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MANUAL NO. SIEP C730600 85D

YASKAWA AC Drive Option

CANopen

Technical Manual

Model

SI-S3

To correctly use the product, read this manual thoroughly and keep it for easy
reference, inspection, and maintenance. Make sure that the end user receives
this manual.

Summary of Contents for CANopen SI-S3

Page 1: ...D YASKAWA AC Drive Option CANopen Technical Manual Model SI S3 To correctly use the product read this manual thoroughly and keep it for easy reference inspection and maintenance Make sure that the end user receives this manual ...

Page 2: ...This Page Intentionally Blank 2 YASKAWA SIEP C730600 85D CANopen Technical Manual ...

Page 3: ...mponents 10 Option 10 Communication Connector 10 Option LED States 10 Option LED Status Definitions 10 5 Installation Procedure 11 Section Safety 11 Procedures to Install and Wire Options on a Drive 12 Procedure A 12 Procedure B 16 Procedure C 19 Communication Cable Specifications 26 Option Connection Diagram 26 Termination Resistor Connection 26 EDS Files 26 6 Related Drive Parameters 26 7 Bit Ra...

Page 4: ...d Request 36 2050 Hex MEMOBUS Modbus Write Request 36 2060 Hex MEMOBUS Modbus Unlimited ENTER Command 37 2070 Hex MEMOBUS Modbus Limited ENTER Command 37 2080 Hex to 3100 Hex Freely Configurable Input Objects 37 2100 Hex 2101 Hex Drive Status 37 2110 Hex 2111 Hex Output Frequency 38 2120 Hex 2121 Hex Output Current 39 2130 Hex 2131 Hex Output Torque Reference 39 2140 Hex MEMOBUS Modbus Read Respon...

Page 5: ...e Parameter and Monitor Access by MEMOBUS Modbus Read Write Commands 49 Reading a Drive Register Parameter or Monitor 49 Writing to a Parameter or Drive Control Register 49 Accessing Drive Parameters and Monitors that are Mapped to Objects 49 Accessing Drive Parameters Monitors and Control Registers Using SDOs 49 Accessing Drive Parameters Monitors and Control Registers Using PDOs 49 Initializing ...

Page 6: ...and troubleshooting The manual is packaged together with the product YASKAWA AC Drive Option CANopen Technical Manual Manual No SIEP C730600 85 This book The technical manual contains detailed information about the option Access the following sites to obtain the technical manual U S http www yaskawa com Europe http www yaskawa eu com Japan http www e mechatronics com Other areas Check the back cov...

Page 7: ...r to order new copies of the manual DANGER Do not ignore the safety messages in this manual If you ignore the safety messages in this manual it will cause serious injury or death The manufacturer is not responsible for injuries or damage to equipment WARNING Electrical Shock Hazard Do not modify the drive or option circuitry Failure to obey can cause serious injury or death or cause damage to the ...

Page 8: ...s not listed in Table 2 1 refer to the web page below to confirm this manual is correct for your product The web page provides a list of option manuals by product and a direct link to download a PDF of the manual Scan QR code Or refer to http www yaskawa com optionlookup Install the Option on a GA500 Drive An option card mounting kit is necessary to install the option on a GA500 drive The option c...

Page 9: ...about any problems with the option Option Package Contents Table 3 1 Contents of Package Option Contents Quantity Option 1 Ground Wire 1 1 Screws M3 3 2 LED Labels 1000 Series 1 GA500 GA700 GA800 1 Installation Manual 1 1 GA700 and GA800 drives do not use the ground wire 2 Only two screws are necessary to install the option on GA700 GA800 and FP605 drives Note The LED label for FP605 drives is pac...

Page 10: ...e is not necessary for installations on GA700 and GA800 drives Communication Connector The CANopen Option is connected to the network using a 9 pin D sub connector The pin assignment is explained in the table below Table 4 1 Communication connector 9 pin D sub CANopen Connector Pin Signal Description 1 2 CAN_L CAN_H bus line dominant high 3 CAN_GND CAN Ground 4 5 CAN_SHLD CAN shield 6 7 CAN_H CAN_...

Page 11: ...dicator LED extinguishes when the DC bus voltage decreases below 50 Vdc When all indicators are OFF measure for dangerous voltages to make sure that the drive is safe If you do work on the drive when it is energized it will cause serious injury or death from electrical shock WARNING Electrical Shock Hazard Do not operate the drive when covers are missing Replace covers and shields before you opera...

