7 CANopen Lift
70 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum
600A (Hex): Virtual Terminal Interface
Index (Hex) Sub Content Access Range
Initial Value
(Hex)
600A 0 Number of Entries RO 2 1
600A 1 Virtual Terminal Input RW UNS32 0
600A 2 Virtual Terminal Output RO UNS32 0
This object consists of four characters to transmit the sub-objects in MPDOs. The object can store characters, e.g.
from a keypad, and can provide characters, e.g. for a display.
■ Supported Car Drive Objects
6383 (Hex): Position Value
Index (Hex) Sub Content Access Range
Initial Value
(Hex)
6383 0 Number of Entries RO 0 - 4 1
6383 1 Position Unit 1 RW UNS32 FFFF FFFF
This objects contains the position values measured by the car position units (shaft encoder increments).
6400 (Hex): Control Word
Index (Hex) Sub Content Access Range
Initial Value
(Hex)
6400 0 Control Word RW UNS16 0
This object indicates the received command controlling the drive.
Bit 0 : Switch on
Bit 1 : Enable voltage
Bit 2 : Quick stop
Bit 3 : Enable operation
Bit 4 : New set-point (only in profile Position Mode)
Bit 5 : Change set immediately (only in profile Position Mode, setting not required)
Bit 6 : Abs / rel (keep zero, relative position mode is not supported)
Bit 7 : Fault reset (Reset on rising edge)
Bit 8 : Halt (not used)
Bit 9 : Change on set-point (not used)
Bit 10 - 13 : Reserved (0)
Bit 14 : Emergency recall operation mode
Bit 15 : Car top inspection mode
6401 (Hex): Status Word
Index (Hex) Sub Content Access Range
Initial Value
(Hex)
6401 0 Status Word RO UNS16 0
This object provides the status of the drive.
Bit 0 : Ready to switch on
Bit 1 : Switched on
Bit 2 : Operation enabled
Bit 3 : Fault
Bit 4 : Voltage enabled
If bit 4 (voltage enabled) of the status word is 1, this indicates that high voltage is applied.
Bit 5 : Quick stop
If bit 5 (quick stop) of the status word is 0, this indicates that the drive is reacting on a quick stop request.
Bit 6 : Switch on disabled
Bit 7 : Warning
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