Chapter 2 Supported Objects
This section describes DeviceNet objects supported by the V7 DeviceNet Option.
Supported Input Assemblies ............................................................................... 2-2
Yaskawa Input Assemblies ................................................................................. 2-3
Supported Output Assemblies............................................................................. 2-4
Yaskawa Output Assemblies .............................................................................. 2-5
CIP Supported Objects........................................................................................ 2-7
Yaskawa Supported Objects ............................................................................. 2-14
Yaskawa V7 Drive Parameter Object ............................................................... 2-16
Hexadecimal/Decimal Conversion ................................................................... 2-20
Supported Objects 2-1
Supported Input Assemblies
Basic Speed Control – Input Instance 20 (14h)
Instance
20 (14h)
Basic Speed
Control
4 Bytes
Byte
0
1
2
3
Bit 7
-
Bit 6
-
Bit 5
-
Bit 4
-
Bit 3
-
Bit 2
Fault Reset
-
Speed Reference (Scaled by Parameter n035)
Bit 1
-
Bit 0
Run FWD
Extended Speed Control – Input Instance 21 (15h)
Instance
21 (15h)
Extended
Speed
Control
4 Bytes
Note:
1
Byte
0
1
2
3
Bit 7
-
Bit 6
NetRef
1
Bit 5
NetCtrl
1
Bit 4
-
-
Bit 3
-
Bit 2
Fault Reset
Speed Reference (Scaled by Parameter n035)
Bit 1
Run REV
Bit 0
Run FWD
NetRef – When set, sets reference source (n004 = 9) to Option Card. When reset, returns n004 to its original setting.
NetCtrl – When set, sets Run command source (n003 = 3) to Option Card. When reset, returns n003 to its original setting.
Speed and Torque Control – Input Instance 22 (16h)
Instance
22 (16h)
Basic Speed and Torque
Control
6 Bytes
3
4
5
Byte
0
1
2
Bit 7
-
Bit 6
-
Bit 5
-
Bit 4
-
Bit 3
-
Bit 2
Fault Reset
-
Speed Reference (Scaled by Parameter n035)
Reserved
Bit 1
-
Bit 0
Run FWD
Extended Speed and Torque Control – Input Instance 23 (17h)
Instance
23 (17h)
Extended
Speed and
Torque
Control
6 Bytes
Note:
1
Byte
0
1
2
3
4
5
Bit 7
-
Bit 6
NetRef
1
Bit 5
NetCtrl
1
Bit 4
-
-
Speed Reference (Scaled by Parameter n035)
Reserved
Bit 3
-
Bit 2
Fault Reset
Bit 1
Run REV
Bit 0
Run FWD
NetRef – When set, sets reference source (n004= 9) to Option Card. When reset, returns n004 to its original setting.
NetCtrl – When set, sets Run command source (n003 = 3) to Option Card. When reset, returns n003 to its original setting.
Supported Objects 2-2
Yaskawa Input Assemblies
Yaskawa Modbus Message – Input Instance 100 (64h)
Instance
100 (64h)
MODBUS
Message
Note:
Byte
0
1
2
Bit 7 Bit 6 Bit 5 Bit 4
Data
Bit 3
Register Number
Bit 2 Bit 1
Function Code (Only Modbus functions register read (03h) and register write (10h) are supported)
3
4
Refer to output instance 150 (96h) for response
Bit 0
Yaskawa Standard Control – Input Instance 101 (65h)
Instance
101 (65h)
Standard
Control
Byte
0
1
2
3
4
5
6
7
Bit 7
-
Terminal P2
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2
Terminal S7 Terminal S6 Terminal S5 Terminal S4 Terminal S3
Terminal P1
Terminal
MA/MB
-
Speed Reference (Scaled by Parameter n035)
Bit 1
Run REV
Fault Reset
Bit 0
Run FWD
External
Fault
Reserved
Reserved
Yaskawa Enhanced Control/Modbus Message – Input Instance 105 (69h)
Instance
105 (69h)
Enhanced
Control/
MODBUS
Message
Note:
Byte
0
1
Bit 7
-
Terminal P2
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1
Terminal S7 Terminal S6 Terminal S5 Terminal S4 Terminal S3 Run REV
Terminal P1
Terminal
MA/MB
-
Function
Bit 2
1
Function
Bit 1
1
Fault
Reset
2
3
4
5
6
7
Refer to output instance 155 (9Bh) for response
Speed Reference (Scaled by Parameter n035)
Register Number
Data
1
Bit 1 Bit 2 Function
0 0 No Function
0
1
1
1
0
1
Read Register
Write Register
No Function
Bit 0
Run FWD
External
Fault
Supported Objects 2-3
Yaskawa Enhanced Control/Modbus Message – Input Instance 107 (6Bh)
Instance
107 (6Bh)
Standard
DI/DO
Control
8 Bytes
Byte
0
1
2
5
6
3
4
7
Bit 7
-
-
-
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2
Terminal S7 Terminal S6 Terminal S5 Terminal S4 Terminal S3
-
Terminal P2 Terminal P1
-
Terminal
MA/MB
-
-
Reserved
Bit 1
Run REV
Bit 0
Run FWD
Fault Reset External Fault
-