Page 12: ...uipment Make sure that all connections are correct after you install the drive and connecting peripheral devices Incorrect connections can cause damage to the option Procedures to Install and Wire Options on a Drive Procedures to install and wire the option are different for different drivel models Refer to the following table to check the procedures to install and wire the option on a drive Table...

Page 13: ... drive is de energized The charge indicator LED extinguishes when the DC bus voltage decreases below 50 Vdc When all indicators are OFF measure for dangerous voltages to make sure that the drive is safe If you do work on the drive when it is energized it will cause serious injury or death from electrical shock 1 Remove the keypad B front cover A and terminal cover C Shut off power to the drive and...

Page 14: ...drive and use one of the included screws B to put it in place A Option B Included screw C Connector CN5 A Figure 5 4 Install the Option 4 Use one of the remaining included screws B to connect one end of the ground wire C to the ground terminal D Use the last remaining included screw B to connect the other end of the ground wire C to the remaining ground terminal and installation hole on the option...

Page 15: ...ng and other electrical and power lines Connect the terminator model No JEPMC W6022 E to the option modular connector CN3 on the end drive of the communication lines A Route wires through the openings provided on the left side of the front cover 1 B Use the open space provided inside the drive to route option wiring Figure 5 6 Wire Routing Examples 1 If there is wiring outside the enclosure the dr...

Page 16: ... it can cause ESD damage to the drive circuitry A Drive front cover B Keypad C Drive terminal cover Figure 5 7 Replace the Front Cover Terminal Cover and Keypad 8 Set drive parameters in Related Drive Parameters on page 26 for correct option performance Make sure that you set F6 35 CANopen Node ID Selection to a node address that is unique on the network Procedure B This section shows the procedur...

Page 17: ...When all indicators are OFF measure for dangerous voltages to make sure that the drive is safe If you do work on the drive when it is energized it will cause serious injury or death from electrical shock 1 Put the LED label A in the correct position on the drive front cover B A LED label B Drive front cover Figure 5 9 Put the LED Label on the Drive Front Cover 2 Remove the keypad E and front cover...

Page 18: ...ove the LED Status Ring board cable connector If you disconnect the LED Status Ring board it can cause incorrect operation and damage to the drive A LED Status Ring board B Temporary placement holes Figure 5 11 Remove the LED Status Ring Board 4 Install the option A into the CN5 A connector C on the drive and use the included screws B to put it in place Tighten the screws to a correct tightening t...

Page 19: ...ve circuitry 6 Reattach the LED Status Ring board E front cover C and keypad D Refer to the drive manuals for more information NOTICE Do not pinch cables between the front cover or the LED Status Ring board and the drive Failure to comply could cause erroneous operation Note Replace the keypad connector then install the keypad Put the keypad connector tab into the holder when you install the keypa...

Page 20: ...l power to the equipment and wait for the time specified on the warning label at a minimum The internal capacitor stays charged after the drive is de energized The charge indicator LED extinguishes when the DC bus voltage decreases below 50 Vdc When all indicators are OFF measure for dangerous voltages to make sure that the drive is safe If you do work on the drive when it is energized it will cau...

Page 21: ...en Technical Manual 21 A Drive front cover B Keypad Figure 5 15 Remove the Front Cover and Keypad 2 Put the LED label B in the correct position on the drive front cover A A Drive front cover B LED label Figure 5 16 Put the LED Label on the Drive Front Cover ...

Page 22: ...ne end of the included ground wire C to the ground terminal on the drive Tighten the screw to a correct tightening torque 0 5 N m to 0 6 N m 4 4 lbf in to 5 3 lbf in Note Route ground wire on the right side of the stud D A Drive grounding terminal FE B Included screw C Ground wire D Stud Figure 5 18 Connect the Ground Wire 5 Install the option A into the CN5 A connector C on the drive and use one ...

Page 23: ... ground wire A Option B Included screw C Connector CN5 Figure 5 19 Install the Option 6 Use one of the remaining included screws B to connect the ground wire A to the ground terminal and installation hole on the option Tighten the screw to a correct tightening torque 0 5 N m to 0 6 N m 4 4 lbf in to 5 3 lbf in Note Refer to Figure 5 20 for instructions about crimp terminal orientation C and wire r...

Page 24: ... Refer to Figure 5 22 Refer to Communication Cable Specifications on page 26 for more information NOTICE Damage to Equipment When you touch the option make sure that you observe correct electrostatic discharge ESD procedures If you do not follow procedures it can cause ESD damage to the drive circuitry 8 Reattach the drive front cover A and the keypad B Refer to the drive manuals for more informat...

