Yaskawa Profibus-DP Option Card CM061 - Manual (Page 27)

Network Communications 3-3
16 Word Input/Output Message
The PROFIBUS-DP Option can be configured as one of three possible I/O messages; 16 word input/output message, 6 word input/output
message and 3 word I/Os messages. The 16 word input/output message structure is described in this section.
The 16 word input and output messages are divided into two areas. The first 16 bytes of each message is fixed. This is the most frequently
used data and is referred to as the fast I/O data. The remaining 16 bytes of each message are used for reading from and writing to all other
drive parameters and is referred to as parameter data. All command, monitor, and parameter data in the drive is accessible via the parameter
access portion of the message.
Table 3.1 – PROFIBUS-DP 16 Word Input/Output Message Table
Output Data (PROFIBUS-DP Master-> Drive) Input Data (Drive -> PROFIBUS-DP Master )
Byte Function Byte Function
0 RUN Operation Command MSB 0 Drive Status MSB
1 RUN Operation Command LSB 1 Drive Status LSB
2 Frequency Reference MSB 2 Motor Speed MSB
3 Frequency Reference LSB 3 Motor Speed LSB
4 Torque Reference/Limit MSB (Flux Vector Mode) 4 Torque Reference/Limit MSB (Flux Vector Mode)
5 Torque Reference/Limit LSB (Flux Vector Mode) 5 Torque Reference/Limit LSB (Flux Vector Mode)
6 Torque Compensation MSB (Flux Vector Mode) 6 Speed Detection PG Count MSB (w/ PG)
7 Torque Compensation LSB (Flux Vector Mode) 7 Speed Detection PG Count LSB (w/ PG)
8 Reserved 8 Frequency Reference MSB
9 Reserved 9 Frequency Reference LSB
10 Analog Output Channel 1 MSB 10 Output Frequency MSB
11 Analog Output Channel 1 LSB 11 Output Frequency LSB
12 Analog Output Channel 2 MSB 12 Output Current MSB
13 Analog Output Channel 2 LSB 13 Output Current LSB
14 Multifunction Digital Output MSB 14 Analog Input Channel 1 MSB
Fast I/O
Area
15 Multifunction Digital Output LSB
Fast I/O
Area
15 Analog Input Channel 1 LSB
16 Function Code 16 Function Code
17 Starting Address MSB 17 Starting Address MSB
18 Starting Address LSB 18 Starting Address LSB
19 Data Length (2, 4, 6 or 8bytes of data) 19 Data Length (2, 4, 6 or 8bytes of data)
20 Data 1 MSB 20 Data 1 MSB
21 Data 1 LSB 21 Data 1 LSB
22 Data 2 MSB 22 Data 2 MSB
23 Data 2 LSB 23 Data 2 LSB
24 Data 3 MSB 24 Data 3 MSB
25 Data 3 LSB 25 Data 3 LSB
26 Data 4 MSB 26 Data 4 MSB
27 Data 4 LSB 27 Data 4 LSB
28 Reserved 28 Reserved
29 Reserved 29 Reserved
30 Reserved 30 Reserved
Parameter Access Area
31 Handshake Register
Parameter Access Area
31 Handshake Register