YASKAWA CIMR-RA Series, Instruction Manual

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170 YASKAWA ELECTRIC TOEP C710656 10B YASKAWA Power Regenerative Unit - R1000 Instruction Manual
C.6 Communications Timing
C.6 Communications Timing
To prevent a communications overrun in the slave regenerative unit, the master should wait a certain time between
sending messages to the same regenerative unit. In the same way, the slave regenerative unit must wait before sending
response messages to prevent an overrun in the master. This section explains the message timing.
◆
Command Messages from Master to Regenerative Unit
The master must wait for a specified time between receiving a response and resending the same type of command to the
same slave regenerative unit to prevent overrun and data loss. The minimum wait time depends on the command as
shown in
Table C.3 .
Table C.3 Minimum Wait Time for Sending Messages
Figure C.5
Figure C.5 Minimum Wait Time for Sending Messages
Set a timer in the master to check how long it takes for the slave regenerative unit(s) to respond to the master. If no
response is received within a certain amount of time, the master should try resending the message.
◆
Response Messages from Regenerative Unit to Master
If the slave regenerative unit receives a command from the master, it will process the data received and wait for the time
set in H5-06 until it responds. Increase H5-06 if the regenerative unit response causes overrun in the master.
Figure C.6
Figure C.6 Minimum Response Wait Time
Command Type Example Minimum Wait Time
1
<1> If the regenerative unit receives command type 1 data during the minimum wait time, it will perform the command and then respond. However,
if it receives a command type 2 or 3 during that time, either a communication error will result or the command will be ignored.
• Control command (Run, Stop)
• Set inputs/outputs
• Read monitors and parameter values
5 ms
<1>
2 Write parameters
H5-11 = 0: 50 ms
H5-11 = 1: 200 ms
<1>
3 Save changes using an Enter command
200 ms to 2 s, depending on the number
of parameters that were changed
<1>
24 bit length
Regenerative Unit Regenerative Unit Regenerative Unit
Command message Response message Command message Time
Master Send
Wait Time
PLC
→
PLC
→ →
PLC
D1000
Command message Response message Command message
PLC
→
Regenerative Unit PLC
→
Regenerative Unit Regenerative Unit
→
PLC
24 bit length H5-06
setting
Time
D1000
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