Page 25: ...P C730600 85D CANopen Technical Manual 25 9 Set drive parameters in Related Drive Parameters on page 26 for correct option performance Make sure that you set F6 35 CANopen Node ID Selection to a node address that is unique on the network ...

Page 26: ...n is the last node in the network Figure 5 23 Termination Resistor Connection 1 Connect the included ground wire for installations on 1000 series GA500 and FP605 drives The ground wire is not necessary for installation on GA700 or GA800 drives EDS Files For easy network implementation of drives equipped with a CANopen Option an EDS file can be obtained from U S http www yaskawa com Europe http www...

Page 27: ... and 5 are available Settings 4 and 5 are available in A1000 software versions PRG 1021 or later The setting range for 1000 Series drives is different for different software versions Refer to the Peripheral Devices Options section of the drive instruction manual for more information 1 0 5 F6 02 03A3 Comm External Fault EF0 Detect Selects the conditions at which EF0 Option Card External Fault is de...

Page 28: ...n communication Restart the drive after you change the parameter setting Note Be sure to set an address that is different than all other node addresses Do not set this parameter to 0 Incorrect parameter settings will cause AEr Station Address Setting Error errors and the L ERR LED on the option will come on 0 0 126 F6 36 03D1 CANopen Communication Speed Sets the CANopen communications speed Restar...

Page 29: ... the network that is set to the correct bit rate For example the bit rate cannot be detected if the network consists of a master that is set up for a certain bit rate controller and one or more drives with the option set to auto bit rate detection Node ID Setup The node ID can be set in F6 35 The value range is 1 to 126 Each node ID may only be used once in the network After changing F6 35 cycle t...

Page 30: ...one 20A0 2 Selectable default none 20B0 2 Selectable default none 20C0 2 Selectable default none 3000 2 Selectable default none 3100 2 Selectable default none Output 2100 Drive Status 2101 2 Drive Status Change of State filter support 2110 Output Frequency 2111 2 Output Frequency Change of State filter support 2120 Output Current 2121 2 Output Current Change of State filter support 2130 Torque Ref...

Page 31: ... parameter o1 03 2 Frequency Display Unit Selection Revolutions Per Minute RPM 1 EZ Open Loop Vector Control is only available in GA500 GA700 GA800 and FP605 drives Refer to Drives and Motion Profile Objects DSP 402 on page 41 for further details on Drives and Motion Profile Objects Object Type Index Hex Name Common Entries 60FD Digital Inputs 1 60FE Digital Outputs 2 Device Control 6040 Controlwo...

Page 32: ...error codes refer to Table 8 1 Table 8 1 Option Error Codes Error Code Hex Object Name Drive Display 2220 Overcurrent oC 2221 Drive Overload oL2 2310 Motor Overload oL1 2311 Overtorque Detection 1 oL3 2312 Overtorque Detection 2 oL4 2330 Ground Fault GF 3130 Input Phase Loss PF 3210 Overvoltage ov 3220 DC Bus Undervoltage Uv1 3221 Soft Charge Answerback Fault Uv3 3300 Output Phase Loss LF 4210 Hea...

Page 33: ... FF37 Motor Step Out Detected 2 STo FF38 Encoder PG Feedback Loss PGo FF3B Speed Search Retries Exceeded SEr FF41 PID Feedback Loss FbH FF44 Mechanical Weakening Detection 1 oL5 FF45 Mechanical Weakening Detection 2 UL5 FF46 Current Offset Fault CoF FF47 PLC Fault 1 PE1 FF49 DriveWorksEZ Fault dWFL FF4E Braking Resistor Fault RF FF4F BrakingTransistor Overload Fault boL FF52 Node Setup Error nSE 1...

Page 34: ... are saved in the non volatile memory The option will operate using these settings when a Reset Node or Reset Communications command is performed or when the power supply is cycled Index Hex Subindex Content Access PDO Mapping Value Range 1010 1 Store Parameters Read Write Not possible Unsigned 32 1011 Hex Restore Default Parameters Use this object to restore parameters to their defaults Writing l...

Page 35: ...d are mapped to TxPDOs with Change of State transmission type FE Hex enabled Refer to Change of State Filter on page 47 and Transmission Type FE Hex for Transmit PDOs on page 47 for more information Note Freely configurable object content and the object Change of State filter function are available in option software version 3102 and later 2000 Hex Operation Command This object is used to start an...

Page 36: ... Advanced Open Loop Vector PM Closed Loop Vector Only usable when F6 06 1 Torque Reference Limit by Comm Enabled Index Hex Subindex Content Access PDO Mapping Data Length 2030 0 Torque Compensation Read Write Possible 2 byte 2040 Hex MEMOBUS Modbus Read Request This object contains the data of the drive MEMOBUS Modbus register specified in object 2140 Hex You must write the address of the MEMOBUS ...