Speed Reference (Scaled by Parameter n035)
Supported Output Assemblies
Basic Speed Control – Output Instance 70 (46h)
Instance
70 (46h)
Basic Speed
Control
4 Bytes
Byte
0
1
2
3
Bit 7
-
Bit 6
-
Bit 5
-
Bit 4
-
Reserved
Bit 3
-
Speed Actual (Scaled by Parameter n035)
Bit 2
@FWD Run
Bit 1
-
Bit 0
@Fault
Monitor U-02
Extended Speed Control – Output Instance 71 (47h)
Instance
71 (47h)
Extended
Speed Control
4 Bytes
Note:
1
Byte
0
1
2
3
Bit 7
@Speed
Bit 6
@Ref from
Net
1
Bit 5
@Ctrl from
Net
1
Bit 4
@Ready
Reserved
Speed Actual (Scaled by Parameter n035)
@Ctrl from Net – set when n003 = 3
@Ref from Net – set when n004 = 9
Bit 3 Bit 2
@REV Run @FWD Run
Bit 1
@Alarm
Bit 0
@Fault
Monitor U-02
Basic Speed and Torque Control – Output Instance 72 (48h)
Instance
72 (48h)
Basic
Speed and
Torque
Control
6 Bytes
Byte
0
1
2
3
4
5
Bit 7
-
Bit 6
-
Bit 5
-
Bit 4
-
Reserved
Bit 3
-
Speed Actual (Scaled by Parameter n035)
Reserved
Bit 2
@FWD Run
Bit 1
-
Bit 0
@Fault
Monitor U-02
Supported Objects 2-4
Extended Speed and Torque Control – Output Instance 73 (49h)
Instance
73 (49h)
Extended
Speed and
Torque
Control
6 Bytes
Note:
1
Byte
0
3
4
1
2
5
Bit 7
@Speed
Bit 6
@Ref from
Net
1
@Ctrl from Net – set when n003 = 3
@Ref from Net – set when n004 = 9
Bit 5
@Ctrl from
Net
1
Bit 4
@Ready
Reserved
Speed Actual (Scaled by Parameter n035)
Reserved
Bit 3 Bit 2
@REV Run @FWD Run
Yaskawa Output Assemblies
Yaskawa Modbus Message – Output Instance 150 (96h)
Bit 1
@Alarm
Bit 0
@Fault
Monitor U-02
Instance
150 (96h)
MODBUS
Message
5 Bytes
Note:
Byte
0
1
2
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3
Function Code
1
Register Number
3
4
Data
Refer to input instance 100 (64h) for command
1
A Modbus message error is returned if the function code has the MSB (80h) set.
Bit 2 Bit 1 Bit 0
Yaskawa Standard Control – Output Instance 151 (97h)
Instance
151 (97h)
Standard
Control
8 Bytes
Byte
0
1
4
5
2
3
6
7
Bit 7
@Fault
@Zero Servo
Complete
Bit 6
@Alarm
-
Bit 5
@Ready
@Terminal
P2
Bit 4
@Speed
Agree
@Terminal
P1
Output Frequency (Scaled by Parameter n035)
Bit 3
@Fault
Reset
@Terminal
MA/MB
Bit 2
@REV Run
@Local
Mode
Bit 1
@Zero
Speed
@ Pwr Loss
Ride Thru
Monitor U-02
Bit 0
@FWD
Run
@OPE
Reserved
Output Current 0.1A) Monitor U-03
Supported Objects 2-5
Yaskawa Enhanced Control/Modbus Message – Output Instance 155 (9Bh)
Instance
155 (9Bh)
Enhanced
Control/
MODBUS
Message
8 Bytes
Note:
Byte
0
1
Bit 7
@Fault
@Terminal
P2
Bit 6
@Alarm
@Terminal
P1
Bit 5
@Ready
@Terminal
MA/MB
Bit 4
@Speed
Agree
@Local
Mode
2
3
4
Output Frequency (Scaled by Parameter n035)
5
6
7
Refer to input instance 105 (69h) for command
Register Number
Data
Bit 3
@Fault
Reset
Function
Bit 2
1
1
Bit 1 Bit 2 Function
0 0 No Function
0
1
1
1
0
1
Message Accepted
Message Error
Complete
Bit 2
@REV
Run
Function
Bit 1
1
Bit 1
@ Zero
Speed
@UV
Monitor U-02
Bit 0
@FWD
Run
@OPE
Yaskawa Standard DI/DO Control – Output Instance 157 (9Dh)
Instance
157 (9Dh)
Standard
DI/DO
Control
8 Bytes
Byte
0
1
2
3
6
7
4
5
Bit 7
@Fault
@Zero Servo
Complete
-
-
Bit 6
@Alarm
-
-
-
Bit 5
@Ready
-
-
Terminal
P2
Bit 4
@Speed
Agree
-
Terminal
S7
Terminal
P1
Analog Input
Bit 3
@Fault
Reset
-
Terminal
S6
Terminal
MA/MB
Bit 2
@REV Run
@Local
Terminal S5
-
Bit 1
@Zero
Speed
@UV
Terminal
S4
-
Bit 0
@FWD
Run
@OPE
Terminal S3
-
Output Frequency (Scaled by Parameter n035) Monitor U-02
Supported Objects 2-6
CIP Supported Objects
Class 1 (01h) – Identity Object
Service Code No. (hex)
01h
05h
0Eh
Attributes
Instance ID
0
1
Note:
Service Name
Get Attribute All
Reset
Get Attribute Single
Attribute
1
1
2
3
4
5
6
7
8
9
10
100 (64h)
1
2
3
Object Software Revision
Vendor ID
Device Type
Product Code
Revision
Status
Description
Serial Number
Product Name
Get
X
X
X
X
X
X
X
X
Set Size
Word
Word
Word
Word
Word
Word
Word
String (14 Bytes)
Default
1
44 (YASKAWA)
2 (AC drives)
Product/Model Dependent Code
1
Software Dependent
0
Each product’s serial number is unique
2
Product Dependent
3
State
Configuration Consistency
Heartbeat Interval
Password
X
X
X X
X
Byte
Word
Byte
Long
3
0000
00 – 10 (0 = disabled) xxxx xxxx
A combination of the drive family code and the drive model number. The MSB is the drive family and the LSB is the drive model number. For example: a V7AM model 20P4 would have a product code of 2C02h, 2C being the drive family and 02 the drive model number.
