YASKAWA L1000A CIMR-LC F Series, Technical Manual Addendum

Page: 66 / 106

7 CANopen Lift
66 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum
Figure 7.2 Example For a Single Network Architecture For a Single-shaft Lift Control System
The L1000A together with the SI-L3 option card is a car drive unit and moves the car upwards and downwards. It
receives the motion commands from the car drive controller. It is based on the CANopen profile for drives and
motion control (see IEC61800-7-201 and IEC61800-7-301). There are some additional objects required for lift
applications that are not specified in IEC61800-7-201. If there is no absolute encoder supported, the target
velocity (Refer to
6430 (Hex): Target Velocity on page 72 ) is provided to the car drive unit using the Profile
Velocity Mode. If there is an absolute encoder available, the target position (Refer to 6420 (Hex): Target Position
on page 72 ) is provided to the car drive unit using the Profile Position Mode. The operation mode is selected by
the modes of operation (Refer to 6403 (Hex): Modes of Operation on page 71 ).
In case of velocity controlled drives, the Profile Velocity Mode is used. The objects for the velocity profile are
stored in the drive unit and may be configured by the lift controller. Due to safety reasons, configuration is not
possible in Operation Enable state of the car drive unit. The car drive unit state machine is controlled by the
control word (Refer to
6400 (Hex): Control Word on page 70 ) and depends on the internal status of the drive unit.
Drive-specific functions such as motor relays are operated locally in the drive unit or in the lift controller. Target
velocity ≠ 0 determines motion while Operation Enabled status is active. The sign of target velocity indicates
direction; positive values indicate upward motion of the car. The drive unit indicates reaching the target velocity
in the 10th bit of the status word (Refer to
6401 (Hex): Status Word on page 70 ).
In case of position controlled drives the Profile Position Mode should be used. To configure the ramps and S
curves the same parameters as for velocity mode are used. After setting a new position, the drive unit calculates
the curve and starts motion. During motion the drive controller may change target position. If the control effort
allows stopping at the new target position, this is indicated in bit 12 of the status word. If the drive cannot stop at