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YASKAWA EUROPE GMBH

 YEU SIEP C710616 86A - AC Drive A1000 Option Powerlink - Technical Manual

 1

MANUAL NO.   YEU SIEP C710616 86A

To properly use the product, read this manual thoroughly and retain 
for easy reference, inspection, and maintenance. Ensure the end user 
receives this manual.

Type: SI-EL3 for A1000 Series

Technical Manual

YASKAWA AC Drive A1000 Option

ATTENTION! 
This product can only be used on A1000 drives with firmware 
version VSA901018 to VSA901099 installed.

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RoHS Directive Stands for 

the EU directive on the 

Restriction of the Use of 

Certain Hazardous 

Substances in Electrical 

and Electronic Equipment.

Summary of Contents for SI-EL3

Page 1: ...spection and maintenance Ensure the end user receives this manual Type SI EL3 for A1000 Series Technical Manual YASKAWA AC Drive A1000 Option ATTENTION This product can only be used on A1000 drives wi...

Page 2: ......

Page 3: ...3 YASKAWA EUROPE GMBH All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recor...

Page 4: ...ed Content identified by Note is not related to personnel safety or equipment damage safety messages Registered Trademarks Company names and product names listed in this manual are registered trademar...

Page 5: ...ding to the instructions described in this manual Any illustrations photographs or examples used in this manual are provided as examples only and may not apply to all products to which this manual is...

Page 6: ...rlink network for the YASKAWA A1000 drive The option contains support for the Velocity mode according the CANopen Device Profile and Motion Control DSP402 profile It also contains YASKAWA vendor speci...

Page 7: ...y checking the information on the PCB see Figure 1 If you have received the wrong model or the Powerlink Option does not function properly contact your supplier Contents and Packaging Table 2 Option P...

Page 8: ...dicators show the status of the physical link and show activity on the link period S E LED A green lit Powerlink S E LED indicates the status of the Powerlink network state machine A red lit Powerlink...

Page 9: ...et data are being exchanged S E Continuously Off The device is in Init state Green Flickering The device is in NMT_CS_BASIC_ETHERNET state Blinking The device is in NMT_CS_STOPPED state Single flash T...

Page 10: ...ion adjustment and maintenance of this product Do not touch the option card while the power supply to the drive is switched on Failure to comply could result in death or serious injury Do not use dama...

Page 11: ...tside through the drive top cover Use a pair of diagonal cutters to cut out the perforated openings at the left side of the top cover Make sure no sharp edges that can damage the cable remain Drives 2...

Page 12: ...t a YASKAWA representative Identification of Drive Firmware Version 1 Read out firmware version from drive digital operator Check monitor parameter U1 25 when the drive is switched ON The display show...

Page 13: ...US Modbus communications 3 Option card 4 Pulse Input Terminal RP 6 b1 02 1 Run Command Selection Selects the run command input source 0 Digital Operator RUN and STOP keys 1 Digital input terminals S 2...

Page 14: ...0 control word the DSP402 profile will be processed 3 If the Powerlink state machine is NOT in the SAFEOP or OP state and an SDO read request is performed on the DSP402 0x6041 status word the DSP402 p...

Page 15: ...more then one place For example the reset command can be triggered both from the bus with the control word or from the application drive Table 7 Event description table State Transition Number Transit...

Page 16: ...or more details 8 15 Reserved NA Bit Number Status Word Inverter Reference 0 6 These bits control the DS402 state machine See Table 13 7 Warning 1 Warning is present 0 No warning is present 8 Manufact...

Page 17: ...nsitions Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 0 Shutdown 0 X 1 1 0 2 6 8 1 Switch on 0 0 1 1 1 3 2 Switch on enable operation 0 1 1 1 1 3 4 NOTE 1 3 Disable voltage 0 X X 0 X 7 9 10 12 4 Quick stop 0 X 0 1 X...

Page 18: ...Network Interface Parameters 21 1300 SDO Sequence Layer Timeout 21 1400 Receive PDO Communication Parameters 21 1600 1628 Receive PDO Mapping 21 1800 Receive PDO Communication Parameters 21 1A00 Trans...

Page 19: ...efault Input terminal status 26 2190 Selectable default Analog input 1 monitor 26 21A0 Selectable default none 26 21B0 Selectable default none 26 21C0 Selectable default none 26 21E0 Selectable defaul...

Page 20: ...ation about the drive 1020 Hex Device Local Configuration Date and Time This object contains configuration information about the drive Index Hex Subindex Content Access PDO Mapping Value Range 1003 0...

Page 21: ...No Unsigned 32 Index Hex Subindex Content Access PDO Mapping Value Range 1400 Receive PDO communication parameters 0 Number of Entries Read Only No Unsigned 8 1 Node ID Read Write No Unsigned 8 2 Map...

