Yt_PM_VFD_AxisStructure
Data types that supports PLCopen motion functionality for ProfiNet VFDs.
Yt_PM_VFD_AxisArray: CONST
| Variable Name | Data Type | Description | Usage |
|---|---|---|---|
| Yt_PM_VFD_MaxCount | INT | Variable used in the Yt_PM_VFD_Axisrray array definition. Allows overwriting of the value. | Yt_PM_VFD_MaxCount := #10 |
Yt_PM_VFD_AxisStructure: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| AxisArray | Yt_PM_VFD_AxisArray | Array structure containing information for Modbus RTU VFD axes. | g_PM_VFD_AxisData.AxisArray |
| DeviceArray | Yt_PM_VFD_DeviceArray | Array structure containing information forModbusRTU generic devices. | g_PM_VFD_AxisData.DeviceArray |
Yt_PM_VFD_AxisArray: ARRAY
| Array Name | Data Type | Range | Description | Usage |
|---|---|---|---|---|
| Yt_PM_VFD_AxisArray | Yt_PM_VFD_AxisDetails | 1..Yt_PM_VFD_MaxCount | Axis(Modbus RTU VFD) information for up to Yt_PM_VFD_MaxCount axes. | g_PM_VFD_AxisData.AxisArray[index] |
Yt_PM_VFD_AxisDetails: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| AxisInfo | Yt_AxisInfo | General axis information like configuration values and actual status information. | g_PM_VFD_AxisData.AxisArray[index].AxisInfo |
| PM_VFD_AxisInfo | Yt_PM_VFD_AxisInfo | Modbus VFD specific axis information like configuration values, actual values, set values, status information. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo |
| Modbus | Yt_PM_VFD_ModbusDataBuffer | Communication buffer for exchanged data with Modbus protocol. It contains currently sent and received frames and stores historical communication data. | g_PM_VFD_AxisData.AxisArray[index].Modbus |
Yt_PM_VFD_AxisInfo: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| NodeID | DWORD | Modbus Node ID - reserved for future use | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.NodeID |
| StationName | Yt_String32 | Modbus Station Name - reserved for future use | g_PM_VFD_AxisData.AxisArray[index].StationName |
| MaxOutputFrequency | UINT | Max. output Frequency VFD parameter E1-04 | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.MaxOutputFrequency |
| MinOutputFrequency | UINT | Min. output Frequency VFD parameter E1-09 | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.MaxOutputFrequency |
| UpperLimitFrequencyRef | UINT | Upper Limit Frequency Reference VFD parameter D2-01 | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.UpperLimitFrequencyRef |
| Input | Yt_PM_VFD_InputStructure | Input data mapped to process data | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.InputData |
| Output | Yt_PM_VFD_OutputStructure | Output data mapped to process data | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.OutputData |
| SystemCommand | Yt_PM_VFD_SystemCommand | System Commands, used by function blocks:
Y_PM_VFD_Power Y_PM_VFD_Reset Y_PM_VFD_ReadAxisError |
g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.SystemCommand |
| CyclicCommand | Yt_PM_VFD_CommandBuffer | Cyclic CommandBuffer containing all commands issues by the application and their feedback, used by function blocks:
Y_PM_VFD_MoveVelocity |
g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.CyclicCommand |
| ParameterCommand | Yt_PM_VFD_ParamterBuffer | Cyclic ParameterBuffer containing all paarameters issues by the application and their feedback, used by function blocks:
Y_PM_VFD_ReadDriveParameter Y_PM_VFD_WriteDriveParameter |
g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.ParameterCommand |
| DriveState | Yt_PM_VFD_DriveState |
DriveState according to State Diagram:
0: NotReady 1: Ready 2: Standstill 3: Running 4: Fault 255: UndefinedState |
g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.DriveState |
| PowerInstanceActive | BOOL | Indicates that an instance of Y_PM_VFD_Power is already called in the program. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.PowerInstanceActive |
| DriverEnabled | BOOL | Indicates that Y_IM_MainRTUDriver is ready to exchange data with the device | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.DriverEnabled |
| DebugMode | BOOL | A mode that allows Debug communication. For Yaskawa's internal use only. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.DebugMode |
| DataIntegrity | BOOL | Data Integrity | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.DataIntegrity |
Yt_PM_VFD_Input: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| StatusWord01 | WORD | Status word read cyclically from VFD. Drive Status 1 - Register No. 0x0020 | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.InputData.StatusWord01 |
| StatusWord02 | WORD | Status word read cyclically from VFD. Drive Status 2 - Register No. 0x002C | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.InputData.StatusWord02 |
| OutputFrequency | INT | Actual out frequency read cyclicall from the VFD. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.InputData.OutputFrequency |
| AccelerationTime | UINT | Acceleration time read cyclically from the VFD. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.InputData.AccelerationTime |
| DecelerationTime | UINT | Deceleration time read cyclically from the VFD. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.InputData.DecelerationTime |
| DigitalInputStatus | WORD | Digital input status read cyclically from the VFD. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.InputData.DigitalInputStatus |
| CurrentFault | WORD | Current fault read cyclically from the VFD. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.InputData.CurrentFault |
| MinorFault | WORD | Minor fault read cyclically from the VFD. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.InputData.MinorFault |
| Reserved1 | WORD | Reserved for future use. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.InputData.Reserved1 |
| DeviceStatus | BYTE | Status of the Modbus device. Reserved for future use. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.InputData.DeviceStatus |
| DataStatus | BOOL | Information that the status data has been downloaded from the device and has been refreshed. |
g_PM_VFD_AxisData.AxisArray[index].
