Yaskawa 1000 Series Drive Option - CANopen Technical Manual - Manual (Page 16)

8 Object Dictionary
16 YASKAWA ELECTRIC SIEP C730600 45B 1000-Series Option SI-S3 Technical Manual
■ Drives and Motion Profile Objects (DSP 402)
The drive supports the Drive and Motion Profile DSP 402 Velocity Mode. Before using the Velocity Mode objects the following parameters have to
be set up in the drive:
• The motor pole number must be set up in E2-04.
• The frequency reference and output frequency display unit has to be set to min -1 by setting parameter o1-03 = 2.
If these settings are not done properly, the Velocity Mode objects cannot be used or deliver wrong data.
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Communication Profile Objects (DS 301)
■ 1000 (Hex) - Device Type
This object describes the type of device and its functionality. It is composed of a first 16 bit field that describes the device profile used and a second
16 bit field that gives additional information regarding optional functionality.
■ 1001 (Hex) - Error Register
This register shows the fault status of the device. If any errors occurs in the device bit 0 (generic error) is set to one.
Output
2100 Drive Status 22
2101 <1> Drive Status (Change of State filter support) 22
2110 Output Frequency 22
2111 <1> Output Frequency (Change of State filter support) 22
2120 Output Current 23
2121 <1> Output Current (Change of State filter support) 23
2130 Output Torque 23
2131 <1> Output Torque (Change of State filter support) 23
2140 MEMOBUS/Modbus Read Command Response 23
2150 MEMOBUS/Modbus Write Command Response 23
2155 <1> PDO Parameter Write Response 23
2160 MEMOBUS/Modbus Not Limited Enter Command Response 23
2180 <1> Freely selectable (default: Input terminal status) 24
2190 <1> Freely selectable (default: Analog input 1 monitor) 24
21A0 <1> Freely selectable (default: none) 24
21B0 <1> Freely selectable (default: none) 24
21C0 <1> Freely selectable (default: none) 24
21D0 <1> Freely selectable (default: none) 24
21E0 <1> Freely selectable (default: none) 24
21F0 <1> Freely selectable (default: none) 24
2200 Motor Speed <2> 24
2201 <1> Motor Speed (Change of State filter support) <2> 24
<1> Available in option card software version 3102 and later.
<2> Units for motor speed are determined by o1-03. If the control mode for the drive is set to V/f control (A1-02=0) and V/f control with simple PG feedback is disabled (H6-01 ≠3), then the
motor speed will be 0.
Object Type
<1> YASKAWA specifies this object as the drive digital output monitor. (Input from the network)
<2> YASKAWA specifies this object as the drive digital inputs. (Output to the network)
Index (Hex) Name Page
Common Entries
60FD Digital Inputs <1> 26
60FE Digital Outputs <2> 26
Device Control
6040 Controlword 24
6041 Statusword 25
6061 Modes of operation display 26
Velocity Mode
6042 vl target velocity 25
6043 vl velocity demand 25
6044 vl control effort 25
6046 vl velocity min max amount 25
6048 vl velocity acceleration 25
6049 vl velocity deceleration 25
604A vl velocity quick stop 25
604C vl dimension factor 25
604D vl pole number 26
Index (Hex) Subindex Content Access PDO Mapping Value Range
1000 – Device type Read Only No Unsigned 32
Index (Hex) Subindex Content Access PDO Mapping Value Range
1001 – Error register Read Only Possible Unsigned 8
Index (Hex) Content Page