Page 22: ...Read Only No Unsigned 32 3 Threshold Read Write No Unsigned 32 Index Hex Subindex Content Access PDO Mapping Value Range 1C14 Loss of SoC Tolerance Interval Read Write No Unsigned 32 Index Hex Subinde...

Page 23: ...F6 06 to 1 The value will be used as the torque reference for torque control d5 01 1 or as the torque limit in speed control d5 01 0 Note The availability of the torque control and torque limit funct...

Page 24: ...nged it is sufficient to send only one ENTER command after the last parameter change Doing so will activate all changed parameters This type of ENTER command can be applied approximately 100 000 times...

Page 25: ...Content Access PDO Mapping Data Length 20F0 1 Value Read Write Rx Tx 2 MEMOBUS Modbus register address Read Only No Index Hex Subindex Content Default Access PDO Mapping Data Length Update Cycle 2100...

Page 26: ...ite is flagged as invalid by the drive INVSTS2 Bit6 Control command error or local option RxPDO error This object can only be read if the SI EL3 option is in Operational state 2160 Hex MEMOBUS Modbus...

Page 27: ...alue of mapped drive register 1 and 2 Value 0xAAAABBBB AAAA MEMOBUS register 1 address BBBB MEMOBUS register 2 address Read Only Tx Unsigned 32 2 MEMOBUS register address of content 1 and 2 Value 0xAA...

Page 28: ...6 NOI System active error bits when event occurred Read Only No Unsigned 16 7 NOI System latched All errors that have occurred since start up error bits Read Only No Unsigned 16 8 INV status word when...

Page 29: ...vl Velocity Control Effort is the output frequency of the drive to the motor The unit is min 1 In case of close loop vector control mode the motor speed can be read out 6046 Hex vl Velocity Min Max Am...

Page 30: ...049 vl_velocity_deceleration 0x604A vl_velocity_quick_stop and is always used in a product multiplication 604D Hex vl Pole Number The vl pole number sets the number of motor poles and is used to calcu...

Page 31: ...digital inputs seen as output from the network Index Hex Subindex Content Access PDO Mapping Value Range 6061 Modes of Operation Display Read Only Tx 128 127 Index Hex Subindex Content Access PDO Mapp...

Page 32: ...the content of an object The object content can only be changed when the SI EL3 option card is in Pre Operational state and drive is stopped Run command not active The SI EL3 can not be switched to th...

Page 33: ...1 4 bytes vl Decel delta speed Sub index 2 0x6049 2 2 bytes vl Decel delta time 0x1A17 25 Sub index 1 0x604A 1 4 bytes vl quick stop delta speed Sub index 2 0x604A 2 2 bytes vl quick stop delta time...

Page 34: ...gisters above 0x0100 control sets New value only written against drive if it changes from the previously written value If a value update is detected the write will be scheduled directly after the RxPD...

Page 35: ...Write the value and the MEMOBUS Modbus address of the drive parameter or control register to subindex 1 of object 2050 Hex Read the MEMOBUS Modbus write response from subindex 1 of object 2150 Hex in...

Page 36: ...ge Uv2 0x03 3221 DC bus charging circuit fault Uv3 0x04 2330 Ground fault GF 0x06 2220 Over current oC 0x07 3210 DC bus overvoltage ov 0x08 4280 Heatsink overheat oH 0x09 4210 Heatsink overheat oH1 0x...

Page 37: ...written to object 2040 Hex or 2050 Hex before A MEMOBUS Modbus write request has been sent during DC bus under voltage 0602 0022 Hex Drive Profile DSP402 is used and a value is written to object 6042...

Page 38: ...Operator Display Fault Name oFb00 Option Card Fault at Connector CN5 B Non compatible option card is connected Cause Possible Solution The Powerlink option card has been plugged into option port CN5 B...

Page 39: ...and ground shorts and reconnect loose wires Programming error on the master side Check communications at start up and correct programming errors Communication circuitry is damaged Replace the drive i...

Page 40: ...EL3 Communication Profile DS 301 Ver 4 02 DSP 402 Ver 3 0 Velocity Mode Connector RJ45 connector Communications Speed 10 100 Mbps Ambient Temperature 10 C to 50 C Humidity up to 95 RH no condensation...

Page 41: ...13 Specifications YASKAWA EUROPE GMBH YEU SIEP C710616 86A AC Drive A1000 Option Powerlink Technical Manual 41...

Page 42: ...http www yaskawa co kr YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 01 New Tech Park 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3003 http www yaskawa com sg YASKAWA ELECTRIC SHANGHAI CO...

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