YASKAWA SI-S3 Technical Manual page 45

• When object content selection is ongoing, you cannot send a different request or command, including Run, to
the drive. If you send a different request or command, it will trigger an error message or an emergency message
(code 6301 (Hex.)).
• If the object content mapping is changed from the default setting and a Reset Node command is issued while
Run is active, the drive will first be stopped and then will be reset.
• For 4 byte input objects 2080 (Hex.), MEMOBUS/Modbus register numbers below 0100 (Hex.) can be linked in
any combination. If MEMOBUS/Modbus register numbers equal to or greater than 0100 (Hex.) are linked to a 4
byte object 2080 (Hex.), the MEMOBUS/Modbus register numbers must be consecutive.
Mapped Register 1 (Hex.)
0007
0201
0202
0201
0202
0200
FFFF
• Register numbers can be non-consecutive for 4 byte output objects (21F0 (Hex.)).
• A MEMOBUS/Modbus register cannot be mapped to two or more objects at the same time.
• MEMOBUS/Modbus registers 0001 (Hex.), 0002 (Hex.), 0004 (Hex.), 0005 (Hex.), and 0014 (Hex.) cannot be
linked to any object with selectable content. Any attempt to map one of those registers to such an input object
will result in an error message.
10 Process Data Objects (PDO)
◆
PDOs and Default PDO Setup
The drive supports 15 Receive and 16 Transmit PDOs.
The tables below show the available PDOs, their default settings, and the objects that need to be set when
changing the PDO configuration or the PDO mapping:
■
Receive PDOs (RxPDO)
PDO Number
1
2
6
7
8
21
22
23
24
36
37
38
39
YASKAWA SIEP C730600 85D CANopen Technical Manual
Mapped Register 2 (Hex.)
Receive PDO Parameter
COB-ID (Hex.) Index (Hex.)
200 + Node ID
300 + Node ID
Not assigned
Not assigned
Not assigned
Not assigned
Not assigned
Not assigned
Not assigned
Not assigned
Not assigned
Not assigned
Not assigned
10 Process Data Objects (PDO)
0009
0202
0201
0203
0202
FFFF
0200
Mapped Objects (Hex.)
1400 Subindex 1: 6040
Subindex 1: 6040
1401
Subindex 2: 6060
Subindex 1: 6040
1405
Subindex 2: 6042
Subindex 1: 6040
1406
Subindex 2: 60FE sub1
Subindex 1: 6040
1407
Subindex 2: 6060
Subindex 1: 6048 sub1
1414
Subindex 2: 6048 sub2
Subindex 1: 6049 sub1
1415
Subindex 2: 6049 sub2
Subindex 1: 604A sub1
1416
Subindex 2: 604A sub2
Subindex 1: 604C sub1
1417
Subindex 2: 604C sub2
1423 Subindex 1: 2000
1424 Subindex 1: 2010
1425 Subindex 1: 2020
1426 Subindex 1: 2030
PDO Mapping
Possible
Possible
Not possible
Not possible
Not possible
Possible
Possible
Receive PDO Mapping
Index (Hex.)
1600
1601
1605
1606
1607
1614
1615
1616
1617
1623
1624
1625
1626
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