents 1"
   },
   {
    "table": "holding_register",
    "address": 36,
    "why": "Output frequency"
   },
   {
    "table": "holding_register",
    "address": 44,
    "why": "Drive Status 2 incl. comm timeout bit"
   },
   {
    "table": "holding_register",
    "address": 49,
    "why": "DC bus voltage"
   },
   {
    "table": "holding_register",
    "address": 128,
    "why": "U2-01 current fault code"
   }
  ],
  "enable": "Set H5-01 slave address (default 1F hex = 31, range 0-FF hex), H5-02 speed (default 3 = 9600 bps) and H5-03 parity (default 0 = none), then cycle power. For control set b1-01 = 2 and b1-02 = 2 (b1-15/b1-16 for external reference 2). H5-12 decides whether 0001H bits 0/1 mean FWD/REV run or Run + direction. Network inputs are ORed with terminals S1-S8.",
  "watchdog": "H5-05 = 1 (default) enables CE detection, H5-09 CE Detection Time (0.0-10.0 s, default 2.0 s) sets the timeout, and H5-04 selects the reaction: 0 ramp to stop, 1 coast, 2 fast stop, 3 alarm only and keep running (default). Drive Status 2 (002CH) bit F shows a communication timeout.",
  "quirks": [
   "Registers are hex and 0-based: 0020H is sent as 00 20.",
   "Only function codes 03H, 08H and 10H are supported; there is no 06H single-register write, so use 10H even for one register.",
   "Reads and writes are limited to 16 registers per message.",
   "H5-11 defaults to 0 on A1000: parameter writes only apply after writing 0 to 0900H (RAM + EEPROM) or 0910H (RAM only). Registers 0000H-001FH never need Enter. 0900H/0910H are write-only; reading them returns error 02H.",
   "Minimum gap before the next message: 5 ms after commands/reads, 50 or 200 ms after a parameter write, 200 ms-2 s after an Enter command, and 5 s for an Enter that saves to EEPROM after initialization."
  ],
  "setup": [
   "Terminal block TB5 (R+, R-, S+, S-, IG); for 2-wire RS-485 jumper S+ to R+ and S- to R-. Up to 31 drives on RS-485.",
   "Set DIP switch S2 ON (termination) only on the drive at the end of the line.",
   "H5-07 = 1 (RTS switched, default) for RS-485 or multi-drop RS-422; 0 for point-to-point RS-422.",
   "Data is 8 bits, 1 stop bit, RTU only; speeds 1.2-115.2 kbps; parity none/even/odd.",
   "H5-06 Drive Transmit Wait Time (default 5 ms) delays the reply if the master overruns; H5-06 and H5-07 also need a power cycle."
  ],
  "gotchas": [
   "H5-01 = 0 stops the drive from answering at all.",
   "H5-01..H5-03 changes need a power cycle before they apply.",
   "The Enter command to EEPROM (0900H) wears the EEPROM (about 100,000 writes); use 0910H for frequent changes.",
   "Error code 25H means an EEPROM write was refused; H5-17 = 1 makes such writes go to RAM only.",
   "With a communication option card fitted, the option takes priority for ComRef/ComCtrl.",
   "Self-test: set H1-06 = 67, jumper R+ to S+, R- to S- and S6 to SN (SC-SP jumper in place) and power up; the keypad shows PASS when the port is healthy, CE when not."
  ]
 },
 "page": "https://easymodbus.com/modbus-register-maps/yaskawa/a1000",
 "address_note": "address = 0-based Modbus wire (PDU) address; documented = as printed in the source.",
 "note": "Re-typed from the manufacturer's public documentation (see source) and verified against it. Registers vary by firmware and options; verify against the live device before writing."
}