YASKAWA SI-T3 MECHATROLINK-II A1000 Series Technical Manual Download Page 30 | Manualshive

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8 MECHATROLINK-II Commands

30

YASKAWA

SIEP C730600 86F MECHATROLINK-II Technical Manual

■

CONNECT: 0E (Hex.) (Connect)

Byte

Command

Response

1

CONNECT

CONNECT

2

0

ALARM

3, 4

STATUS

5

VER

VER

6

COM_MOD

COM_MOD

7

COM_TIM

COM_TIM

8 - 15

0

0

16

WDT

RWDT

The CONNECT command establishes a MECHATROLINK connection. The phase moves to communication
phase 2 and 3 after the connection is established.

If a transfer fault is detected after moving to phase 2 or phase 3, notification is given of the fault. In phase 1, no
notification is given even if a transfer fault is detected. Set VER (version) to 21 (Hex.) (Ver. 2.1) for
MECHATROLINK-II, and to 10 (Hex.) (Ver. 1.0) for MECHATROLINK-I.

The communications mode is set by the COM_MOD. For details on the settings, refer to the following
description.

MECHATROLINK-II (VER: 21 (Hex.))

COM_MOD

Bit7

Bit6

Bit5

Bit4

Bit3

Bit2

Bit1

Bit0

SUBCMD

0

0

0

DTMOD

SYNCMOD

0

SUBCMD

Sub-command setting

0

Sub-command not used

1

Sub-command used

DTMOD

Communication Mode

00

Single data transfer mode

SYNCMOD

Transmission Synchronization

0

Move to phase 2

1

Move to phase 3

Note:

If Bit6, Bit5, Bit4, or Bit0 is set to 1, a warning will be generated (Data setting warning: A.94).

COM_TIM

Set the factor of the transmission cycle to COM_TIM (communications time) so that the setting range satisfies the
following formulas.

•

When the transmission cycle is equal to the communications time (COM_TIM = 1):

–

32-byte data transmission
1 [ms] ≤ transmission cycle [ms] ≤ 8 [ms]
If the transmission cycle is set to a fractional value, a warning (Data setting warning: A.94) is generated.

–

17-byte data transmission
0.5 [ms] ≤ transmission cycle [ms] ≤ 8 [ms]
If the transmission cycle is not set to a multiple of 0.5 ms, such as 0.75, a warning (Data setting warning:
A.94) is generated.

•

When the transmission cycle is not equal to the communications time (COM_TIM ≠ 1):
A warning (Data setting warning: A.94) is generated.

MECHATROLINK-I (VER: 10 (Hex.))

COM_MOD

Bit7

Bit6

Bit5

Bit4

Bit3

Bit2

Bit1

Bit0

0

0

0

0

DTMOD

SYNCMOD

EXMOD

DTMOD

Communication Mode

00

Single data transfer mode

SYNCMOD

Transmission Synchronization

0

Move to phase 2 (Asynchronous communications status)

1

Move to phase 3 (Synchronous communications status)

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Summary of Contents for SI-T3 MECHATROLINK-II A1000 Series

Page 1: ...6F YASKAWA AC Drive Option MECHATROLINK II Technical Manual Model SI T3 To properly use the product read this manual thoroughly and retain for easy reference inspection and maintenance Ensure the end user receives this manual ...

Page 2: ...This Page Intentionally Blank 2 YASKAWA SIEP C730600 86F MECHATROLINK II Technical Manual ...

Page 3: ...or 9 MECHATROLINK II Option LED Display 10 Defining Option LED States 10 5 Installation Procedure 10 Section Safety 10 Procedures for Installing and Wiring Options on a Drive 11 Procedure A 11 Procedure B 16 MECHATROLINK II Communications Cables 18 Option Connection Diagram 19 6 MECHATROLINK Option Drive Parameters 19 7 Transmission Interface 21 MECHATROLINK II Cyclic Transmissions 21 Basic Format...

Page 4: ...ub Commands 34 NOP 00 Hex No Operation 34 PRM_RD 01 Hex Read Parameter 34 PRM_WR 02 Hex Write Parameter 34 ALM_RD 05 Hex Read Alarm and Warning 35 INV_I O 41 Hex Drive I O Control 35 Status 35 STATUS Field 36 SUBSTATUS Field 36 9 Troubleshooting 37 Fault Detection Processing 37 Alarm Processing 37 SI T3 Communications Fault Detection 37 Other Faults 38 Drive Fault Notification 38 Drive Side Error ...