Drive Model Numbers
04
05
06
07
00
01
02
03
20P1
20P2
20P4
20P7
21P5
22P2
23P0
23P7
28h
29h
2Ah
2Bh
2Ch
2Dh
2Eh
2Fh
40P1
40P2
40P4
40P7
41P5
42P2
43P0
43P7
08
09
24P0
25P5
0Ah 27P5
Range is 0x8200000 ~ 0x82FFFFF
30h
31h
32h
44P0
45P5
47P5
The product name is CIMR-[Drive Family][Drive Model]. A Product Name example would be CIMR-V7AM20P4, for a
V7, AM-spec, model 20P4 (200V class, 0.4 kW) drive.
Supported Objects 2-7
Class 2 (02h) – Message Router Object
Service Code No. (hex)
0Eh
Attributes
Instance ID
0
Service Name
Get Attribute Single
Attribute
1 Object Software Revision
Description Get
X
Set Size
Word
Default
Class 3 (03h) – DeviceNet Object
Service Code No. (hex)
05h
0Eh
Attributes
Instance ID
0
1
Service Name
Reset
Get Attribute Single
03
04
05
06
07
08
09
Attribute
1
01
02
Name
MAC ID
Baud Rate
Bus Off Interrupt
Bus Off Counter
Allocation Info
MAC ID Sw Change
Description
Object Software Revision
Current MAC ID Setting (0 ~ 63)
Current Baud rate Setting
0: 125 kbps
1: 250 kbps
2: 500 kbps
3 ~ 9: Auto Baud
Bus Off Condition (0 ~ 1)
Number of Bus Off (0 ~ 255)
DeviceNet Communication Connection Info
MAC ID Switch Changed Since Power-up
Baud Rate Sw Change Baud Rate Switch Changed Since Power-up
MAC ID Sw MAC ID Switch Setting (0 ~ 99)
Baud Rate Sw Baud Rate Switch Setting (0 ~ 9)
X
X
X
X
X
X
X
Get
X
X
Set
X
X X
Size
Word
Byte
Byte
Byte
Byte
(2) Bytes
Bool
Bool
Word
Word
Default
0
00
00
00,00
0
0
63
9
Supported Objects 2-8
Class 4 (04h) – Assembly Object
Service Code No. (hex)
0Eh
10h
Attributes
Instance ID
0
20 (14h)
21 (15h)
22 (16h)
23 (17h)
70 (46h)
71 (47h)
72 (48h)
73 (49h)
100 (64h)
101 (65h)
105 (69h)
107 (6Bh)
150 (96h)
151 (97h)
155 (9Bh)
157 (9Dh)
Service Name
Get Attribute Single
Set Attribute Single
Attribute
1
3
Description
Object Software Revision
Basic Speed Control
Extended Speed Control
Basic Speed and Torque Control
Extended Speed and Torque Control
Basic Speed Control Status
Extended Speed Control Status
Basic Speed and Torque Control Status
Extended Speed and Torque Control Status
Yaskawa Modbus Message
Yaskawa Standard Control
Yaskawa Enhanced Control/Modbus Message
Yaskawa Standard DI/DO Control
Yaskawa Modbus Message Response
Yaskawa Standard Control Status
Yaskawa Enhanced Control/Modbus Message
Yaskawa Standard DI/DO Control Status
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Get
X
X X
X
X
X
X
X
X
X
Set Size
Word 1
Array 4 Bytes 00 00 00 00
Default
Array 4 Bytes 00 00 00 00
Array 6 Bytes 00 00 00 00 00 00
Array 6 Bytes 00 00 00 00 00 00
Array 4 Bytes 00 00 00 00
Array 4 Bytes 00 00 00 00
Array 6 Bytes 00 00 00 00 00 00
Array 6 Bytes 00 00 00 00 00 00
Array 5 Bytes 00 00 00 00 00
Array 8 Bytes 00 00 00 00 00 00 00 00
Array 8 Bytes 00 00 00 00 00 00 00 00
Array 8 Bytes 00 00 00 00 00 00 00 00
Array 5 Bytes 00 00 00 00 00
Array 8 Bytes 00 00 00 00 00 00 00 00
Array 8 Bytes 00 00 00 00 00 00 00 00
Array 8 Bytes 00 00 00 00 00 00 00 00
Supported Objects 2-9
Class 5 (05h) – DeviceNet Connection Object
Service Code No. (hex)
0Eh
10h
Attributes
Instance ID
0
1
2
Service Name
Get Attribute Single
Set Attribute Single
9
12 (0Ch)
13 (0Dh)
14 (0Eh)
15 (0Fh)
16 (10h)
7
8
5
6
3
4
1
2
Attribute
1
1
2
5
6
3
4
7
8
9
12 (0Ch)
13 (0Dh)
14 (0Eh)
15 (0Fh)
16 (10h)
Description
Object Software Revision
State
Instance Type
Transport Class Trigger
Produced Connection ID
Consumed Connection ID
Initial Communications Characteristics
Produced Connection Size
Consumed Connection Size
Expected Packet Rate
Watch-dog Timeout Action
Produced Connection Path Length
Produced Connection Path
Consumed Connection Path Length
Consumed connection Path
State
Instance Type
Transport Class Trigger
Produced Connection ID
