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MANUAL NO. TOEP C730600 85A

YASKAWA AC Drive Option

CANopen

Installation 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: ... YASKAWA AC Drive Option CANopen Installation 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 TOEP C730600 85A CANopen Installation Manual ...

Page 3: ...roducts 8 Install the Option on a GA500 Drive 9 3 Receiving 10 Option Package Contents 11 Installation Tools 12 4 Option Components 13 Option 13 Communication Connector 13 Option LED States 14 Option LED Status Definitions 14 5 Installation Procedure 15 Section Safety 15 Procedures to Install and Wire Options on a Drive 16 Procedure A 17 Procedure B 22 Procedure C 27 Communication Cable Specificat...

Page 4: ...Overview 43 Communication Profile Objects DS 301 43 Manufacturer Specific Profile Objects DS 301 44 Drives and Motion Profile Objects DSP 402 45 PDOs and Default PDO Setup 46 Receive PDOs RxPDO 46 Transmit PDOs TxPDO 47 9 Troubleshooting 48 Drive Side Error Codes 48 Faults 48 Minor Faults and Alarms 51 10 European Standards 52 EMC Directive Compliance 52 Option Installation 52 11 Specifications 55...

Page 5: ...ll controls should be designed to detect faults dynamically and fail safely under all circumstances All products designed to incorporate a component part manufactured by YASKAWA must be supplied to the end user with appropriate warnings and instructions as to the safe use and operation of that part Any warnings provided by YASKAWA must be promptly provided to the end user YASKAWA offers an express...

Page 6: ...a representative YASKAWA AC Drive Manuals Refer to the drive manual to connect with the option Drive manuals contain basic installation and wiring information in addition to detailed parameter setting fault diagnostic and maintenance information The manuals also include important information about parameter settings and tuning the drive The Quick Start Guides are packaged with the drive The most r...

Page 7: ... Be sure to reinstall covers or shields before operating any devices The option should be used according to the instructions described in this manual The diagrams in this manual are provided as examples only and may not pertain to all products covered by this manual The products and specifications described in this manual or the content and presentation of the manual may be changed without notice ...

Page 8: ...tatus Change drive parameter settings The option supports these communication profiles DS 301 Ver 4 02 DSP 402 Ver 1 1 Velocity Mode Compatible Products You can use the option with these products Table 2 1 Compatible Products Product Series Model s Software Version 1 A1000 CIMR Ax2Axxxx 1020 CIMR Ax4A0002 4A0675 CIMR Ax4A0930 4A1200 3015 U1000 CIMR UxxAxxxx 1010 CIMR UxxExxxx CIMR UxxPxxxx CIMR Ux...

Page 9: ...n software version For Yaskawa customers in the North or South America region If your product is 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 Dri...

Page 10: ...ot include damage from shipping Contact your sales outlet if the option or other parts appear damaged NOTICE Damage to Equipment Do not use damaged parts to connect the drive and the option Failure to comply could damage the drive and option Make sure that the model number on the option nameplate and the model number on the purchase order are the same Refer to Option on page 13 for more informatio...

Page 11: ...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 packaged with the FP605 drive ...

Page 12: ...all the option to the drive A Phillips screwdriver or slotted screwdriver blade depth 0 4 mm 0 02 in width 2 5 mm 0 1 in 1 A pair of diagonal cutting pliers A small file or medium grit sandpaper 1 Phillips screw sizes are different for different drive capacities Prepare different screwdrivers for different screw sizes ...

Page 13: ...4 for more information about the LEDs 2 Connect the included ground wire during installation The ground wire 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 Des...

Page 14: ...2 Option LED States LED Name Color Display Operating Status RUN Green ON Option operating Blinking Pre Operational State Single Flash Stopped Flickering 1 Automatic bit rate detection in progress alternately flickering with ERR LED ERR Red ON Bus off Blinking Bus initialization failed parameter setting error Single Flash Fault has occurred Receiving CAN error frame too many error frames Double Fla...

