Yaskawa 1000 Series Drive Option - CANopen Technical Manual - Manual (Page 32)

11 Drive Parameter, Monitor and Control Register Access
32 YASKAWA ELECTRIC SIEP C730600 45B 1000-Series Option SI-S3 Technical Manual
Writing Parameters
In order to write a drive parameter directly by using a PDO, the object that contains the drive parameter must be mapped to an RxPDO. Writing data
using this RxPDO will change the data in the drive immediately without the need for an Enter command. To store the parameter change in the non-
volatile memory of the drive, a ROM Enter command must be issued after the last parameter change.
Up to four objects that are connected to drive parameters can be mapped to one PDO. In the example below, RxPDO 6 is used to write drive
parameters C1-01, C1-02, C1-09 and d1-01 simultaneously.
If the PDO contains invalid data, then only the valid data will be written to the drive. Using the example above, if the data for C1-01, C1-09 and d1-
01 are valid and the data for C1-02 is out of range, then only parameters C1-01, C1-09 and d1-01 will be changed in the drive, and the data for C1-
02 will be ignored.
Write Response
The PDO write response object allows the user to recognize errors that occur when writing parameters as in the example above. The drive stores the
COB-ID of the parameter writing PDO and the number of invalid registers in object 2155 (Hex), subindex 0. The data configuration of object 2155
(Hex) is shown in the table below.
When writing parameters directly by using PDOs, object 2155 (Hex) should always be used in order confirm that the data has been written correctly.
Object 2155 (Hex) should be mapped to a TxPDO with transmission type FE (Hex) (Change of State), so that each parameter writing PDO is
answered automatically and write errors can be easily detected.
Note: 1. Object 2155 (Hex) will only be refreshed when the SI-S3 receives parameter write requests via PDOs, or if an object of the Drive Profile that is linked to a drive parameter (e.g.
6048 (Hex)) is changed using a PDO. It will not be refreshed when parameters are changed using SDOs.
2. Reading of this object using an SDO will cause an error response message if no parameter write PDO has been sent previously.
◆
Initializing the Drive
The drive can be initialized by writing the corresponding initialization code to Modbus/MEMOBUS register 0103 (hex) (drive parameter A1-03;
refer to the Technical Manual of the drive for details on initialization codes). The initialization is performed only if drive parameter H5-11 is set to
“0” and if an Unlimited Enter Command is sent after setting register 0103 (hex).
To initialize a drive via CANopen communications, follow the instructions below:
1. Read out the value of drive parameter H5-11 using a Modbus/MEMOBUS Read Request (Obj. 2040 (hex)) on drive register 04C3 (hex) (H5-11).
2. If the content of register 04C3 (hex) is “1” then change it to “0” using a Modbus/MEMEOBUS Write Request (Obj. 2050 (hex)).
3. Set drive parameter A1-03 to the desired initialization mode. For example, in order to perform a “2-Wire Initialization”, write “08AC” (hex) (2220) to
Modbus/MEMOBUS register 0103 (hex).
4. Finish the initialization by sending an Unlimited Enter Command (Obj. 2060 (hex)).
Index (Hex) Subindex Byte Content
2155 0
0 Lower byte of the COB-ID of the parameter write RxPDO
1 Higher byte of the COB-ID of the parameter write RxPDO
2 Number of invalid registers
Subindex 1
Subindex 2 Accel Time 1
0200 (Hex)
Object 2090 (Hex)
0200 (Hex)
C1-01
Accel Time 1
Drive Parameter
2090, Subindex 1 Entry 1
RxPDO 6
20A0, Subindex 1 Entry 2
20B0, Subindex 1 Entry 3
20C0, Subindex 1 Entry 4
Subindex 1
Subindex 2 Decel Time 1
0201 (Hex)
Object 20A0 (Hex)
0201 (Hex)
C1-02
Decel Time 1
Drive Parameter
Subindex 1
Subindex 2 Fast Stop Time
0208 (Hex)
Object 20B0 (Hex)
0208 (Hex)
C1-09
Fast Stop Time
Drive Parameter
Subindex 1
Subindex 2 Speed Ref 1
0280 (Hex)
Object 20C0 (Hex)
0280 (Hex)
d1-01
Speed Ref 1
Drive Parameter