Consumed Connection ID
Initial Communications Characteristics
Produced Connection Size
Consumed Connection Size
Expected Packet Rate
Watch-dog Timeout Action
Produced Connection Path Length
Produced Connection Path
Consumed Connection Path Length
Consumed Connection Path
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Get
X
X
X
Set
X
X
X
X
X
X
X
Word
Byte
Word
Array
Word
Array
Byte
Byte
Byte
Word
Word
Byte
Byte
Byte
Byte
Byte
Word
Byte
Word
Array
Word
Array
Size
Word
Byte
Byte
Byte
Word
Word
Byte
1
3
0
83h
21h
09C4h
1
0
0
1
1
83h
1
4
4
0
1
3
62 34 36
3
62 31 34
Default
Supported Objects 2-10
Class 40 (28h) – Motor Data Object
Service Code No. (hex)
0Eh
10h
Attributes
Instance ID
0
1
Attribute
1
3
6
7
Service Name
Get Attribute Single
Set Attribute Single
Description
Object Software Revision
Motor Type
Rated Current (0.1A)
Rated Voltage (1V)
Get
X
X
X
X
Set
X
X
Size
Word
Byte
Word
Word
1
7 (fixed)
Parameter n036
Parameter n147
Data
Class 41 (29h) – Control Supervisor Object
Service Code No. (hex)
0Eh
10h
05h
Attributes
Instance ID
0
1
Attribute
1
3h
4h
5h
6h
7h
8h
9h
10 (0Ah)
11 (0Bh)
12 (0Ch)
13 (0Dh)
15 (0Fh)
16 (10h)
17 (11h)
18 (12h)
Service Name
Get Attribute Single
Set Attribute Single
Reset
Description
Object Software Revision
Run 1 (Forward Run)
Run 2 (Reverse Run)
Net Control
State
Running 1 (Forward)
Running 2 (Reverse)
Ready
Faulted
Warning
Fault Reset
Fault Code
Control from Net
DeviceNet Fault Mode
Force Fault
Force Status
X
X
X
X
X
X
Get
X
X
X
X
X
X
X
X
X
X
Set
-
X
X
X
X
X
Byte
Byte
Byte
Byte
Byte
Byte
Size
Word
Byte
Byte
Byte
Byte
Word
Byte
Byte
Byte
Byte
Data
1
Forward Run Command
Reverse Run Command
Net Control Command - Parameter n003
Inverter Status (3 = Ready, 7 = Faulted)
Forward Running
Reverse Running
Inverter Ready
Inverter Fault
Inverter Alarm
Fault Reset
Current Fault
Net Control Status - Parameter n003
Always “2”
External Fault - EF0
External Fault Status - EF0
Supported Objects 2-11
Fault Code Table
0Ah
0Bh
0Ch
0Dh
6h
7h
8h
9h
Drive Fault
Code
[hex]
0h
1h
2h
3h
4h
5h
0Eh
0Fh
10h
11h
12h
13h
2120h
2300h
3210h
4200h
4210h
2220h
2200h
2221h
DeviceNet
Fault Code
[hex]
0000h
5120h
3220h
5110h
3222h
2130h
2222h
7110h
7112h
9000h
9000h
9000h
Class 41 (29h) – Control Supervisor Object
Description
Drive Fault
Code
[hex]
DeviceNet
Fault Code
[hex]
DC Bus Under-Voltage (UV1)
CTL PS Under-Voltage (UV2)
14h
15h
16h
17h
9000h
9000h
9000h
4140h
Over-Current (OC)
DC Bus Over-Voltage (OV)
Heat Sink Over-Temperature (OH)
18h
19h
1Ah
1Bh
1Ch
1Dh
1Eh
1Fh Motor Overload (OL1)
Inverter Overload (OL2)
Over-Torque Detection 1 (OL3)
7310h
7310h
7301h
3130h
3130h
5300h
5300h
6320h
External Fault 3 (EF3)
External Fault 4 (EF4)
External Fault 5 (EF5)
24h
25h
26h
27h
20h
21h
22h
23h
0000h
7500h
7500h
7500h
7500h
8321h
8313h
9000h
Description
External Fault 6 (EF6)
External Fault 7 (EF7)
Heat Sink Fan (FAN)
Operator Disconnected (OPR)
SI-E Communications Error (CE)
DeviceNet Communication Error (BUS)
External Fault 0 (EF0)
Supported Objects 2-12
Class 41 (2Ah) – AC Drive Object
Service Code No. (hex)
0Eh
10h
Attributes
Instance ID
0
1
Attribute
1
3h
4h
6h
7h
8h
9h
15 (0Fh)
16 (10h)
17 (11h)
18 (12h)
19 (13h)
20 (14h)
21 (15h)
22 (16h)
23 (17h)
26 (1Ah)
27 (1Bh)
28 (1Ch)
29 (1Dh)
Service Name
Get Attribute Single
Set Attribute Single
Description
Object Software Revision
At Reference
Net Reference
Reserved
Speed Actual (scaled by n035)
Speed Reference (scaled by n035)
Current Actual (0.1A)
Power Actual (W)
Input Voltage (VAC)
Output Voltage (VAC)
Accel Time (ms)
Decel Time (ms)
Reserved
Reserved
Speed Scale
Current Scale
Power Scale
Voltage Scale
Time Scale
Reference from the Net
