Yaskawa 1000 Series Drive Option - CANopen Technical Manual - Manual (Page 23)

8 Object Dictionary
YASKAWA ELECTRIC SIEP C730600 45B 1000-Series Option SI-S3 Technical Manual 23
■ 2120 (Hex) / 2121 (Hex) - Output Current
These objects can be used to monitor the drive output current in amperes. The current value resolution is the same as in drive monitor U1-03 (For
details, refer to the Technical Manual for the drive). The value in object 2120 (Hex) is not filtered. For the value in object 2121 (Hex), a Change of
State filter can be set up as explained in Change of State Filter on page 29 .
■ 2130 (Hex) / 2131 (Hex) - Output Torque Reference
These objects can be used to monitor the output torque reference. The value in object 2130 (Hex) is not filtered. For the value in object 2131 (Hex),
a Change of State filter can be set up as explained in Change of State Filter on page 29 .
The availability of this object content depends on the drive control mode. If the selected control mode does not support this monitor (equal to drive
monitor U1-09), the torque reference monitor value will be 0. Refer to the drive technical manual for details.
■ 2140 (Hex) - MEMOBUS/Modbus Read Response
This object contains the data of the drive MEMOBUS/Modbus register specified in object 2040 (Hex). Bytes 1 and 2 of subindex 1 will contain the
data, and bytes 3 and 4 will contain the MEMOBUS/Modbus Address that was read.
■ 2150 (Hex) - MEMOBUS/Modbus Write Response
This object contains the response from the drive when writing a drive parameter with a MEMOBUS/Modbus write command (object 2050 (Hex)).
Bytes 1 and 2 of subindex 1 will contain the data that was written, and bytes 3 and 4 will contain the MEMOBUS/Modbus Address that was written
to.
■ 2155 (Hex) - PDO Parameter Write Response
Note: Available in option card software version 3102 and later.
This object contains the response from the drive when writing a drive parameter directly using a RxPDO. Byte 1 contains the lower byte and byte 2
contains the higher byte of the message identifier (COB-ID) for the message that contains the parameter write request. Byte 3 contains the number
of errors. This object can only be read if the SI-S3 option is in the Operational state.
Refer to
Accessing Drive Parameters, Monitors and Control Registers Using PDOs on page 31 for details on writing parameters using PDOs.
■ 2160 (Hex) - MEMOBUS/Modbus Not Limited Enter Command Response
This object contains the response from the drive when writing an Enter command using object 2060 (Hex).
Index (Hex)
<1> Available in option card software version 3102 and later.
<2> Read / Write access when SI-S3 is in Pre-Operational state, Read only access if the SI-S3 is in the Operational state or if the drive is running.
Subindex Content Default Access PDO Mapping Data Length Update Cycle
2120 0 Output Current - Read Only Possible 2 byte 8 ms
2121 <1>
0 Number of entries 4 Read Only No 1 byte -
1 Output Current - Read Only Possible 2 byte 8 ms
2 MEMOBUS/Modbus register address for content 00FB (Hex) Read Only No 2 byte
- 3 Filter value FFFF (Hex) Read / Write <2> No 2 byte
4 Value filter type 0 (Analog) Read / Write <2> No 2 byte
Index (Hex)
<1> Available in option card software version 3102 and later.
<2> Read / Write access when SI-S3 is in Pre-Operational state, Read only access if the SI-S3 is in the Operational state or if the drive is running.
Subindex Content Default Access PDO Mapping Data Length Update Cycle
2130 0 Torque Reference - Read Only Possible 2 byte 8 ms
2131 <1>
0 Number of entries 4 Read Only No 1 byte -
1 Torque Reference - Read Only Possible 2 byte 8 ms
2 MEMOBUS/Modbus register address for content 0048 (Hex) Read Only No 2 byte
- 3 Filter value FFFF (Hex) Read / Write <2> No 2 byte
4 Value filter type 0 (Analog) Read / Write <2> No 2byte
Index (Hex) Subindex Content Access PDO Mapping Data Length
2140
0 Number of entries
Read Only Possible
1 byte
1 MEMOBUS/Modbus read response
2 + 2 byte
MEMOBUS/Modbus
Data + Address
Index (Hex) Subindex Content Access PDO Mapping Data Length
2150
0 Number of entries
Read Only Possible
1 byte
1 MEMOBUS/Modbus write response
2 + 2 byte
MEMOBUS/Modbus
Data + Address
Index (Hex) Subindex Content Access PDO Mapping Data Length
2155 0
PDO Parameter Write Response (COB-ID of the
RxPDO and number of errors)
Read Only Possible 3 byte
Index (Hex) Subindex Content Access PDO Mapping Data Length
2160 0
MEMOBUS/Modbus not limited enter command
response
Read Only Possible 4 byte