Page 37: ...save 73 Hex 61 Hex 76 Hex 65 Hex must be written in object 2070 Hex subindex 0 The saved data is not cleared after the power turns OFF Index Hex Subindex Content Access PDO Mapping Data Length 2070 0 Limited enter command Read Write Possible 4 byte 2080 Hex to 3100 Hex Freely Configurable Input Objects The content of these objects can be freely selected by linking them to drive MEMOBUS Modbus regi...

Page 38: ...oss 0 Power Loss Recovery A NetCtrl Status 1 NetCtrl B Digital Output 1 Status function set in drive parameter H2 01 1 ON 0 OFF C Digital Output 2 Status function set in drive parameter H2 02 1 ON 0 OFF D Digital Output 3 Status function set in drive parameter H2 03 1 ON 0 OFF E Motor 2 Selected 1 Motor 2 Selected F Zero Servo Completed 1 Zero Servo Completed 2110 Hex 2111 Hex Output Frequency Thi...

Page 39: ...lained in Change of State Filter on page 47 Index Hex Subindex Content Default Access PDO Mapping Data Length Update Cycle 2130 0 Torque Reference Read Only Possible 2 byte 8 ms 2131 1 0 Number of entries 4 Read Only Not possible 1 byte 1 Torque Reference Read Only Possible 2 byte 8 ms 2 MEMOBUS Modbus address for output torque 0048 Hex Read Only Not possible 2 byte 3 Filter value FFFF Hex Read Wr...

Page 40: ...d Only Possible 4 byte 2180 Hex to 21F0 Hex Freely Configurable Output Objects Note Available in option software version 3102 and later The content of these objects can be freely selected by linking them to drive MEMOBUS Modbus registers For objects with 2 byte values except 21F0 Hex a Change of State filter can be applied Refer to Change of State Filter on page 47 for more information Index Hex S...

Page 41: ...r on page 47 Index Hex Subindex Content Default Access PDO Mapping Data Length Update Cycle 2200 0 Motor Speed Read Only Possible 2 byte 2 ms 2201 1 0 Number of entries 4 Read Only Not possible 1 byte 1 Motor Speed Read Only Possible 2 byte 2 ms 2 MEMOBUS Modbus address for motor speed 0044 Hex Read Only Not possible 2 byte 3 Filter value FFFF Hex Read Write 2 Not possible 2 byte 4 Filter type 0 A...

Page 42: ...e v1 control effort is the motor speed Index Hex Subindex Content Access PDO Mapping Value Range Unit 6044 0 vl control effort Read Only Possible 32768 0 32767 min 1 6046 Hex vl Velocity Min Max Amount This object provides two subindexes to set the minimum and maximum speed reference in min 1 Index Hex Subindex Content Access PDO Mapping Value Range Unit 6046 1 vl velocity min amount Read Write Po...

Page 43: ...e drive Index Hex Subindex Content Access PDO Mapping Value Range 604D 0 vl pole number Read Write Not possible 2 48 6061 Hex Modes of Operation Display This object shows the mode of the device The object supports 2 Velocity Mode only Index Hex Subindex Content Access PDO Mapping Value Range 6061 0 Modes of operation display Read Only Possible 128 127 60FD Hex Digital Inputs This object contains t...

Page 44: ...ta depends on object Possible 2 byte 2 MEMOBUS Modbus address of content Read Write 1 Not possible 2 byte 4 byte 0 Number of entries Read Only Not possible 1 byte 1 Data depends on object Possible 4 byte 2 MEMOBUS Modbus address of content 1 and 2 Read Write 1 Not possible 4 byte 1 Read Write access when the option is in the Pre Operational state Read only access if the option is in the Operationa...

Page 45: ...e MEMOBUS Modbus registers 0001 Hex 0002 Hex 0004 Hex 0005 Hex and 0014 Hex cannot be linked to any object with selectable content Any attempt to map one of those registers to such an input object will result in an error message 10 Process Data Objects PDO PDOs and Default PDO Setup The drive supports 15 Receive and 16 Transmit PDOs The tables below show the available PDOs their default settings a...

Page 46: ...dex 2 604C sub2 1A19 36 Not assigned 1823 Subindex 1 2100 1A23 37 Not assigned 1824 Subindex 1 2110 1A24 38 Not assigned 1825 Subindex 1 2120 1A25 39 Not assigned 1826 Subindex 1 2130 1A26 40 Not assigned 1827 Subindex 1 2140 sub1 1A27 41 Not assigned 1828 Subindex 1 2150 sub1 1A28 Receive PDO Configuration and Mapping A receive PDO can be configured using the corresponding 14xx Hex object and the...

