For a Logix 5000 system the normal method of communicating using the EtherNet/IP protocol with supported CIP devices, such as PowerFlex drives, is by means of an Add-On Profile or "AOP". Stock AOPs are installed at a particular version with the Logix 5000 software, such as Studio 5000, and provide a predefined module applet which users can then add into the I/O Configuration within the application project. AOPs facilitate a richer and easier user interface to the supported devices where, in the case of a PowerFlex drive, the essential Logic Status and Logic Command Words are automatically prescribed to at AOP creation. A user may then access further parameters via Datalinks which offer up a list of useful read and write parameters which are preconfigured at the CIP level (Class, Instance, Attribute), similar to the Logic Words. This removes the need for the user to know and manually configure the necessary CIP specific commands.
For CIP devices, that also support the EtherNet/IP protocol, but are non Allen Bradley and do not provide a predefined AOP, a user must manually configure a means of interfacing with the device. There are a couple of methods of achieving this, but the most popular second method would be creating a Generic Ethernet Module under the I/O Configuration. For this method however, the user must know and manually configure the CIP specific commands required to access the CIP parameter Assemblies in the device.
Many third-party automation equipment manufacturers provide either a higher level Logix 5000 AOP, or CIP commands required to configure a Generic Ethernet Module within a Logix 5000 project. Some, but not many, provide what is known as an EDS-based AOP, which provides the CIP configurable commands within the device's EDS file, which is normally just used to define the device within a CIP configuration. Another method used are CIP configured Messages or "MSG" instructions for direct access to the device parameters. MSGs are also quite commonly implemented in these cases.
For Yaskawa, I do not see, or know of any AOPs for these drives, but I've not used one in some years, so perhaps there are now and I'm just not finding any reference to them. What I do see, and depending on your drive model, and assuming it already has an Ethernet option, are documents which outline the use of a Generic Ethernet Module and how to configure the CIP commands. They also outline example configurations for the use of a CIP MSG instruction. I do know I have successfully used those methods to this brand drive in the past.
Further, a Logix 5000 Add-On Instruction or "AOI" is also available for these drives which provides a per instance interface to process the tags made available by the Generic Ethernet Module.
See here for a reference PDF for the Generic Ethernet Module configuration and MSG instruction...
Integrating a Yaskawa AC Drive with EtherNet/IP Option With AB
See here for a reference PDF to the available Add-On Instruction...
Add-On Instruction (AOI) - Yaskawa
If your drive's options are suitably Ethernet endowed then that should get you started, if not over the line.
Regards,
George