Page 15: ...ter 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 cause serious injury or death from electrical shock WARNING Electrical Shock Hazard Do not operate the drive when covers are missing ...

Page 16: ...ve while the drive is outputting voltage Incorrect equipment sequencing can cause damage to the drive NOTICE Do not operate a drive or connected equipment that has damaged or missing parts You can cause damage to the drive and connected equipment NOTICE Use Yaskawa connection cables or recommended cables only Incorrect cables can cause the drive or option to function incorrectly NOTICE Damage to E...

Page 17: ... Drive for the Option Correctly wire the drive as specified by the manual packaged with the drive Make sure that the drive functions correctly Refer to the drive manuals for more information A Insertion point for CN5 connector B Option C Drive front cover D Keypad E LED label F Drive terminal cover G Removable tabs for wire routing H Included screws I Ground wire J Drive grounding terminal FE K Co...

Page 18: ...fe 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 wait for the time specified on the drive warning label at a minimum Make sure that the charge indicator LED is unlit then remove the keypad and front cover Refer to the drive manuals for more informa...

Page 19: ...ct position on the drive front cover A A Drive front cover B LED label Figure 5 3 Put the LED Label on the Drive Front Cover 3 Install the option A into the CN5 A connector C on the 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 ...

Page 20: ...e Note The drive has only two ground terminal screw holes When you connect three options two options will share one ground terminal 5 Route the option wiring Procedures to wire the option are different for different drive models You can route the option wiring through openings on the front cover of some models Remove the perforated tabs on the left side of the front cover as shown in Figure 5 6 A ...

Page 21: ...cal and power lines Make sure that you firmly connect the cable end Refer to Figure 5 22 Refer to Communication Cable Specifications on page 36 for more information Note Do not connect or disconnect the communication cable while the drive is energized or while the drive is in operation Failure to obey can cause a static discharge which will cause the option to stop working correctly Cycle power on...

Page 22: ...n page 37 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 procedure to install and wire the option on a GA700 or GA800 drive Prepare the Drive for the Option Correctly wire the drive as specified by the manual packaged with the drive Make sure that the drive functions correctly ...

Page 23: ...ption Use this procedure to install the option DANGER Electrical Shock Hazard Do not examine connect or disconnect wiring on an energized drive Before servicing disconnect all 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 decr...

Page 24: ...ing label at a minimum Make sure that the charge indicator LED is unlit then remove the keypad and front cover Refer to the drive manuals for more information You can only install this option into the CN5 A connector on the drive control board NOTICE Damage to Equipment When you touch the option make sure that you observe correct electrostatic discharge ESD procedures If you do not follow procedur...

Page 25: ...remove the LED Status Ring board A and put it in the temporary placement holes B on the right side of the drive Refer to the drive manuals for more information NOTICE Do not remove 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 L...

Page 26: ... cable to option communication connector 9 pin D sub Isolate communication cables from main circuit wiring and other electrical and power lines Make sure that you firmly connect the cable end Refer to Figure 5 22 Refer to Communication Cable Specifications on page 36 for more information NOTICE Damage to Equipment When you touch the option make sure that you observe correct electrostatic discharge...

Page 27: ...stall the LED Status Ring board Front Cover and Keypad 7 Set drive parameters in Related Drive Parameters on page 37 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 C This section shows the procedure to install and wire the option on an FP605 drive Prepare the Drive for the Option Correctly wire the dri...

Page 28: ...ll the option DANGER Electrical Shock Hazard Do not examine connect or disconnect wiring on an energized drive Before servicing disconnect all 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 indic...

Page 29: ...um Make sure that the charge indicator LED is unlit then remove the keypad and front cover Refer to the drive manuals 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 A Drive front cover B Keypad Figure 5 15 Remove the Fro...

Page 30: ...edure 30 YASKAWA TOEP C730600 85A CANopen Installation Manual 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 31: ...Included screw Figure 5 17 Remove the Screw from the Drive Grounding Terminal 4 Use the screw B installed in the FE ground terminal of the drive A to connect one 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 ...

