Yaskawa Profibus-DP Option Card CM061 Manuel d'utilisateur télécharger pdf (Page 31)

Network Communications 3-7

6 Word Input/Output Message

The 6 word input and output messages are divided into two areas. The first 4 bytes of each message is fixed. This is the most frequently

used data and is referred to as the fast I/O data. The remaining 8 bytes of each message are used for reading from and writing to all other

drive registers and is referred to as parameter data. All command, monitor, and parameter data in the drive is accessible via the Parameter

Access portion of the message. . Note: Care must be taken when writing certain parameters to the drive as other parameters may be

dependant on them. Control method, A1-02, maximum Frequency, E1-04, and Acc/Dec Scale Time, C1-10, are just a few. Refer to the

appropriate drive MODBUS



technical manual for more information.

The 6 word input and output messages was designed for situations where processor memory may be a factor in the number of PROFIBUS-

DP devices resident on the network.

Table 3.7 – PROFIBUS-DP 6 Word Input/Output Message I/O Table

Output Data (PROFIBUS-DP Master -> Drive) Input Data (Drive -> PROFIBUS-DP Master )

Byte Function Byte Function

0 RUN Operation Command MSB 0 Drive Status MSB

1 RUN Operation Command LSB 1 Drive Status LSB

2 Frequency Reference MSB 2 Frequency Feedback MSB

Fast I/O

3 Frequency Reference LSB

Fast I/O

3 Frequency Feedback LSB

Function Code

5 Starting Address MSB 5 Starting Address MSB

6 Starting Address LSB 6 Starting Address LSB

7 Data Length (always 2) 7 Data Length (always 2)

8 Data 1 MSB 8 Data 1 MSB

9 Data 1 LSB 9 Data 1 LSB

10 Reserved 10 Reserved

Parameter Access

11 Handshake Register

Parameter Access

11 Handshake Register

# Fast I/O Output Data

The fast I/O output data area is used to transfer parameter data directly to the drive via a dual port RAM interface. The following table

details the functions of the fast I/O output data (Bytes 0 to 3) For detailed explanation of the terminal and multi-function inputs and outputs,

refer to the appropriate drive technical manual.

Table 3.8 – 6 Word Input/Output Message Fast I/O Output Data

Fast I/O Output Data (PROFIBUS-DP Master -> Drive)

Byte Function Bit Note

0h Fwd Run/Stop 1 = RUN Forward (Enabled when b1-02 is set to 3)

1h Rev Run/Stop 1 = RUN Reverse (Enabled when b1-02 is set to 3)

2h Multi-Function Input 3 1 = Close

3h Multi-Function Input 4 1 = Close

4h Multi-Function Input 5 1 = Close

5h Multi-Function Input 6 1 = Close

6h Multi-Function Input 7 1 = Close

7h Multi-Function Input 8 1 = Close (F7U and G7 drives only)

8h External Fault 1 = External Error

9h Fault Reset 1 = Reset Fault

Ah Multi-Function Input 9 1 = Close (G7 drive only)

Bh Multi-Function Input 10 1 = Close (G7 drive only)

Ch Multi-Function Input 11 1 = Close (G7 drive only)

Dh Multi-Function Input 12 1 = Close (G7 drive only)

Eh Clear Error Log

Command

Reference

Fh External Base Block

2 Frequency Reference MSB

Frequency

Reference

Frequency Reference LS

1 = 0.01Hz

scaling is dependent on the setting of parameter o1-03

1 2 ... 26 27 28 29 30 31 32 33 34 35 36 ... 67 68

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Yaskawa Profibus-DP Option Card CM061 Manuel d'utilisateur Page 31

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