PM_VFD_AxisInfo.
InputData.DataStatus
|
Yt_PM_VFD_Output: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| ControlWord | WORD | Control word written when executing the appropriate commands that change their values to the VFD. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.OutputData.ControlWord |
| ReferenceFrequency | INT | Reference frequency written when executing the appropriate commands that change their values to the VFD. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.OutputData.ReferenceFrequency |
| AccelerationTime | UINT | Acceleration time written when executing the appropriate commands that change their values to the VFD. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.OutputData.AccelerationTime |
| DecelerationTime | UINT | Deceleration time written when executing the appropriate commands that change their values to the VFD. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.OutputData.DecelerationTime |
| Reserved1 | WORD | Reserved for future use. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.OutputData.Reserved1 |
| Reserved2 | WORD | Reserved for future use. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.OutputData.Reserved2 |
| Reserved3 | WORD | Reserved for future use. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.OutputData.Reserved3 |
Yt_PM_VFD_SystemCommand: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| EnablePower | BOOL | With MC_Power.Enable = TRUE the value of EnablePower is set to true and the Y_PM_VFD_Driver switches the VFD to drive state operation. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.SystemCommand.EnablePower |
| Reset | BOOL | Is set to true by Y_PM_VFD_Reset to reset a error on the axis and leave the PLCopen state ErrorStop. Is set to false after resetting the drive error or after a time out time.The reset function is managed by Y_PM_VFD_Driver. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.SystemCommand.Reset |
| ReadError | BOOL | It is used by Y_PM_VFD_Driver to read the current error and write it to the correct category. Only the last current error is read. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.SystemCommand.EnablePower |
| StopCommand | BOOL | Is set to true by Y_PM_VFD_Stop to stop actual movement command. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.SystemCommand.StopCommand |
Yt_PM_VFD_CommandBuffer: ARRAY
| Array Name | Data Type | Range | Description | Usage |
|---|---|---|---|---|
| Yt_PM_VFD_CommandBuffer | Yt_PM_VFD_CommandStates | 0..4 | Array of command buffers. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.CyclicCommand |
Yt_PM_VFD_CommandStates: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| Velocity | LREAL | Target velocity of this command. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.CyclicCommand[index2].Velocity |
| Acceleration | LREAL | Target acceleration of this command. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.CyclicCommand[index2].Acceleration |
| Deceleration | LREAL | Target Deceleration of this command. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.CyclicCommand[index2].Deceleration |
| ErrorID | UINT | Error ID of this command. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.CyclicCommand[index2].ErrorID |
| Execute | BOOL | Execution of this command. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.CyclicCommand[index2].Execute |
| Done | BOOL | Done of this command. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.CyclicCommand[index2].Done |
| Busy | BOOL | Busy of this command. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.CyclicCommand[index2].Busy |
| Active | BOOL | Active of this command./td> | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.CyclicCommand[index2].Active |
| CommandAborted | BOOL | Command Aborted of this command. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.CyclicCommand[index2].CommandAborted |
| Error | BOOL | Error of this command. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.CyclicCommand[index2].Error |
| CommandId | UINT | Command ID of this command. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.CyclicCommand[index2].CommandId |
| CommandType | Yt_PM_VFD_CommandType | CommandType according to Y_PM_VFD_Driver execution:
0: NoCommand 1: MoveVelocity 2: Stop 3: ParameterRead 4: ParameterWrite |
g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.CyclicCommand[index2].CommandType |
| BufferMode | MC_BufferMode | BufferMode according to PLCOpen Motion | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.CyclicCommand[index2].BufferMode |
Yt_PM_VFD_ParameterBuffer: ARRAY
| Array Name | Data Type | Range | Description | Usage |
|---|---|---|---|---|
| Yt_PM_VFD_ParameterBuffer | Yt_PM_VFD_ParameterStates | 0..4 | Array of parameter command buffers. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.ParamterCommand |
