7 CANopen Lift
YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 67
the new target position, the drive unit moves to the previous target position. Travel completion is indicated in bit
10 of the status word.
◆ Added and Modified Parameters, Monitors, Dependencies, Functions, and
Faults
■ Added Standard Parameters
Parameter Operator Display Content Value Range Default Value
F6-95 Min level diff
Minimum level difference.
Sets the upper limit for the traveling distance which is drive-internally
commanded per step even if the controller issues bigger distances in one
step.
0 ... 10000 mm
(0.00 ... 393.70 in)
*1
500 mm
(19.69 in)
*1
Usually, there is no need to change this parameter.
*1 Values not in parentheses apply when o1-12 = 0. Values in parentheses apply when o1-12 = 1.
■ Added Standard Parameter Scroll Items
Refer to Added Standard Parameter Scroll Items on page 57.
■ Modified Standard Parameters
Refer to Modified Standard Parameters on page 57.
■ Added Standard Monitors
Refer to Added Standard Monitors on page 59.
■ Modified Standard Monitors
Refer to Modified Standard Monitors on page 59.
■ Added Standard Parameter Dependencies (Defaults)
Refer to Added Standard Parameter Dependencies (Defaults) on page 62.
■ Changes of Standard Input and Output Multi-Functions
Refer to Changes of Standard Digital Input Multi-Functions (DIMF) on page 62, Changes of Standard Digital
Output Multi-Functions (DOMF) on page 62, Changes of Standard Analog Input Multi-Functions (AIMF) on
page 63.
■ Added Faults and Modified Errors
Added CANopen Lift Faults
Fault
Fault
Code
(Hex)
Fault
Display
Description Cause
CLoE 68 CLoE
CANopen Lift Operation
Error
• Speed limit (obj. 6423h) is set to 0 during position mode travel.
• A position mode travel is commanded while a non closed-loop control mode is active.
• Mode of operation change requested while in one of the states "ready to switch on", "switched on", or
"operation enabled".
• Position mode: the position data is invalid during the travel.
• "Drive Ready" status disabled while in one of the states "ready to switch on", "switched on", or
"operation enabled" (exception: no fault if control word bits 14 ("rcl") or 15 ("insp") are set)
• "External Baseblock" command set or "Safe Torque Off" input terminals opened while in one of the
states "switched on" or "operation enabled" (exception: no fault if control word bits 14 ("rcl") or 15
("insp") are set)
• Fast Start operation time-out
• Status transition time-out
• Control command time-out
Modified OPE Errors
Refer to Added Faults and Modified Errors on page 63.
Modifications of FREF Menu Texts
Refer to Added Faults and Modified Errors on page 63.
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