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YASKAWA ELECTRIC

SIEP C730600 24A V1000 Option CANopen Technical Manual

7 Communication Objects Overview

Communication Objects Overview

The Object Dictionary is essentially a group of objects accessible via the network in an ordered pre-defined fashion. Each object uses a 16 bit index.

The Object Dictionary consists of three sections:

• Communications Profile (index numbers 1000 - 1FFF) contains objects related to the CANopen network, which are shared with each device.

• Manufacturer Profile (index numbers 2000 - 5FFF) concerns objects that have been set for manufacturer-specific functions. These objects are

specific to Yaskawa products, and therefore are not compatible with other productsthat may be CANopen.

• Drive and Motion Profile (index numbers 6000 - 9FFF) includes data objects shared among all device classes that can read and write across the

network. SI-S3/V is compatible with DSP 402 Drive and Motion Control Profile and Velocity Mode.

◆

Communication Objects (DS 301)

◆

Manufacturer Specific Objects (DS 301)

■

Input Objects

■

Output Objects

Index (Hex.)

Name

Page

1000

Device Type

1001

Error Register

1003

Pre-defined Error Field

1005

COB-ID SYNC Message

1008

Manufacturer Device Name

1009

Manufacturer Hardware Version

100A

Manufacturer Software Version

100C

Guard Time

100D

Life Time Factor

100E

Node Guarding Identifier

1010

Store Parameters

1011

Restore Default Parameters

1014

COB-ID Emergency Object

1016

Consumer Heartbeat Time

1017

Producer Heartbeat Time

1018

Identity Object

Index (Hex.)

Name

Page

2000

Operation Command

2010

Speed Command

2020

Torque Limit

2030

Torque Compensation

2040

MEMOBUS Read Command

2050

MEMOBUS Write Command

2060

MEMOBUS Not Limited Enter Command

2070

MEMOBUS Limited Enter Command

Index (Hex.)

Name

Page

2100

Drive Status

2110

Output Frequency

2120

Output Current

2130

Output Torque

2140

MEMOBUS Read Command Response

2150

MEMOBUS Write Command Response

2160

MEMOBUS Not Limited Enter Command Response

2200

Motor Speed

Содержание V1000 SI-S3/V

Страница 1: ...4A Technical Manual CANopen Type SI S3 V YASKAWA AC Drive V1000 Option To properly use the product read this manual thoroughly and retain for easy reference inspection and maintenance Ensure the end u...

Страница 2: ......

Страница 3: ...n may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of Yaskawa No...

Страница 4: ...or sole safety control Without exception all controls should be designed to detect faults dynamically and fail safely under all circumstances All systems or equipment designed to incorporate a product...

Страница 5: ...ical Manual this book Manual No SIEP C730600 24 The technical manual contains detailed information and command registers To obtain the technical manual access these sites Europe http www yaskawa eu co...

Страница 6: ...wn on the front cover DANGER Heed the safety messages in this manual Failure to comply will result in death or serious injury The operating company is responsible for any injuries or equipment damage...

Страница 7: ...he drive Monitor the drive operation status Read or modify drive parameters The SI S3 V supports the following communication profiles DS 301 Ver 4 02 DSP 402 Ver 1 1 Velocity Mode Applicable Models Th...

Страница 8: ...Figure 1 If you have received the wrong model or the CANopen Option does not function properly contact your supplier Contents and Packaging Table 2 Contents of Package Tool Requirements A Phillips scr...

Страница 9: ...CANopen Option adds 27 mm 1 06 in to the total depth of the drive Figure 3 Figure 2 Dimensions Figure 1 A LED RUN green G Function Earth cable connection FE B LED ERR red H Mounting clip C Option cov...

Страница 10: ...nd Meaning Setting Node Address Set the node address in the drive parameter F6 35 The node address can be set between 1 and 127 but has to be unique in the network If the Node address is set to 0 comm...

Страница 11: ...ized personnel familiar with installation adjustment and maintenance of this product Do not use damaged wires place excessive stress on wiring or damage the wire insulation Failure to comply could res...

Страница 12: ...t least five minutes after all indicators are off and measure the DC bus voltage level to confirm safe level 2 Remove the front cover The original drive front cover may be discarded because it will be...

Страница 13: ...on in Japanese or Chinese a sticker has been provided with the CANopen Option This sticker can be placed over the English and French warnings on the front of the CANopen Option Communication Cable Spe...

Страница 14: ...gure 13 Terminating Diagram 1 The FE terminal on the CANopen Option must be connected to the drive ground terminal using one of the 4 delivered ground wires EDS Files For easy network implementation o...

Страница 15: ...OBUS Modbus communications 3 Option PCB 4 Pulse Input Terminal RP 1 b1 02 1 2 Run Command Selection Selects the run command input source 0 Digital Operator RUN and STOP keys 1 Digital input terminals...

