YASKAWA SI-S3 Technical Manual page 50

11 Drive Parameter, Monitor and Control Register Access
Writing Parameters
In order to write a drive parameter directly by using a PDO, the object that contains the drive parameter must be
mapped to an RxPDO. Writing data using this RxPDO will change the data in the drive immediately without the
need for an Enter command. To store the parameter change in the non-volatile memory of the drive, a ROM Enter
command must be issued after the last parameter change.
Up to four objects that are connected to drive parameters can be mapped to one PDO. In the example below,
RxPDO 6 is used to write drive parameters C1-01, C1-02, C1-09 and d1-01 simultaneously.
If the PDO contains invalid data, then only the valid data will be written to the drive. Using the example above, if
the data for C1-01, C1-09 and d1-01 are valid and the data for C1-02 is out of range, then only parameters C1-01,
C1-09 and d1-01 will be changed in the drive, and the data for C1-02 will be ignored.
Write Response
The PDO write response object allows the user to recognize errors that occur when writing parameters as in the
example above. The drive stores the COB-ID of the parameter writing PDO and the number of invalid registers in
object 2155 (Hex.), subindex 0. The data configuration of object 2155 (Hex.) is shown in the table below.
Index (Hex.)
2155
When writing parameters directly by using PDOs, object 2155 (Hex.) should always be used in order confirm that
the data has been written correctly. Object 2155 (Hex.) should be mapped to a TxPDO with transmission type FE
(Hex.) (Change of State), so that each parameter writing PDO is answered automatically and write errors can be
easily detected.
Note:
1. Object 2155 (Hex.) will only be refreshed when the option receives parameter write requests via PDOs, or if an object of the Drive
Profile that is linked to a drive parameter (e.g. 6048 (Hex.)) is changed using a PDO. Object 2155 (Hex.) will not be refreshed when
parameters are changed using SDOs.
2. Reading of this object using an SDO will cause an error response message if no parameter write PDO has been sent previously.
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Initializing the Drive
The drive can be initialized by writing the corresponding initialization code to MEMOBUS/Modbus register 0103
(Hex.) (drive parameter A1-03; refer to the Technical Manual of the drive for details on initialization codes). The
initialization is performed only if drive parameter H5-11 is set to "0" and if an Unlimited Enter Command is sent
after setting register 0103 (Hex.).
To initialize a drive via CANopen communications, follow the instructions below:
1.
Read out the value of drive parameter H5-11 using a MEMOBUS/Modbus Read Request (object 2040
(Hex.)) on drive register 04C3 (Hex.) (H5-11).
2.
If the content of register 04C3 (Hex.) is "1" then change it to "0" using a MEMOBUS/Modbus Write
Request (object 2050 (Hex.)).
50
Subindex Byte
0
0 1
2
Content
Lower byte of the COB-ID of the parameter write RxPDO
Higher byte of the COB-ID of the parameter write RxPDO
Number of invalid registers
YASKAWA SIEP C730600 85D CANopen Technical Manual