Page 32: ...t the Ground Wire 5 Install the option A into the CN5 A connector C on the drive and use one of the included screws B to put it in place 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 1 Only two screws are necessary to install the option on an FP605 drive 2 The option package contains three screws and one ground wire ...

Page 33: ...nstall 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 routing ...

Page 34: ...e that you firmly connect the cable end Refer to Figure 5 22 Refer to Communication Cable Specifications on page 36 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...

Page 35: ...al 35 A Drive front cover B Keypad Figure 5 21 Replace the Front Cover and Keypad 9 Set drive parameters in Related Drive Parameters on page 37 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 36: ...or wired as shown in Figure 5 22 Figure 5 22 Option Connection Diagram 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 Termination Resistor Connection Both ends of a CANopen network have to be terminated with a 120 Ω resistor As the option has no build in termination resistor make ...

Page 37: ... yaskawa com Europe http www yaskawa eu com Japan http www e mechatronics com Other areas Check the back cover of these manuals For questions contact Yaskawa or a Yaskawa representative You can download drive manuals from the Yaskawa product and technical information website shown on the back cover of this manual 6 Related Drive Parameters These parameters set the drive for operation with the opti...

Page 38: ...Selection 1 Selects the input method for the Run command 0 Keypad 1 Digital Input 2 Memobus Modbus Communications 3 Option PCB Note Set b1 02 3 to start and stop the drive with the master device using serial communications Set b1 01 3 Frequency Reference Selection 1 Option PCB to use the master device to control the frequency reference of the drive 1 0 3 E2 04 0311 Motor Pole Count Set the number ...

Page 39: ...f the drive when EF0 Option Card External Fault is detected 0 Ramp to Stop 1 Coast to Stop 2 Fast Stop Use C1 09 3 Alarm Only Note When you set this parameter to 3 the drive will continue operation after it detects a fault Separately prepare safety protection equipment and systems for example fast stop switches 1 0 3 F6 06 03A7 Torque Reference Limit by Comm Sets the function that enables and disa...

Page 40: ...EZ Vector Control If the PLC does not supply a torque reference or torque limit when F6 06 1 Torque Reference Limit by Comm Enabled the motor cannot rotate F6 07 03A8 Multi Step Ref NetRef ComRef 0 Disable Multi Step References 1 Enable Multi Step References Note Default setting of F6 07 is 1 for GA500 0 0 1 F6 08 036A Comm Parameter Reset Initialize Selects whether communication related parameter...

Page 41: ...ts the display units for the frequency reference and output frequency 0 0 01 Hz 1 0 01 100 E1 04 2 Revolutions Per Minute RPM 3 User units Set with o1 10 o1 11 Determined by A1 02 0 3 7 Bit Rate and Node ID Setup Bit Rate Setup In order to communicate with the drive the bit rate set in the SI S3 option must match the bit rate used in the network The bit rate can be selected manually by using a dri...

Page 42: ...up message containing the drive s node ID The option will not send any messages until the bit rate is detected As long as the automatic bit rate detection is in progress the RUN and ERR LEDs on the option will flicker alternately Note There must be bus traffic that the SI S3 can listen to in order to detect the bit rate If there is low traffic the bit rate detection can take a long time The bit ra...

Page 43: ...ion For details about the object content refer to the CANopen Option Technical Manual Communication Profile Objects DS 301 Index Hex Name 1000 Device type 1001 Error register 1003 Pre defined error field 1005 COB ID SYNC message 1008 Manufacturer device name 1009 Manufacturer hardware version 100A Manufacturer software version 100C Guard time 100D Life time factor 100E Node guarding identifier 101...

Page 44: ...and 1 2080 2 Selectable default none 2090 2 Selectable default none 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...