Страница 16: ...and Velocity Mode Communication Objects DS 301 Manufacturer Specific Objects DS 301 Input Objects Output Objects Index Hex Name Page 1000 Device Type 18 1001 Error Register 18 1003 Pre defined Error...

Страница 17: ...properly the Velocity Mode objects can not be used or deliver wrong data Common Entries 1 YASKAWA specifies this object as the drive digital output monitor Input of the network 2 YASKAWA specifies thi...

Страница 18: ...er software version It indicates the version number of the EEPROM Guard Time This object contains the guard time Life Time Factor This object contains the life time factor It defines how often the gua...

Страница 19: ...en Loop Vector control only Index Hex Subindex Content Access PDO Mapping Value Range 1010 1 Store Parameters Read Write No Unsigned 32 Index Hex Subindex Content Access PDO Mapping Value Range 1011 1...

Страница 20: ...rive parameters changed via MEMOBUS Write Commands The Limited enter command activates parameters in the drives RAM and saves them into the EEPROM When power supply loss occurs or the power supply is...

Страница 21: ...ping Data Length 2120 0 Output Current Read Only Possible 2 byte Index Hex Subindex Content Access PDO Mapping Data Length 2130 0 Output Torque Read Only Possible 2 byte Index Hex Subindex Content Acc...

Страница 22: ...ng in the drive Vl_Velocity_Quick_Stop The vl_velocity_quick_stop specifies the quick stop ramp The quotient of the subindexes delta_speed and delta_time determines the quick stop ramp time The object...

Страница 23: ...e Range 604D Vl_Pole_Number Read Write Possible 0 255 Object No Content Drive Display 2220 Over current oC 2221 Drive over load oL 2 2310 Motor over load oL 1 2311 Motor over heat alarm oL 3 2312 Moto...

Страница 24: ...4 Subindex 1 2010 1624 38 Not assigned 1425 Subindex 1 2020 1625 39 Not assigned 1426 Subindex 1 2030 1626 40 Not assigned 1427 Subindex 1 2040 sub1 1627 41 Not assigned 1428 Subindex 1 2050 sub1 1628...

Страница 25: ...ract noise in the control circuit wiring main circuit lines and ground wiring If a magnetic contactor is identified as a source of noise install a surge absorber to the contactor coil Make sure the ca...

Страница 26: ...YASKAWA ELECTRIC SIEP C730600 24A V1000 Option CANopen Technical Manual LED Operator Display Fault Name oFA04 CANopen Option Fault CANopen Option Flash write mode Cause Possible Solution CANopen Optio...

Страница 27: ...d by parameter o1 03 0003H V f Gain V f Control only 0004H 0005H Reserved 0006H PID Target 0 01 units signed 0007H Analog Output Terminal AM Setting 10 V 4000 H 0008H Reserved 0009H Settings for Multi...

Страница 28: ...formity error bit 5 Writing to EEPROM bit 6 to bit F Reserved 0023H Frequency Reference 1 0024H Output Frequency 1 0025H Output Voltage Reference 0 1 V units units are determined by parameter H5 10 00...

Страница 29: ...equency 0039H PID Input 0 1 units signed 100 max output frequency 003AH PID Output 0 1 units signed 100 max output frequency 003B to 003CH Reserved 003DH Communications Error Contents 3 bit 0 CRC Erro...

Страница 30: ...4 bit 2 External Fault at input terminal S5 EF5 bit 3 External Fault at input terminal S6 EF6 bit 4 Reserved bit 5 Overspeed oS bit 6 Excessive Speed Deviation dEv bit 7 PG Disconnected PGo bit 8 Inpu...

Страница 31: ...bit B Reserved bit C Serial Communication Transmission Error CALL bit D Undertorque Detection 1 UL3 bit E Undertorque Detection 2 UL4 bit F MEMOBUS Modbus Test Mode Fault SE 00CAH Alarm contents 4 bit...

Страница 32: ...inal S1 EF1 000BH Motor Overload oL1 0043H External Fault 2 input terminal S2 EF2 000CH Drive Overload oL2 0044H Mechanical Weakening Detection 1 oL5 000DH Overtorque Detection 1 oL3 0045H Mechanical...

Страница 33: ...EMOBUS Modbus Test Mode Fault SE 0009H External Fault 3 input terminal S3 EF3 0022H Motor Overheat oH3 000AH External Fault 4 input terminal S4 EF4 0027H PID Feedback Loss FbL 000BH External Fault 5 i...

Страница 34: ...Ver 1 1 Velocity Mode Connector 9 pin D SUB connector 4 40 UNC thread Communications Speed 10 kbps to 1 Mbps Ambient Temperature 10 C to 50 C Humidity up to 95 RH no condensation Storage Temperature 2...

Страница 35: ...ad Room 1702 1707 Harbour Ring Plaza Shanghai 200001 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YASKAWA ELECTRIC SHANGHAI CO LTD BEIJING OFFICE Room 1011A Tower W3 Oriental Plaza No 1 East Chang...

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