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6 DSP301 and DSP402 Specifications
20 YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual
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DSP402 State Machine
The CANopen DSP402 specification indicates the state machine of the drive. Since the DSP402 adapter is external to the
inverter, the whole state machine must be implemented in the option card itself.
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CANopen DSP402 Controlword/Statusword
This section describes how to control the drive via Controlword/Statusword and how to access drive parameters.
Table 6 Controlword
Table 7 Statusword
Controlword Operation Mode Specific Bits in Velocity Mode
Table 8 Controlword Operation Mode Specific Bits in Velocity Mode
Bit Number Controlword Application Reference/CPI Function Calls
0 Switch on This bit controls the DS402 state machine - See Table 10
1 Enable voltage This bit controls the DS402 state machine - See Table 10
2 Quick stop This bit controls the DS402 state machine - See Table 10
3 Enable operation This bit controls the DS402 state machine - See Table 10
4 Operation mode specific Please see Table 8 for more details
5 Operation mode specific Please see Table 8 for more details
6 Operation mode specific Please see Table 8 for more details
7 Fault reset This bit controls the DS402 state machine - See Table 10
8 Halt Not implemented
9 Operation mode specific Please see Table 8 for more details
10 Manufacturer specific NA
11 Manufacturer specific NA
12 Manufacturer specific NA
13 Manufacturer specific NA
14 Manufacturer specific NA
15 Manufacturer specific NA
Bit Number Statusword Drive Reference
0 Ready to switch on This bit controls the DS402 state machine - See Table 11
1 Switched on This bit controls the DS402 state machine - See Table 11
2 Operation enabled This bit controls the DS402 state machine - See Table 11
3 Fault This bit controls the DS402 state machine - See Table 11
4 Voltage enabled 1: High voltage is applied to the drive
5 Quick stop This bit controls the DS402 state machine - See Table 11
6 Switch on disabled This bit controls the DS402 state machine - See Table 11
7 Warning 1: During alarm condition
8 Manufacturer specific NA
9 Remote
1: Controls the frequency reference or the run command from the option
0: Does not control the frequency reference or the run command from the option
10 Target reached (Op mode spec) See Table 9
11 Internal limit active 0: Always, not implemented
12 Operation mode specific Refer to Table 9 for more details
13 Operation mode specific Refer to Table 9 for more details
14 Manufacturer specific NA
15 Manufacturer specific NA
Bit Number Controlword Drive Reference
4 rfg enable
0: Does not control the frequency reference from the option
1: Controls the frequency reference from the option
5 rfg unlock
0: Discards any new NET set-point
1: Uses new NET set-point
6 rfg use ref
0: Forces NET set-point to zero
1: Uses NET set-point
9 Not implemented Not implemented