YASKAWA L1000A CIMR-LC F Series Technical Manual Addendum page 72

7 CANopen Lift
641F (Hex): Position Conversion
Index (Hex) Sub
641F 0
641F 1
641F 2
This object contains the conversion coefficients to convert the target position from the drive controller and the
position value from the position device into millimeters (mm).
Note:
To enable correct operation, this object must be configured by the drive controller.
6420 (Hex): Target Position
Index (Hex) Sub
6420 0
This object indicates the commanded position that the drive should move to in profile position mode. The value of
this object must be set in terms of shaft encoder increments.
Note:
When you want to command a new position setpoint, you must use the control word bit 4 "New setpoint".
6421 (Hex): Position Range Limit
Index (Hex) Sub
6421 0
6421 1
6421 2
This object indicates the configured maximum and minimum position range limits. This object limits the
numerical range of the input value. A position command which exceeds these limits is ignored. The "setpoint
acknowledge" bit in the status word is not set. The values are given in terms of shaft encoder increments. Make
sure the values meet the condition Min Position Range Limit < Max Position Range Limit.
6423 (Hex): Profile Velocity
Index (Hex) Sub
6423 0
This object sets an upper limit for the speed which is used in Profile Position Mode. The maximum speed in a
Profile Position Mode travel may fall below the set value but may not exceed it. The value is given in multiples of
1 mm/s.
Note:
The speed is limited to the value defined with parameter E1-04.
6430 (Hex): Target Velocity
Index (Hex) Sub
6430 0
This object indicates the configured target velocity, and is used in Profile Velocity mode. The value is given in
multiples of 1 mm/s.
Note:
The speed is limited to the value defined with parameter E1-04.
6433 (Hex): Velocity Actual Value
Index (Hex) Sub
6433 0
72
Content
Number of Entries
Number of Position Units
Total Length in Millimeter
Content
Target Position
Content
Number of Entries
Min Position Range Limit
Max Position Range Limit
Content
Profile Velocity
Content
Target Velocity
Content
Velocity Actual Value
YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum
Initial Value
Access Range
(Hex)
RO 2 2
RW UNS32 0
RW UNS32 0
Initial Value
Access Range
(Hex)
RW SINT32 0
Initial Value
Access Range
(Hex)
RO UNS8 2
RW SINT32 0
RW SINT32 0
Initial Value
Access Range
(Hex)
RW UNS32 0
Initial Value
Access Range
(Hex)
RW SINT32 0
Initial Value
Access Range
(Hex)
RO SINT32 0