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Get
X
X
X
Set
X
X
X
X
X
X
X
X
X
Word
Word
Word
Word
Word
Word
Word
Byte
Byte
Byte
Byte
Byte
Byte
Size
Word
Byte
Byte
Byte
Word
Word
Word
1
Speed Agree
Parameter n004
Parameter U-02
Parameter U-01
Parameter U-03
Parameter U-11
Parameter n012
Parameter U-04
Parameter n019
Parameter n020
Data
-15 ~ +15
-15 ~ +15
-15 ~ +15
-15 ~ +15
-15 ~ +15
Parameter n004
Supported Objects 2-13
Yaskawa Supported Objects
Class 100 (64h) – Yaskawa Command Object
10
11
12
13
14
15
8
9
6
7
4
5
2
3
Bit
0
1
Service Code No. (hex)
0Eh
10h
Attributes
Instance ID
0
1
Note:
Service Name
Get Attribute Single
Set Attribute Single
Attribute
1
1
2
Description
Object Software Revision
Operation Command
Frequency Reference (0.01Hz)
Get
X
X
X
Set
X
X
Size
Word
Word
Word
1
0
0
Default Value
5
6
3
4
Reserved
Reserved
Reserved
Analog Output 1 (Terminal 21)
Word
Word
X X Word 0
7
8
Reserved
Digital Output X X
Word
Word 0
254 (FEh)
255 (FFh)
1
1
Reserved
Enter Command X X
Word
Word
0
0
Due to a limited number of non-volatile memory writes permitted, care should be taken when using the Enter command.
Yaskawa Command Object – Class 64h, Instance 1, Attribute 1 – Operation Command
Definition
Terminal S1 – Multifunction Digital Input 1 – Parameter n050 setting (Typically Forward RUN (1) /Stop (0))
Terminal S2 – Multifunction Digital Input 2 – Parameter n051 setting (Typically Reverse RUN (1) /Stop (0))
Terminal S3 – Multifunction Digital Input 3 – Parameter n052 setting
Terminal S4 – Multifunction Digital Input 4 – Parameter n053 setting
Terminal S5 – Multifunction Digital Input 5 – Parameter n054 setting
Terminal S6 – Multifunction Digital Input 6 – Parameter n055 setting
Terminal S7 – Multifunction Digital Input 7 – Parameter n056 setting
Reserved
External Fault
Fault Reset
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Supported Objects 2-14
3
4
5
6
7
Bit
0
1
2
Yaskawa Command Object – Class 64h, Instance 1, Attribute 8 – Digital Output
Definition
Terminal MA/MB – Multifunction Digital Output 1 – Parameter n057 setting
Terminal P1 – Multifunction Digital Output 2 – Parameter n058 setting
Terminal P2 – Multifunction Digital Output 3 – Parameter n059 setting
Reserved
Reserved
Reserved
Fault Contact Enable
Fault Contact – Bit 6 must be set to 1 in order to enable the function of bit 7
U-11
U-16
U-17
U-18
U-15
U-09
U-10
Reserved
U-01
U-02
U-03
U-04
U-06
U-07
U-05
U-08
Reserved
Reserved
U-50
U-51
U-52
U-53
U-54
Class 120 (78h) – Yaskawa V7 Drive Monitor Object
The following table lists the attributes of the drive monitors that are supported by the DeviceNet Option. For further details on the drive monitors, refer to the V7 and V74X Drives Technical Manual (TM.V7.01).
Monitor Attribute
1
2
5
6
3
4
7
8
9
10 (0Ah)
11 (0Bh)
12 (0Ch)
13 (0Dh)
14 (0Eh)
15 (0Fh)
16 (10h)
17(11h)
18 (12h)
…
29 (1Dh)
30 (1Eh)
31 (1Fh)
32 (20h)
33 (21h)
34 (22h)
Class 120 (78h) - Yaskawa V7 Drive Monitor Object
Description
Status
Fault
Frequency Reference
Output Frequency
Output Current
Output Voltage
Input Terminal Status
Output Terminal Status
DC Bus Voltage
Torque Monitor
Output Power
PID Feedback
PID Input
PID Output
Transmission Error
Fault History
Software Number
Reserved
Reserved
Reserved
CASE Monitor 1
CASE Monitor 2
CASE Monitor 3
CASE Monitor 4
CASE Monitor 5
Word
Word
Word
Word
Word
Word
Word
Word
Size
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Supported Objects 2-15
Yaskawa V7 Drive Parameter Object
The following table lists the attributes of the drive parameters that are supported by the DeviceNet Option. For further details on the drive parameters, refer to the V7 and V74X Drives Technical Manual (TM.V7.01). Instance is always 1.
