Refer to, For details on writing pa – Yaskawa 1000 Series Drive Option - CANopen Technical Manual User Manual
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11 Drive Parameter, Monitor and Control Register Access
YASKAWA ELECTRIC SIEP C730600 45B 1000-Series Option SI-S3 Technical Manual
31
11
Drive Parameter, Monitor and Control Register Access
All drive parameters, monitors, and other control registers are represented by their MEMOBUS/Modbus register. They can be read or written by
accessing these registers through the SI-S3 option card.
MEMOBUS/Modbus registers can be directly read or written by using the MEMOBUS/Modbus read/write commands. They can also be mapped to
the content of a manufacturer-specific object, and then be accessed by reading from or writing to this object. Refer to
for details on object content selection.
When writing drive parameters, some general precautions concerning the message timing have to be taken into account.
• The drive needs some time to activate changes to parameter values. When changing multiple parameters, be sure to add a wait time between write
requests.
• If an Enter command is issued, be sure to add a wait time between the Enter command and the next message.
Refer to the drive technical manual for more information about MEMOBUS/Modbus addresses available in the drive and the wait times required
between parameter write requests and Enter commands.
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Drive Parameter and Monitor Access by MEMOBUS/Modbus Read/Write Commands
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Reading a Drive Register, Parameter or Monitor
Reading a drive parameter, monitor or control register using a MEMOBUS/Modbus read command requires the following steps:
• Write the address of the drive MEMOBUS/Modbus register to be read to subindex 0 of object 2040 (Hex).
• Read the value of the drive MEMOBUS/Modbus register from the MEMOBUS/Modbus read response in subindex 1 of object 2140 (Hex).
Objects 2040 (Hex) and 2140 (Hex) can both be mapped to PDOs.
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Writing to a Parameter or Drive Control Register
Writing to drive parameters or control registers can be performed by following the steps below:
• Write the value and the MEMOBUS/Modbus address of the drive parameter or control register to subindex 1 of object 2050 (Hex).
• Read the MEMOBUS/Modbus write response from subindex 1 of object 2150 (Hex) to verify that the item was written correctly.
If drive parameters are written and parameter H5-11 in the drive is set to 0, a RAM Enter command (object 2060 (hex)) must additionally be issued
in order to allow the change take effect. To store the parameter change in the non-volatile memory of the drive, a ROM Enter command (object 2070
(hex)) must be issued instead. An Enter command can be issued by performing the steps below.
• Write "save" (73H + 61H + 76H + 65H) to subindex 1 of object 2060 (Hex) for a RAM Enter command, or to subindex 1 of object 2070 (Hex) for
a ROM Enter command.
• When using a RAM Enter command, read the Enter command response from object 2160 (hex) to verify whether the Enter command was
successful.
Note: When multiple drive parameters are changed, only one Enter command is required after the last parameter value to activate all parameter changes.
Objects 2050/01 (Hex), 2060 (Hex), 2070 (Hex), 2150/01 (Hex) and 2160 (Hex) can be mapped to PDOs.
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Accessing Drive Parameters and Monitors that are Mapped to Objects
Note: The functions described in this section are available in option card software 3102 and later.
When drive items like parameters, monitors, or control registers are mapped to manufacturer-specific objects, they can also be read or written
directly by using SDO or PDO messages instead of MEMOBUS/Modbus read/write commands.
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Accessing Drive Parameters, Monitors and Control Registers Using SDOs
A drive parameter, monitor or control register can be accessed by using a normal SDO read or write message on the object it is mapped to. The SDO
response will contain the write request answer or error information (e.g., if parameter limits were exceeded, if a read/write access violation
occurred, etc.).
Note: If drive parameter H5-11 is set to 0, an Enter command must be issued to allow the parameter change become active in the drive. When multiple drive parameters are
changed, only one Enter command is required after the last parameter value to activate all parameter changes.
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Accessing Drive Parameters, Monitors and Control Registers Using PDOs
When a drive parameter, monitor, or control register is connected to an object and the object is mapped to a PDO, the connected drive item can be
accessed directly by using this PDO.
Reading Drive Parameters, Monitors, or Control Registers
In order to read a drive item directly by using a PDO, the object that contains the item must be mapped to a TxPDO. The TxPDO can either be
triggered on remote request (RTR) or can be configured to be sent automatically by timer or upon Change of State events.
Example: To read the output power monitor U1-08 via the PDO, the monitor must be mapped to an output object, e.g., 21A0 (Hex). This object
must then be mapped to a PDO, e.g., TxPDO 6.
Subindex 1
Subindex 2
Output Power
0047 (Hex)
Object 21A0 (Hex)
21A0, Subindex 1
Entry 1
TxPDO 6
0047 (Hex)
U1-08
Output Power
Drive Monitor