YASKAWA SI-EL3, Техническое руководство

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YASKAWA EUROPE GMBH YEU SIEP C710616 86A - AC Drive A1000 Option Powerlink - Technical Manual
9 Configuring Manufacturer Specific CANopen Objects
9 Configuring Manufacturer Specific CANopen Objects
This section describes the configuration of manufacturer specific objects that support content selection.
 Selectable Object Content
All parameters, monitors and other control registers in the drive are represented by their MEMOBUS/Modbus register. The Powerlink option card
allows the user to select the content of some manufacturer specific objects by mapping them to any of the drives MEMOBUS registers, so that those
objects can be set up to contain the value of drive parameters, monitors as well as other MEMOBUS/Modbus registers (e.g. alarm and fault status,
etc.). Refer to the drive Technical Manual for details on available MEMOBUS/Modbus registers.
 Selecting the Object Content
Objects with selectable content have the following structure.
To map the content of a certain MEMOBUS/Modbus register of the drive to subindex 1 of an object, the MEMOBUS/Modbus register address must
be written to subindex 2 of the object.
Examples
• In order to map the drive output power monitor (U1-08, 0047 (Hex)) to output object 21A0 (Hex), write 0047 (Hex) to subindex 2 of object 21A0
(Hex).
• In order to map the speed reference 1 (d1-01, 0280 (Hex)) to input object 2090 (Hex), write 0280 (Hex) to subindex 2 of object 2090 (Hex).
• In order to map the input terminal status (U1-10, 0049 (Hex)) and output terminal status (U1-11, 004A (Hex)) to output object 21F0 (Hex) (4
Byte), write 0049 (Hex) to the higher and 004A (Hex) to the lower word of object 2090 (Hex), subindex 2.
 Limitations of Object Content Selection
The following limitations have to be considered when setting 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 the Operational state until the content selection process is complete. Otherwise, an emergency message (code
6301 (Hex)) will be sent.
• When object content selection is ongoing, no other request or command, including Run, should be sent to the drive. Otherwise, an error message
or an emergency message (code 6301 (Hex)) will be sent.
• For 4 byte input objects, MEMOBUS/Modbus register numbers below 0100 (Hex) can be linked in any combination. If MEMOBUS/Modbus
register numbers above 00FF (Hex) are linked to a 4 byte object, the MEMOBUS/Modbus register numbers must be consecutive.
• Register numbers must not be consecutive for 4 Byte output objects.
• A MEMOBUS/Modbus register can no be mapped to two or more objects at the same time.
• MEMOBUS/Modbus registers 0001 (Hex), 0002 (Hex), 0004 (Hex), 0005 (Hex), 0007 (Hex), 0008 (Hex), 0009 (Hex), and 0014 (Hex) are
already linked to not changeable input objects and can not be linked to any object with selectable content. Trying to map one of those registers to
an input object will result in an error message.
Object Type Subindex
<1> Read/Write access when SI-EL3 is in the Pre-Operational state, Read only access if the SI-EL3 is in the Operational state or if the drive is running.
Content Access PDO Mapping Data Length
2 Byte
0 Number of entries Read Only No 1 byte
1 Data depends on object Possible 2 byte
2 MEMOBUS/Modbus register address Read/Write
<1>
No 2 byte
4 Byte
0 Number of entries Read Only No 1 byte
1 Data depends on object Possible 4 byte
2 MEMOBUS/Modbus register address 1 and 2 Read/Write
<1>
No 4 byte
Mapped Register 1 Mapped Register 2
0007 (Hex) 0009 (Hex) Possible
0201 (Hex) 0202 (Hex) Possible
0201 (Hex) 0203 (Hex) Not possible
0200 (Hex) FFFF (Hex) (Disable) Possible
FFFF (Hex) (Disable) 0200 (Hex) Possible