Class 121 (79h) – V7 Drive Parameter Object
n023 n024 n025 n026 n027 n028 n029 n030 n015 n016 n017 n018 n019 n020 n021 n022 n031 n032 n033 n034 n035 n036 n037 n038 n039 n040
Parameter
n001 n002 n003 n004 n005 n006 n007 n008 n009 n010 n011 n012 n013 n014
23 (17h)
24 (18h)
25 (19h)
26 (1Ah)
27 (1Bh)
28 (1Ch)
29 (1Dh)
30 (1Eh)
15 (0Fh)
16 (10h)
17 (11h)
18 (12h)
19 (13h)
20 (14h)
21 (15h)
22 (16h)
31 (1Fh)
32 (20h)
33 (21h)
34 (22h)
35 (23h)
36 (24h)
37 (25h)
38 (26h)
39 (27h)
40 (28h)
Attribute
1
2
5
6
3
4
7
8
9
10 (0Ah)
11 (0Bh)
12 (0Ch)
13 (0Dh)
14 (0Eh)
Class 121 (79h) - V7 Drive Parameter Object
Description
Initialization/Access Level
Control Mode Select
Operation Method Select
Reference Select
Stop Method
Reverse Prohibit
STOP Key Function
Reference Select – Digital Operator
Frequency Reference Setting
Operator Disconnect Select
Max Frequency (0.1Hz)
Max Voltage (0.1VAC)
Frequency @ Max Voltage (0.1Hz)
Mid Frequency (0.1Hz)
Mid Voltage (0.1VAC)
Min Frequency (0.1Hz)
Min Voltage (0.1VAC)
Acc/Dec Setting Unit
Acc Time 1 (0.1s or 0.01s) (see n018)
Dec Time 1 (0.1s or 0.01s) (see n018)
Acc Time 2 (0.1s or 0.01s) (see n018)
Dec Time 2 (0.1s or 0.01s) (see n018)
S Curve Select
Frequency Reference 1 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 2 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 3 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 4 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 5 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 6 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 7 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 8 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Jog frequency (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference Upper Limit (%)
Frequency Reference Lower Limit (%)
Digital Operator Display Mode
Motor Rated Current (0.1A)
Electronic Thermal Overload Protect
Electronic Thermal Overload Protect Time Constant (min)
Cooling Fan Select
Motor Rotation Select
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Size
Word
Word
Word
Word
Word
Word
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Set
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Get
X
X
Supported Objects 2-16
n082 n083 n084 n085 n086 n087 n088 n076 n077 n078 n079 n080 n081 n070 n071 n072 n073 n074 n075 n064 n065 n066 n067 n068 n069 n058 n059 n060 n061 n062 n063 n052 n053 n054 n055 n056 n057
Parameter
n041 n042 n043 n044 n045 n046 n047 n048 n049 n050 n051
76 (4Ch)
77 (4Dh)
78 (4Eh)
79 (4Fh)
80 (50h)
81 (51h)
82 (52h)
83 (53h)
84 (54h)
85 (55h)
86 (56h)
87 (57h)
88 (58h)
64 (40h)
65 (41h)
66 (42h)
67 (43h)
68 (44h)
69 (45h)
70 (46h)
71 (47h)
72 (48h)
73 (49h)
74 (4Ah)
75 (4Bh)
52 (34h)
53 (35h)
54 (36h)
55 (37h)
56 (38h)
57 (39h)
58 (3Ah)
59 (3Bh)
60 (3Ch)
61 (3Dh)
62 (3Eh)
63 (3Fh)
Attribute
41 (29h)
42 (2Ah)
43 (2Bh)
44 (2Ch)
45 (2Dh)
46 (2Eh)
47 (2Fh)
48 (30h)
49 (31h)
50 (32h)
51 (33h)
Class 121 (79h) - V7 Drive Parameter Object
Description
Acc Time 3 (0.1s or 0.01s) (see n018)
Dec Time 3 (0.1s or 0.01s) (see n018)
Acc Time 4 (0.1s or 0.01s) (see n018)
Dec Time 4 (0.1s or 0.01s) (see n018)
Reserved
Reserved
Reserved
Reserved
Reserved
Multifunction Input Terminal S1 Select
Multifunction Input Terminal S2 Select
Multifunction Input Terminal S3 Select
Multifunction Input Terminal S4 Select
Multifunction Input Terminal S5 Select
Multifunction Input Terminal S6 Select
Multifunction Input Terminal S7 Select
Multifunction Output Terminal MA/MB Select
Multifunction Output Terminal P1 Select
Multifunction Output Terminal P2 Select
Analog Frequency Reference Gain (%) (Terminal FR)
Analog Frequency Reference Bias (%) (Terminal FR)
Analog Frequency Reference Filter Time Constant (0.01s) (Terminal FR)
Reserved
Frequency Reference Loss Detect
Monitor Output Select
Multifunction Analog Output Select (Terminal AM)
Analog Monitor Gain
Analog Frequency Reference Gain (%) (CN2 Voltage Reference)
Analog Frequency Reference Bias (%) (CN2 Voltage Reference)
Analog Frequency Reference Filter Time Constant (0.01s) (CN2 Voltage Reference)
