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10  Process Data Objects (PDO)

YASKAWA EUROPE GMBH

 YEU SIEP C710616 86A - AC Drive A1000 Option Powerlink - Technical Manual

 33

10

Process Data Objects (PDO)

PDOs (Process Data Object) will be used for I/O exchange. PDOs are mapped to objects during configuration (PRE-OPERATIONAL state).
TxPDOs are used to transfer data from the option card and RxPDOs are used to transfer data to the option card.
The module supports at least 8 parameters mapped to RxPDO and 8 parameters mapped to TxPDO.

PDOs and Default PDO Setup

The drive supports 15 Receive and 16 Transmit PDOs. The tables below show available PDOs, their default settings and the objects required to set 

up when changing the PDO configuration or the PDO mapping.

Transmit PDOs (TxPDO)

The Transmit PDOs have a default mapping according to the table below. The transmit PDOs can be re-mapped by the end user by writing to map 

objects 0x1A00-0x1A28, please see 

Communication Profile Objects (DSP 301) on page 18

.

Receive PDOs (RxPDO)

The Receive PDOs have a default mapping according to the table below. The end user can re-map Receive PDOs by writing to the map objects 

0x1600-1628, refer to 

Communication Profile Objects (DSP 301) on page 18

.

PDO number

Transmit PDO Mapping

Mapped objects (Hex)

Index (Hex)

1

Sub-index 1: 0x6041#0, 2-bytes (DSP402 status word)

0x1A00

2

Sub-index 1: 0x6041#0, 2-bytes (DSP402 status word)
Sub-index 2: 0x6061#0, 2-bytes, (DSP402 Modes of operation display)

0x1A01

6

Sub-index 1: 0x6041#0, 2-bytes (DSP402 status word)
Sub-index 2: 0x6044#0, 2-bytes, (vl control effort)

0x1A05

7

Sub-index 1: 0x6041#0, 2-bytes (DSP402 status word)
Sub-index 2: 0x60FD#0, 4-bytes, (Digital inputs)

0x1A06

21

Sub-index 1: 0x6042#0, 2-bytes (vl target velocity)

0x1A14

22

Sub-index 1: 0x6043#0, 2-bytes (vl velocity demand)

0x1A15

23

Sub-index 1: 0x6048#1, 4-bytes (vl Accel delta speed)
Sub-index 2: 0x6048#2, 2-bytes, (vl Accel delta time)

0x1A16

24

Sub-index 1: 0x6049#1, 4-bytes (vl Decel delta speed)
Sub-index 2: 0x6049#2, 2-bytes, (vl Decel delta time)

0x1A17

25

Sub-index 1: 0x604A#1, 4-bytes (vl quick-stop delta speed)
Sub-index 2: 0x604A#2, 2-bytes, (vl quick-stop delta time)

0x1A18

26

Sub-index 1: 0x604C#1, 4-bytes (vl Dimension factor)
Sub-index 2: 0x604C#2, 4-bytes, (vl Dimension factor)

0x1A19

36

Sub-index 1: 0x2100#1, 2-bytes (Drive status)

0x1A23

37

Sub-index 1: 0x2110#1, 2-bytes (Output frequency)

0x1A24

38

Sub-index 1: 0x2120#1, 2-bytes (Output current)

0x1A25

39

Sub-index 1: 0x2130#1, 2-bytes (Output torque reference)

0x1A26

40

Sub-index 1: 0x2140#1, 2-bytes (MEMOBUS/Modbus read response)

0x1A27

41

Sub-index 1: 0x2150#1, 2-bytes (MEMOBUS/Modbus write response)

0x1A28

PDO number

Receive PDO Mapping

Mapped objects (Hex)

Index (Hex)

1

Sub-index 1: 0x6040#0, 2-bytes (DSP402 control word)

0x1600

2

Sub-index 1: 0x6040#0, 2-bytes (DSP402 control word)
Sub-index 2: 0x6060#0, 1-bytes, (DSP402 Modes of operation)

0x1601

6

Sub-index 1: 0x6040#0, 2-bytes (DSP402 control word)
Sub-index 2: 0x6042#0, 2-bytes, (vl target velocity)

0x1605

7

Sub-index 1: 0x6040#0, 2-bytes (DSP402 control word)
Sub-index 2: 0x60FE#1, 4-bytes, (Physical digital outputs)

0x1606

8

Sub-index 1: 0x6040#0, 2-bytes (DSP402 control word)
Sub-index 2: 0x6060#0, 1-bytes, (DSP402 Modes of operation)

0x1607

21

Sub-index 1: 0x6048#1, 4-bytes (vl Accel delta speed)
Sub-index 2: 0x6048#2, 2-bytes, (vl Accel delta time)

0x1614

22

Sub-index 1: 0x6049#1, 4-bytes (vl Decel delta speed)
Sub-index 2: 0x6049#2, 2-bytes, (vl Decel delta time)