Yt_PM_VFD_ParamterStates: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| ReadValue | DINT | Value read from the servo with this parameter command. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.ParamterCommand[index2].ReadValue |
| WriteValue | DINT | Value to write to the servos with this parameter command. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.ParamterCommand[index2].WriteValue |
| Datatype | INT | Data type of the parameter command. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.ParamterCommand[index2].Datatype |
| ParamterNumber | UINT | Parameter number of the parameter command. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.ParamterCommand[index2].ParamterNumber |
| DataTypeOverriede | INT | Datatype override of the parameter command. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.ParamterCommand[index2].DataTypeOverriede |
| Retained | BOOL | Specify whether the parameter is to be written to EEPROM or just stored in RAM. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.ParamterCommand[index2].Retained |
| ErrorID | UINT | Error ID of the parameter command. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.ParamterCommand[index2].ErrorID |
| Execute | BOOL | Execution of the parameter command. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.ParamterCommand[index2].Execute |
| Done | BOOL | Done of the parameter command. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.ParamterCommand[index2].Done |
| Busy | BOOL | Busy of the parameter command. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.ParamterCommand[index2].Busy |
| Error | BOOL | Error of the parameter command. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.ParamterCommand[index2].Error |
| CommandId | UINT | Command ID of this command. | g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.ParamterCommand[index2].CommandId |
| CommandType | Yt_PM_VFD_CommandType | CommandType according to Y_PM_VFD_Driver execution:
0: NoCommand 1: MoveVelocity 2: Stop 3: ParameterRead 4: ParameterWrite |
>g_PM_VFD_AxisData.AxisArray[index].PM_VFD_AxisInfo.ParamterCommand[index2].CommandType |
Yt_PM_VFD_ModbusDataBuffer: ARRAY
| Array Name | Data Type | Range | Description | Usage |
|---|---|---|---|---|
| Yt_PM_VFD_ModbusDataBuffer | Yt_PM_VFD_ModbusData | 0..5 | Array of modbus command buffers. | g_PM_VFD_AxisData.AxisArray[index].Modbus |
Yt_PM_VFD_ModbusData: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| Send | Yt_WordArray32 | Modbus send frame | g_PM_VFD_AxisData.AxisArray[index].Modbus[index2].Send |
| SendTimestamp | STRING[30] | Modbus send timestamp | g_PM_VFD_AxisData.AxisArray[index].Modbus[index2].SendTimestamp |
| Receive | Yt_WordArray32 | Modbus receive frame | g_PM_VFD_AxisData.AxisArray[index].Modbus[index2].Receive |
| ReceiveTimestamp | STRING[30] | Modbus receive timestamp | g_PM_VFD_AxisData.AxisArray[index].Modbus[index2].ReceiveTimestamp |
| FunctionCode | BYTE | Modbus Function code | g_PM_VFD_AxisData.AxisArray[index].Modbus[index2].FunctionCode |
| SubFunction | WORD | Modbus SubFunction code | g_PM_VFD_AxisData.AxisArray[index].Modbus[index2].SubFunction |
| SlaveOffset | UINT | Modbus Slave data offset | g_PM_VFD_AxisData.AxisArray[index].Modbus[index2].SlaveOffset |
| SendLen | UINT | Modbus send frame length | g_PM_VFD_AxisData.AxisArray[index].Modbus[index2].SendLen |
| RcvLen | UINT | Modbus receive frame length | g_PM_VFD_AxisData.AxisArray[index].Modbus[index2].RcvLen |
| Execute | BOOL | Execution of the Modbus command. | g_PM_VFD_AxisData.AxisArray[index].Modbus[index2].Execute |
| Busy | BOOL | Busy of the Modbus command. | g_PM_VFD_AxisData.AxisArray[index].Modbus[index2].Busy |
| Done | BOOL | Done of the Modbus command. | g_PM_VFD_AxisData.AxisArray[index].Modbus[index2].Done |
| Error | BOOL | Error of the Modbus command. | g_PM_VFD_AxisData.AxisArray[index].Modbus[index2].Error |
| ErrorID | UINT | Error ID of the Modbus command. | g_PM_VFD_AxisData.AxisArray[index].Modbus[index2].ErrorID |
| NextDevice | BOOL | Next device - reserved for future use | g_PM_VFD_AxisData.AxisArray[index].Modbus[index2].NextDevice |
Yt_PM_VFD_Device_Array: ARRAY
| Array Name | Data Type | Range | Description | Usage |
|---|---|---|---|---|
| Yt_PM_VFD_DeviceArray | Yt_PM_VFD_DeviceDetails | 1..10 | Generic device information for up to 10 slaves. | g_PM_VFD_AxisData.DeviceArray[index] |
Yt_PM_VFD_DeviceDetails: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| DriverEnabled | BOOL | Indicates that Y_IM_MainRTUDriver is ready to exchange data with the device | g_PM_VFD_AxisData.DeviceArray[index].DriverEnabled |
| Number | UINT | Slave address of Generic device | g_PM_VFD_AxisData.DeviceArray[index].Number |
| Node | UINT | Node number of Generic device | g_PM_VFD_AxisData.DeviceArray[index].Node |
| Modbus | Yt_PM_VFD_ModbusDataBuffer | Communication buffer for exchanged data with Modbus protocol. It contains currently sent and received frames and stores historical communication data. | g_PM_VFD_AxisData.AxisArray[index].Modbus |