Compatible Devices
Yaskawa FSP Drives [yaskawafsp | Word]
Verified Device
Yaskawa FSP‑01BMC [yaskawafsp | Word]
Important Note
- Driver does not validate data
- Programmer must ensure values are within safe limits [yaskawafsp | Word]
Accessible Data
| Prefix | Description | Read Opcode | Write Opcode |
|---|---|---|---|
| VARI | Variable | 72 | 81 |
| PARI | Parameter | 85 | 80 |
| POLI | Polling Status | 0 | 0 |
| ACCI | Acceleration (Var 5) | — | 64 |
| CONI | Control | — | 69 |
| GAII | Gain (Var 27) | — | 71 |
| GFAI | Get From Array | 160 | — |
| GTVI | Get Version | 63 | — |
| JRKI | Jerk Time (Var 7) | — | 74 |
| RFAI | Read From Array (uses RFAI1+2) | — | 159 |
| RUNI | Run | — | 78 |
| S1OI | Set Output | — | 79 |
| SNOI | Set Outputs | — | 107 |
| SZAI | Zero Position (Var 9) | — | 95 |
| SPDI | Speed (Var 3) | — | 83 |
| STAI | Start | — | 82 |
| STXI | Stop Extended | — | 153 |
| TQLI | Torque Limits | — | 87 |
| WRII | Write Array Value | — | 158 |
| ERROR | Fault Response | — | — |
Parameter Entry
- PARI values entered in hexadecimal format [yaskawafsp | Word]
Internal Command Structure
Some commands require staging values before execution:
- RFAI → requires RFAI1 (index) + RFAI2 (variable)
- S1OI → requires S1OI1 + S1OI2
- SNOI → requires SNOI1 + SNOI2
- WRII → requires WRII1 + WRII2 [yaskawafsp | Word]
Indirect Write Modes
RFAI
- 1 → Index = Integer
- 2 → Index = Variable number [yaskawafsp | Word]
S1OI
- 1 → State = Integer
- 2 → State = Variable number [yaskawafsp | Word]
SNOI
- 1 → Mask + State = Integers
- 2 → Mask = Variable, State = Integer
- 3 → State = Variable, Mask = Integer
- 4 → Mask + State = Variables [yaskawafsp | Word]
WRII
- 1 → Index + Value = Integers
- 2 → Index = Variable, Value = Integer
- 3 → Value = Variable, Index = Integer
- 4 → Index + Value = Variables [yaskawafsp | Word]
Torque Limits
- TQLI1 → Forward (Parameter 402 hex)
- TQLI2 → Reverse (Parameter 403 hex) [yaskawafsp | Word]
Error Handling
- ERROR register:
- High 16 bits → Opcode
- Low 16 bits → Error code
Reset: Write any value → clears ERROR to 0 [yaskawafsp | Word]
Example Error
- ERROR = 81 / 6
→ Opcode 81 (Set Variable) failed
→ Error 6 = Variable out of range [yaskawafsp | Word]
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