0x1615

23

Sub-index 1: 0x604A#1, 4-bytes (vl quick-stop delta speed)
Sub-index 2: 0x604A#2, 2-bytes, (vl quick-stop delta time)

0x1616

24

Sub-index 1: 0x604C#1, 4-bytes (vl Dimension factor)
Sub-index 2: 0x604C#2, 4-bytes, (vl Dimension factor)

0x1617

36

Sub-index 1: 0x2000#1, 2-bytes (Operation command)

0x1623

37

Sub-index 1: 0x2010#1, 2-bytes (Speed reference/limit)

0x1624

38

Sub-index 1: 0x2020#1, 2-bytes (Torque reference/limit)

0x1625

39

Sub-index 1: 0x2030#1, 2-bytes (Torque compensation)

0x1626

40

Sub-index 1: 0x2040#1, 4-bytes (MEMOBUS/Modbus read request)

0x1627

41

Sub-index 1: 0x2050#1, 4-bytes (MEMOBUS/Modbus write request)

0x1628

Содержание SI-EL3

Страница 1: ...spection and maintenance Ensure the end user receives this manual Type SI EL3 for A1000 Series Technical Manual YASKAWA AC Drive A1000 Option ATTENTION This product can only be used on A1000 drives wi...

Страница 2: ......

Страница 3: ...3 YASKAWA EUROPE GMBH All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recor...

Страница 4: ...ed Content identified by Note is not related to personnel safety or equipment damage safety messages Registered Trademarks Company names and product names listed in this manual are registered trademar...

Страница 5: ...ding to the instructions described in this manual Any illustrations photographs or examples used in this manual are provided as examples only and may not apply to all products to which this manual is...

Страница 6: ...rlink network for the YASKAWA A1000 drive The option contains support for the Velocity mode according the CANopen Device Profile and Motion Control DSP402 profile It also contains YASKAWA vendor speci...

Страница 7: ...y checking the information on the PCB see Figure 1 If you have received the wrong model or the Powerlink Option does not function properly contact your supplier Contents and Packaging Table 2 Option P...

Страница 8: ...dicators show the status of the physical link and show activity on the link period S E LED A green lit Powerlink S E LED indicates the status of the Powerlink network state machine A red lit Powerlink...

Страница 9: ...et data are being exchanged S E Continuously Off The device is in Init state Green Flickering The device is in NMT_CS_BASIC_ETHERNET state Blinking The device is in NMT_CS_STOPPED state Single flash T...

Страница 10: ...ion adjustment and maintenance of this product Do not touch the option card while the power supply to the drive is switched on Failure to comply could result in death or serious injury Do not use dama...

Страница 11: ...tside through the drive top cover Use a pair of diagonal cutters to cut out the perforated openings at the left side of the top cover Make sure no sharp edges that can damage the cable remain Drives 2...

Страница 12: ...t a YASKAWA representative Identification of Drive Firmware Version 1 Read out firmware version from drive digital operator Check monitor parameter U1 25 when the drive is switched ON The display show...

Страница 13: ...US Modbus communications 3 Option card 4 Pulse Input Terminal RP 6 b1 02 1 Run Command Selection Selects the run command input source 0 Digital Operator RUN and STOP keys 1 Digital input terminals S 2...

Страница 14: ...0 control word the DSP402 profile will be processed 3 If the Powerlink state machine is NOT in the SAFEOP or OP state and an SDO read request is performed on the DSP402 0x6041 status word the DSP402 p...

Страница 15: ...more then one place For example the reset command can be triggered both from the bus with the control word or from the application drive Table 7 Event description table State Transition Number Transit...

Страница 16: ...or more details 8 15 Reserved NA Bit Number Status Word Inverter Reference 0 6 These bits control the DS402 state machine See Table 13 7 Warning 1 Warning is present 0 No warning is present 8 Manufact...

Страница 17: ...nsitions Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 0 Shutdown 0 X 1 1 0 2 6 8 1 Switch on 0 0 1 1 1 3 2 Switch on enable operation 0 1 1 1 1 3 4 NOTE 1 3 Disable voltage 0 X X 0 X 7 9 10 12 4 Quick stop 0 X 0 1 X...

Страница 18: ...Network Interface Parameters 21 1300 SDO Sequence Layer Timeout 21 1400 Receive PDO Communication Parameters 21 1600 1628 Receive PDO Mapping 21 1800 Receive PDO Communication Parameters 21 1A00 Trans...

Страница 19: ...efault Input terminal status 26 2190 Selectable default Analog input 1 monitor 26 21A0 Selectable default none 26 21B0 Selectable default none 26 21C0 Selectable default none 26 21E0 Selectable defaul...

