YASKAWA L1000A CIMR-LC F Series, Technical Manual Addendum

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7 CANopen Lift
YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 71
If bit 7 (warning) of the status word is 1, this indicate the presence of a warning condition. Warning is not an error
or fault. The status is not being changed.
Bit 8 : Reserved
Bit 9 : Remote
If bit 9 (remote) of the status word is 1, this indicates that the control word is processed. If bit 9 is 0 (local), this
indicates that the control word is not processed.
Bit 10 : Target reached
If bit 10 (target reached) of the status word is 1, this indicates that the set-point has been reached. This means: In
profile Velocity Mode, the set speed reference is reached.
In profile Position Mode, the travel is completed.
In profile Position Mode, the bit is also set at travel completion if the set-point is not reached.
Bit 11 : Internal limit active
If bit 11 (internal limit active) of the status word is 1, this indicates that an internal limit is active.
Possible reasons: invalid speed command, invalid position set-point, invalid position, position mode travel
completed (bit 10 set) but position set-point not reached.
Bit 12 : Set-point acknowledge (profile Position Mode) / Speed (profile Velocity Mode)
Profile Position Mode: Set-point acknowledge.
Profile Velocity Mode: Zero Speed.
Bit 13 : Following error (profile Position Mode) / Max. slippage error (profile Velocity Mode)
Profile Position Mode: Excessive deviation between remaining distance calculation and shaft encoder data.
Profile Velocity Mode: Speed Deviation ( dEv ) alarm active.
Bit 14 - 15 : Not used
6403 (Hex): Modes of Operation
Index (Hex) Sub Content Access Range
Initial Value
(Hex)
6403 0 Modes of Operation RW 01, 03 01
This object shows the value of the requested operation mode. The actual operation mode of the drive is reflected
in the object modes of operation display.
If... then...
Object 6403 (Hex) = 01 (Hex) Profile Position Mode
Object 6403 (Hex) = 03 (Hex) Profile Velocity Mode
If the controller requests profile Position Mode while this is not possible, 6404 (Hex) will remain in profile
Velocity Mode.
6404 (Hex): Modes of Operation Display
Index (Hex) Sub Content Access Range
Initial Value
(Hex)
6404 0 Modes of Operation Display RO 01, 03 01
This object provides the actual operation mode.
If... then...
Object 6404 (Hex) = 01 (Hex) Profile Position Mode
Object 6404 (Hex) = 03 (Hex) Profile Velocity Mode
6406 (Hex): Control Effort
Index (Hex) Sub Content Access Range
Initial Value
(Hex)
6406 0 Control Effort RO SINT32 0
This object contains the position where to start braking, as absolute value.
EN