Yaskawa 1000 Series Drive Option - CANopen Technical Manual - Manual (Page 20)

8 Object Dictionary
20 YASKAWA ELECTRIC SIEP C730600 45B 1000-Series Option SI-S3 Technical Manual
■ 1016 (Hex) - Consumer Heartbeat Time
This object defines the Consumer heartbeat time. It must be set to a higher value than the producer heartbeat time set in the master. When set to 0,
consumer heartbeat is disabled.
■ 1017 (Hex) - Producer Heartbeat Time
This object determines the cycle time the CANopen Option uses to produce a heartbeat signal. When set to 0, the SI-S3 does not produce a heartbeat
signal.
■ 1018 (Hex) - Identity Object
This object contains general information about the drive.
◆
Manufacturer Specific Profile Objects (DS 301)
The SI-S3 option card offers the manufacturer specific objects listed below.
These objects are specific to Yaskawa products and therefore not available on other CANopen products.
The manufacturer-specific object list consists of objects that have predefined, non-changeable content and objects that are freely configurable. The
content of freely configurable objects can be determined by linking these objects to drive parameters, monitors or MEMOBUS/Modbus registers
(refer to Selectable Object Content on page 27 ).
Input objects are processed in a cycle of 2 ms. Output objects are, depending on the object, updated in a cycle of either 2 ms or 8 ms. The update
cycle cannot be changed.
Some of the output objects support a Change of State filter that can be used to reduce the bus traffic when quickly-changing values such as the
output current and motor speed are mapped to TxPDOs with Change of State (transmission type FE (Hex)) enabled. Refer to Change of State Filter
on page 29 and Transmission Type FE (Hex) for Transmit PDOs on page 29 for details.
Note: Freely configurable object content and the object Change of State filter function are available in option card software version 3102 and later.
■ 2000 (Hex) - Operation Command
This object is used to start and stop the drive, to control the multi-function digital input terminals, and to trigger and reset faults.
■ 2010 (Hex) - Speed Reference/Speed Limit
Sets the speed reference or speed limit. The unit of this value depends on the setting of the drive parameter o1-03.
The value will be used as the speed reference for speed control (d5-01 = 0) or as the speed limit in torque control (d5-01 = 1).
Note: The availability of the torque control function depends on the drive and the selected control mode. For details, refer to the technical manual for the drive.
Index (Hex) Subindex Content Access PDO Mapping Value Range Units
1016 1 Consumer heartbeat time Read / Write No Unsigned 32 1 ms
Index (Hex) Subindex Content Access PDO Mapping Value Range Units
1017 – Producer heartbeat time Read / Write No Unsigned 16 1 ms
Index (Hex) Subindex Content Access PDO Mapping Value Range
1018 1 Identity object Read Only No Unsigned 32
Index (Hex) Subindex Content Access PDO Mapping Data Length
2000 0 Operation Command Read / Write Possible 2 byte
Bit No. (Hex) Description Function
0 Forward Run 1: Forward run, 0: Stop (Enabled when b1-02=3)
1 Reverse Run 1: Reverse run, 0: Stop (Enabled when b1-02=3)
2 Terminal S3 Function Multi-Function Input: H1-03
3 Terminal S4 Function Multi-Function Input: H1-04
4 Terminal S5 Function Multi-Function Input: H1-05
5 Terminal S6 Function Multi-Function Input: H1-06
6 Terminal S7 Function Multi-Function Input: H1-07
7 Terminal S8 Function Multi-Function Input: H1-08
8 External Fault (EF0) 1: External Fault Input (EF0)
9 Fault Reset 1: Fault Reset
A to F Not used
Index (Hex) Subindex Content Access PDO Mapping Data Length
2010 0 Speed command Read / Write Possible 2 byte