Page 45: ...requently 2 Available in option software versions 3102 and later 3 Units for motor speed are determined by o1 03 If the control mode for the drive is set to PM Open Loop Vector Control A1 02 5 or if V f control with simple PG feedback is disabled H6 01 3 in V f Control A1 02 0 the motor speed will be 0 Drives and Motion Profile Objects DSP 402 The drive supports the Drive and Motion Profile DSP 40...

Page 46: ...eceleration 604A vl velocity quick stop 604C vl dimension factor 604D vl pole number 1 YASKAWA specifies this object as the drive digital output monitor Input from the network 2 YASKAWA specifies this object as the drive digital inputs Output to the network PDOs and Default PDO Setup The drive supports 15 Receive and 16 Transmit PDOs The tables below show the available PDOs their default settings ...

Page 47: ...t assigned 1416 Subindex 1 604A sub1 Subindex 2 604A sub2 1616 24 Not assigned 1417 Subindex 1 604C sub1 Subindex 2 604C sub2 1617 36 Not assigned 1423 Subindex 1 2000 1623 37 Not assigned 1424 Subindex 1 2010 1624 38 Not assigned 1425 Subindex 1 2020 1625 39 Not assigned 1426 Subindex 1 2030 1626 40 Not assigned 1427 Subindex 1 2040 sub1 1627 41 Not assigned 1428 Subindex 1 2050 sub1 1628 Transmi...

Page 48: ...dex 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 9 Troubleshooting Drive Side Error Codes Drive side error codes appear on the drive keypad The table below lists causes of the errors and possible corrective actions Refer to the drive Technical Manual for ...

Page 49: ... Use only recommended cables or other shielded line Ground the shield on the controller side or the drive input power side Separate all communication wiring from drive power lines Install an EMC noise filter to the drive power supply input Counteract noise in the master controller PLC Option is damaged If there are no problems with the wiring and the error continues to occur replace the option Con...

Page 50: ...nnect the option to the correct connector Use connector CN5 A when you connect the option To use other options refer to those option manuals oFb02 Option Fault An option of the same type is already installed in option port CN5 A CN5 B or CN5 C Connect the option to the correct option port oFC00 Option Fault CN5 B The option connected to connector CN5 C is not compatible Connect the option to the c...

Page 51: ...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 termination resistor setting for MEMOBUS Modbus communications is incorrect On the last drive in a MEMOBUS Modbus network set DIP switch S2 to the ON position to enable the termination resistor CyPo Cycle Power to Active Parameters ...

Page 52: ...th the drive must also be CE certified and display the CE mark When using drives displaying the CE mark in combination with 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...

Page 53: ...tallation Manual 53 2 Keep wiring as short as possible and ground the largest possible surface area of the shield to the metal panel according to Figure 10 2 Figure 10 3 and Figure 10 4 Figure 10 2 Option Installation for CE Compliance 1000 Series GA700 GA800 ...

Page 54: ...ANopen Installation Manual Figure 10 3 Option Installation for CE Compliance GA500 Figure 10 4 Option Installation for CE Compliance FP605 3 Ground the largest possible surface area of the shield to the metal panel Yaskawa recommends using cable clamps ...

Page 55: ...ocity 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 with no condensation Storage Temperature 20 C to 60 C 4 F to 140 F allowed for short term transport of the product Area of Use Indoors and free from Oil mist corrosive gas flammable gas and dust Radioactive materials or flammable mater...

Page 56: ...ied 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 collection point for electrical and electronic equipment EEE Do not discard the product with usual waste ...

Page 57: ...WA TOEP C730600 85A CANopen Installation Manual 57 Revision History Date of Publication Revision Number Section Revised Content October 2022 First Edition This manual is created based on TOBP C730600 85D 4 0 ...

Page 58: ...in the Foreign Exchange and Foreign Trade Regulations Therefore be sure to follow all procedures and submit all relevant documentation according to any and all rules regulations and laws that may apply Specifications are subject to change without notice for ongoing product modifications and improvements 2022 YASKAWA ELECTRIC CORPORATION YASKAWA ELECTRIC CORPORATION MANUAL NO TOEP C730600 85A 0 0 P...

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