Page 47: ...n page 47 for more information The filter must be set to a value that is different from FFFF Hex If a large filter value is applied then it can be helpful to also set an event timer for the PDO 18xx Hex subindex 5 In this way the PDO is triggered cyclically even if the change in the value of the linked object does not exceed the filter value In this way variations within the filter can still be se...

Page 48: ...ubindex 3 Filter Type Subindex 4 Resolution of Object Value Object Value Behavior Output frequency 0041 Hex A Hex 0 Analog 0 01 Hz Change of State is triggered when the output frequency changes by more than 0 10 Hz Output voltage 0054 Hex 32 Hex 0 Analog 0 1 V Change of State is triggered when the output voltage changes by more than 5 0 V Drive Status 0020 Hex 0 1 Bitmask Change of State is trigge...

Page 49: ...quired after the last parameter value to activate all parameter changes Objects 2050 01 Hex 2060 Hex 2070 Hex 2150 01 Hex and 2160 Hex can be mapped to PDOs Accessing Drive Parameters and Monitors that are Mapped to Objects Note The functions described in this section are available in option software 3102 and later When drive items like parameters monitors or control registers are mapped to manufa...

Page 50: ... of the COB ID of the parameter write RxPDO 1 Higher byte of the COB ID of the parameter write RxPDO 2 Number of invalid registers When writing parameters directly by using PDOs object 2155 Hex should always be used in order confirm that the data has been written correctly Object 2155 Hex should be mapped to a TxPDO with transmission type FE Hex Change of State so that each parameter writing PDO i...

Page 51: ...nnection Check disconnected cables and short circuits and repair as needed A data error occurred due to electric interference Prevent noise in the control circuit main circuit and ground wiring If you identify a magnetic contactor as a source of noise install a surge absorber to the contactor coil Use only recommended cables or other shielded line Ground the shield on the controller side or the dr...

Page 52: ...ble Replace the defective communications cable A programming error occurred on the controller side Examine communications at start up and correct programming errors There is damage to the communications circuitry Do a self diagnostics check If the problem continues replace the control board or the drive Contact Yaskawa or your nearest sales representative to replace the control board The terminati...

Page 53: ...h other devices it is ultimately the responsibility of the user to ensure compliance with European standards Verify that conditions meet European standards after setting up the device EMC Directive Compliance This option is tested according to European standards EN 61800 3 2004 A1 2012 and complies with EMC Directive The CE marking is declared based on the harmonized standards Option Installation ...

Page 54: ...ielded cable B Metal panel C Cable clamp conductive Figure 13 5 Ground Area 14 Specifications Specifications Table 14 1 Option Specifications Items Specifications Model SI S3 Communication Profile DS 301 Ver 4 02 DSP 402 Ver 1 1 Velocity Mode Connector 9 pin D sub connector 4 40 UNC thread Communication Speed 10 kbps 1 Mbps Ambient Temperature 10 C to 50 C 14 F to 122 F Humidity 95 RH or lower wit...

Page 55: ...ltitude 1000 m 3280 ft or lower 15 Disposal Disposal Instructions Correctly dispose of the product and packing material as specified by applicable regional local and municipal laws and regulations WEEE Directive The wheelie bin symbol on this product its manual or its packaging identifies that you must recycle it at the end of its product life You must discard the product at an applicable collecti...

Page 56: ...Addition Information on FP605 Revision Reviewed and corrected entire documentation February 2019 2 All Addition Applicable product series Revision Reviewed and corrected entire documentation Chapter 15 Addition Disposal December 2018 1 All Addition Applicable product series Revision Reviewed and corrected entire documentation June 2016 First edition ...

Page 57: ...YASKAWA SIEP C730600 85D CANopen Technical Manual 57 ...

Page 58: ... Piraporinha Diadema São Paulo 09950 000 Brasil Phone 55 11 3585 1100 Fax 55 11 3585 1187 www yaskawa com br YASKAWA EUROPE GmbH Hauptstraße 185 65760 Eschborn Germany Phone 49 6196 569 300 Fax 49 6196 569 398 E mail info yaskawa eu com www yaskawa eu com YASKAWA ELECTRIC KOREA CORPORATION 18F Hi Investment Securities Building 66 Yeoui daero Yeongdeungpo gu Seoul 07325 Korea Phone 82 2 784 7844 Fa...

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