YASKAWA SI-ES3, Техническое руководство, Страница: 49 / 62

10 Process Data Objects (PDO)
YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual 49
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Objects Managed in Option Slow IO Channel
Table 17 describes which EtherCAT CoE objects are managed in the slow IO channel.
Table 17 Objects Managed in the Slow IO Channel
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Option NVS Parameters
This section describes the option NVS parameter stored in option EEPROM and how it is managed.
Parameter behavior:
• On first power-up, the option will initialize the EEPROM with the default values for each parameter.
• The option will load the EEPROM stored values on each power-up in runtime after the NOID driver has completed the
I/F power-up sequence and entered the online processing state.
• When DSP301 CANopen object 0x1010 (Store parameters) receives the 0x65766173 (“save”) command in the
EtherCAT Pre-Operational state, the option card will store the present values in EEPROM.
• When DSP301 CANopen object 0x1011 (Restore default parameters) receives the 0x64616f6c (“load”) command, the
option will load the NVS parameter default values and store them to EEPROM.
Table 18 Option NVS Parameters
CoE Object Linked Drive Register Information
0x2080
0x2090
0x20A0
0x20B0
0x20C0
0x3000
0x3100
If sub-index #2 (MEMOBUS/Modbus register
address is > 0x0100 that address is linked.
Configurable input objects
0x2040/0x2140
Register address in MEMOBUS/Modbus read
payload Overlaid MEMOBUS/Modbus read channel, request and
response CoE objects
0x2050/0x2150
Register address in MEMOBUS/Modbus write
payload
Overlaid MEMOBUS/Modbus write channel, request and
response CoE objects
Note: No ENTER command is executed for this request. It has to
be manually managed with object 0x2060.
0x2060/0x2160 0x0910 (RAM Enter) MEMOBUS/Modbus RAM (un-memorized) ENTER command
0x6046#1 0x028A (d2-02) Drive frequency reference lower limit
0x6046#2 0x0289 (d2-01) Drive frequency reference upper limit
0x6048#1/0x6048#2 0x0200 (C1-01)
vl velocity acceleration
#1 = delta speed
#2 = delta time
0x6049#1/0x6049#2 0x0201 (C1-02)
vl velocity deceleration
#1 = delta speed
#2 = delta time
0x604A#1/0x604A#2 0x0208 (C1-09)
vl velocity quick stop
#1 = delta speed
#2 = delta time
CANopen Object Default Value Consumed EEPROM Size
0x2080#2 0xFFFFFFFF 32-bits
0x2090#2 0xFFFF 16-bits
0x20A0#2 0xFFFF 16-bits
0x20B0#2 0xFFFF 16-bits
0x20C0#2 0xFFFF 16-bits
0x3000#2 0xFFFF 16-bits
0x3100#2 0xFFFF 16-bits
0x2180#2 0x0049 16-bits
0x2190#2 0x004E 16-bits
0x21A0#2 0xFFFF 16-bits
0x21B0#2 0xFFFF 16-bits
0x21C0#2 0xFFFF 16-bits
0x21E0#2 0xFFFF 16-bits
0x21F0#2 0xFFFF 32-bits