Страница 20: ...ation about the drive 1020 Hex Device Local Configuration Date and Time This object contains configuration information about the drive Index Hex Subindex Content Access PDO Mapping Value Range 1003 0...

Страница 21: ...No Unsigned 32 Index Hex Subindex Content Access PDO Mapping Value Range 1400 Receive PDO communication parameters 0 Number of Entries Read Only No Unsigned 8 1 Node ID Read Write No Unsigned 8 2 Map...

Страница 22: ...Read Only No Unsigned 32 3 Threshold Read Write No Unsigned 32 Index Hex Subindex Content Access PDO Mapping Value Range 1C14 Loss of SoC Tolerance Interval Read Write No Unsigned 32 Index Hex Subinde...

Страница 23: ...F6 06 to 1 The value will be used as the torque reference for torque control d5 01 1 or as the torque limit in speed control d5 01 0 Note The availability of the torque control and torque limit funct...

Страница 24: ...nged it is sufficient to send only one ENTER command after the last parameter change Doing so will activate all changed parameters This type of ENTER command can be applied approximately 100 000 times...

Страница 25: ...Content Access PDO Mapping Data Length 20F0 1 Value Read Write Rx Tx 2 MEMOBUS Modbus register address Read Only No Index Hex Subindex Content Default Access PDO Mapping Data Length Update Cycle 2100...

Страница 26: ...ite is flagged as invalid by the drive INVSTS2 Bit6 Control command error or local option RxPDO error This object can only be read if the SI EL3 option is in Operational state 2160 Hex MEMOBUS Modbus...

Страница 27: ...alue of mapped drive register 1 and 2 Value 0xAAAABBBB AAAA MEMOBUS register 1 address BBBB MEMOBUS register 2 address Read Only Tx Unsigned 32 2 MEMOBUS register address of content 1 and 2 Value 0xAA...

Страница 28: ...6 NOI System active error bits when event occurred Read Only No Unsigned 16 7 NOI System latched All errors that have occurred since start up error bits Read Only No Unsigned 16 8 INV status word when...

Страница 29: ...vl Velocity Control Effort is the output frequency of the drive to the motor The unit is min 1 In case of close loop vector control mode the motor speed can be read out 6046 Hex vl Velocity Min Max Am...

Страница 30: ...049 vl_velocity_deceleration 0x604A vl_velocity_quick_stop and is always used in a product multiplication 604D Hex vl Pole Number The vl pole number sets the number of motor poles and is used to calcu...

Страница 31: ...digital inputs seen as output from the network Index Hex Subindex Content Access PDO Mapping Value Range 6061 Modes of Operation Display Read Only Tx 128 127 Index Hex Subindex Content Access PDO Mapp...

Страница 32: ...the content of an object The object content can only be changed when the SI EL3 option card is in Pre Operational state and drive is stopped Run command not active The SI EL3 can not be switched to th...

Страница 33: ...1 4 bytes vl Decel delta speed Sub index 2 0x6049 2 2 bytes vl Decel delta time 0x1A17 25 Sub index 1 0x604A 1 4 bytes vl quick stop delta speed Sub index 2 0x604A 2 2 bytes vl quick stop delta time...

Страница 34: ...gisters above 0x0100 control sets New value only written against drive if it changes from the previously written value If a value update is detected the write will be scheduled directly after the RxPD...

Страница 35: ...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 in...

Страница 36: ...ge Uv2 0x03 3221 DC bus charging circuit fault Uv3 0x04 2330 Ground fault GF 0x06 2220 Over current oC 0x07 3210 DC bus overvoltage ov 0x08 4280 Heatsink overheat oH 0x09 4210 Heatsink overheat oH1 0x...

Страница 37: ...written to object 2040 Hex or 2050 Hex before A MEMOBUS Modbus write request has been sent during DC bus under voltage 0602 0022 Hex Drive Profile DSP402 is used and a value is written to object 6042...

Страница 38: ...Operator Display Fault Name oFb00 Option Card Fault at Connector CN5 B Non compatible option card is connected Cause Possible Solution The Powerlink option card has been plugged into option port CN5 B...

Страница 39: ...and ground shorts and reconnect loose wires Programming error on the master side Check communications at start up and correct programming errors Communication circuitry is damaged Replace the drive i...

Страница 40: ...EL3 Communication Profile DS 301 Ver 4 02 DSP 402 Ver 3 0 Velocity Mode Connector RJ45 connector Communications Speed 10 100 Mbps Ambient Temperature 10 C to 50 C Humidity up to 95 RH no condensation...

Страница 41: ...13 Specifications YASKAWA EUROPE GMBH YEU SIEP C710616 86A AC Drive A1000 Option Powerlink Technical Manual 41...

Страница 42: ...http www yaskawa co kr YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 01 New Tech Park 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3003 http www yaskawa com sg YASKAWA ELECTRIC SHANGHAI CO...

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