Analog Frequency Reference Gain (%) (CN2 Current Reference)
Analog Frequency Reference Bias (%) (CN2 Current Reference)
Analog Frequency Reference Filter Time Constant (0.01s) (CN2 Current Reference)
Pulse Train Reference Gain (%) (Terminal RP)
Pulse Train Reference Bias (%) (Terminal RP)
Pulse Train Reference Filter Gain (s) (Terminal RP)
Multifunction Analog Input Selection
Multifunction Analog Input Signal Select
Multifunction Analog Input Bias (%)
Carrier Frequency Select
Momentary Power Loss Ride Thru Select
Number of Auto Restart
Prohibit Frequency 1 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Prohibit Frequency 2 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Prohibit Frequency 3 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Prohibit Frequency Deadband (0.01Hz)
Reserved
Reserved
Supported Objects 2-17
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Size
Word
Word
Word
Word
Word
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Set
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Get
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
n130 n131 n132 n133 n134 n135 n136 n124 n125 n126 n127 n128 n129 n118 n119 n120 n121 n122 n123 n112 n113 n114 n115 n116 n117 n106 n107 n108 n109 n110 n111 n100 n101 n102 n103 n104 n105
Parameter
n089 n090 n091 n092 n093 n094 n095 n096 n097 n098 n099
124 (7Ch)
125 (7Dh)
126 (7Eh)
127 (7Fh)
128 (80h)
129 (81h)
130 (82h)
131 (83h)
132 (84h)
133 (85h)
134 (86h)
135 (87h)
136 (88h)
112 (70h)
113 (71h)
114 (72h)
115 (73h)
116 (74h)
117 (75h)
118 (76h)
119 (77h)
120 (78h)
121 (79h)
122 (7Ah)
123 (7Bh)
100 (64h)
101 (65h)
102 (66h)
103 (67h)
104 (68h)
105 (69h)
106 (6Ah)
107 (6Bh)
108 (6Ch)
109 (6Dh)
110 (6Eh)
111 (6Fh)
Attribute
89 (59h)
90 (5Ah)
91 (5Bh)
92 (5Ch)
93 (5Dh)
94 (5Eh)
95 (5Fh)
96 (60h)
97 (61h)
98 (62h)
99 (63h)
Class 121 (79h) - V7 Drive Parameter Object
Description
DC Injection Current (%)
DC Injection Time @ Stop (0.1s)
DC Injection Time @ Start (0.1s)
Stall Prevent @ Dec Select
Stall Prevent @ Acc (%)
Stall Prevent @ Run (%)
Frequency Detect Level (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Over Torque Detect Enable
Over Torque Detect Select
Over Torque Detect Level (%)
Over Torque Detect Delay Time (0.1s)
UP/Down Hold Memory Select
Speed Search Dec Time (0.1s)
Speed Search Level (%)
Torque Compensation Gain
Torque Compensation Time Constant (s)
Torque Compensation Iron Loss (1W or 0.1W) (set by drive rating)
Motor Rated Slip (0.1Hz)
Motor Line to Line Resistance (0.001Ohm)
Motor Leakage Inductance (0.01mH or 0.1mH) (set by drive rating)
Torque Compensation Limit (%)
Motor No Load Current (%)
Slip Compensation Gain
Slip Compensation Primary Delay Time (0.1s)
Slip Compensation @ Regen Select
Reserved
Stall Prevent Above Base Speed @ Run Select
Stall Prevent @ Run Acc/Dec Select
Under Torque Detect Select
Under Torque Detect Level (%)
Under Torque Detect Time (0.1s)
Frequency Reference 9 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 10 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 11 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 12 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 13 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 14 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 15 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 16 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
PID Control Select
PID Feedback Gain
PID P Gain
PID I Time (0.1s)
PID D Time
PID Offset Adjust (%)
PID I Limit (%)
PID Output Lag Filter Time (0.1s)
Feedback Loss Select
Supported Objects 2-18
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Size
Word
Word
Word
Word
Word
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Set
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Get
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
n166 n167 n168 n169 n170 n171 n160 n161 n162 n163 n164 n165 n172 n173 n174 n175 n176 n177 n178 n179 n154 n155 n156 n157 n158 n159 n148 n149 n150 n151 n152 n153
Parameter
n137 n138 n139 n140 n141 n142 n143 n144 n145 n146 n147
160 (A0h)
161 (A1h)
162 (A2h)
163 (A3h)
164 (A4h)
165 (A5h)
166 (A6h)
167 (A7h)
168 (A8h)
169 (A9h)
170 (AAh)
171 (ABh)
172 (ACh)
173 (ADh)
174 (AEh)
175 (AFh)
176 (B0h)
177 (B1h)
178 (B2h)
179 (B3h)
148 (94h)
149 (95h)
150 (96h)
151 (97h)
152 (98h)
153 (99h)
154 (9Ah)
155 (9Bh)
156 (9Ch)
157 (9Dh)
158 (9Eh)
159 (9Fh)
Attribute
137 (89h)
138 (8Ah)
139 (8Bh)
140 (8Ch)
141 (8Dh)
142 (8Eh)
143 (8Fh)
144 (90h)
145 (91h)
146 (92h)
147 (93h)
Class 121 (79h) - V7 Drive Parameter Object
Description
Feedback Loss Detect Level (%)
Feedback Loss Detect Time (0.1s)
Energy Save Select
Energy Save Gain K2
Energy Save Voltage Low Limit @ 60Hz (%)
Energy Save Voltage Low Limit @ 6Hz (%)
Energy Save Time of Average kW (x24ms)
Energy Save Voltage Limit @ Tuning (%)
Energy Save Step Voltage of Tuning to 100% Output Voltage (0.1%)
Energy Save Step Voltage of Tuning to 5% Output Voltage (0.1%)
Reserved
Reserved
Pulse Train Input Scaling (x10Hz)
Pulse Monitor Output Frequency Select
Modbus Timeout Detect Select
Modbus Frequency reference Unit Select
Modbus Slave Address Select
Modbus Baud Rate Select
Modbus Parity Select
Modbus Send Wait Time (ms)
Modbus RTS Control Select
Motor Code Select
Energy Save Voltage Upper Limit @ 60Hz (%)
Energy Save Voltage Upper Limit @ 6Hz (%)
Energy Save Power Supply Hold Width (%)
Power Supply Detect Filter Time Constant (x4ms)
PID Output Gain
PID Feedback Select
Reserved
Input Phase Loss Detect Level (%)
Input Phase Loss Detect Time (s)
Output Phase Loss Detect Level (%)
Output Phase Loss Detect Time (s)
Reserved
Reserved
Reserved
DC Injection P Gain
DC Injection I Time (x4ms)
Reduce Carrier @ Low Speed Select
Digital Operator COPY Function Select
Digital Operator COPY Access Select
Fault History
Software ID Number
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Get
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Set
X
X
X
X
X
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Size
Word
Word
Word
Word
Word
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Supported Objects 2-19
24
25
26
27
28
29
2A
2B
2C
1E
1F
20
21
22
23
18
19
1A
1B
1C
1D
12
13
14
15
16
17
C
D
E
F
10
11
6
7
8
9
A
B
Hex
0
1
2
3
4
5
36
37
38
39
40
41
42
43
44
30
31
32
33
34
35
24
25
26
27
28
29
18
19
20
21
22
23
12
13
14
15
16
17
6
7
8
9
10
11
Decimal
0
1
2
3
4
5
58
59
5A
5B
5C
5D
5E
5F
60
52
53
54
55
56
57
4C
4D
4E
4F
50
51
46
47
48
49
4A
4B
40
41
42
43
44
45
3A
3B
3C
3D
3E
3F
Hex
34
35
36
37
38
39
Hexadecimal/Decimal Conversion
88
89
90
91
92
93
94
95
96
82
83
84
85
86
87
76
77
78
79
80
81
70
71
72
73
74
75
64
65
66
67
68
69
58
59
60
61
62
63
Decimal
52
53
54
55
56
57
C0
C1
C2
C3
C4
C5
C6
C7
C8
BA
BB
BC
BD
BE
BF
B4
B5
B6
B7
B8
B9
AE
AF
B0
B1
B2
B3
A8
A9
AA
AB
AC
AD
A2
A3
A4
A5
A6
A7
Hex
9C
9D
9E
9F
A0
A1
8C
8D
8E
8F
90
91
92
93
94
86
87
88
89
8A
8B
80
81
82
83
84
85
7A
7B
7C
7D
7E
7F
74
75
76
77
78
79
Hexadecimal/Decimal Conversions
Hex Decimal
68
69
6A
104
105
106
6B
6C
6D
107
108
109
6E
6F
70
71
72
73
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
140
141
142
143
144
145
146
147
148
134
135
136
137
138
139
128
129
130
131
132
133
192
193
194
195
196
197
198
199
200
186
187
188
189
190
191
180
181
182
183
184
185
174
175
176
177
178
179
168
169
170
171
172
173
162
163
164
165
166
167
Decimal
156
157
158
159
160
161
Supported Objects 2-20
244
245
246
247
248
249
250
251
252
238
239
240
241
242
243
232
233
234
235
236
237
226
227
228
229
230
231
220
221
222
223
224
225
214
215
216
217
218
219
Decimal
208
209
210
211
212
213
F4
F5
F6
F7
F8
F9
FA
FB
FC
EE
EF
F0
F1
F2
F3
E8
E9
EA
EB
EC
ED
E2
E3
E4
E5
E6
E7
DC
DD
DE
DF
E0
E1
D6
D7
D8
D9
DA
DB
Hex
D0
D1
D2
D3
D4
D5
Hex
2D
2E
2F
30
31
32
33
Decimal
45
46
47
48
49
50
51
Hex
61
62
63
64
65
66
67
Decimal
97
98
99
100
101
102
103
Hexadecimal/Decimal Conversions
Hex
95
96
Decimal
149
150
97
98
99
9A
9B
151
152
153
154
155
Hex
C9
CA
CB
CC
CD
CE
CF
Decimal
201
202
203
204
205
206
207
Hex
FD
FE
FF
100
Decimal
253
254
255
256
Supported Objects 2-21
Notes
Supported Objects 2-22