Page 5: ...y to install the option and set related drive parameters YASKAWA AC Drive Option MECHATROLINK II Technical Manual Manual No SIEP C730600 86 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 cover o...

Page 6: ...otice to improve the product and or the manual Contact Yaskawa or a Yaskawa representative and provide the manual number shown on the front cover 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 WARNI...

Page 7: ...d PRG four digit number or the option labeling in the field designated C N S four digit number to identify the option 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 downl...

Page 8: ...der are the same Refer to Figure 4 1 for more information Contact the distributor where the option was purchased or contact Yaskawa or a Yaskawa representative about any problems with the option Contents and Packaging Table 3 1 Contents of Package Description Option Ground Wire 1 Screws M3 LED labels Installation Manual 1000 Series GA500 GA700 GA800 CR700 and CH700 Quantity 1 1 3 2 1 1 1 1 GA700 G...

Page 9: ...s 1 Refer to MECHATROLINK II Option LED Display on page 10 for details on the LEDs 2 Connect the provided ground wire during installation Installation on GA700 GA800 CR700 and CH700 drives does not require the ground wire Communication connector Table 4 1 Communication Connector Connector Connector Pin No Signal Name I O Function A A1 NC A2 SRD I O Send receive data A3 SRD I O Send receive data A4...

Page 10: ...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 cause serious injury or death from electrical shock WARNING Electrical Shock Hazard ...

Page 11: ...els Refer to the following table to check the procedures to install and wire the option on a drive Product Series Procedures for Installing and Wiring Options on a Drive Page A1000 Procedure A 11 U1000 Procedure A 11 Z1000U Procedure A 11 GA500 1 2 GA700 Procedure B 16 GA800 Procedure B 16 CR700 Procedure B 16 CH700 Procedure B 16 1 To install the option on GA500 drives use the option card mountin...

Page 12: ...k 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 indicators are OFF measure for dangerous ...

Page 13: ...luded screws B to put it in place A Option B Included screws C Connector CN5 A Figure 5 4 Insert the Option 4 Connect one end of the ground wire C to the ground terminal B using one of the remaining provided screws D Connect the other end of the ground wire C to the remaining ground terminal and installation hole on the option A using the last remaining provided screw D Tighten the screws to 0 5 t...

Page 14: ...ectrical interference 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 7 Wire Routing Examples 1 If wiring is exposed outside the enclosure the drive will not mee...

Page 15: ...0 86F MECHATROLINK II Technical Manual 15 A Drive front cover B Keypad C Drive terminal cover Figure 5 8 Replace the Front Covers and Keypad 8 Set drive parameters in MECHATROLINK Option Drive Parameters on page 19 for correct option performance ...

Page 16: ...for communication option installation Figure 5 9 Drive Components with Option Install the Option Remove the front covers of the drive before you install the option Refer to the drive manual for information about how to remove the front covers Different drive sizes have different cover removal procedures You can only install this option into the CN5 A connector on the drive control board DANGER Ele...

Page 17: ...atus Ring board A and put it in the temporary placement holes B on the right side of the drive Refer to the manual packaged with the drive for information about how to remove the LED Status Ring board 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...

Page 18: ... the drive front cover C and the keypad D Refer to the manual packaged with the drive for information about how to reattach the LED Status Ring board 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 At that time insert the keypad connector tab int...

Page 19: ...ons to start and stop the drive Set b1 01 3 to use the master device to control the frequency reference of the drive The default setting is different for different drives Refer to the Peripheral Devices Options section of the drive instruction manual for more information 1 0 4 b1 02 0181 Run Command 1 Source Selects the input method for the Run command 0 Keypad 1 Digital Input 2 Memobus Modbus Com...

Page 20: ...1 MultiStep References Enabled Note Default setting is 1 for GA500 0 0 1 F6 08 036A Comm Parameter Reset Initialize Selects whether communication related parameters F6 xx and F7 xx are set back to original default values when you use parameter A1 03 to initialize the drive 0 No Reset Parameters retained 1 Reset Back to factory default Note The drive will not change this setting value when you set ...

Page 21: ...tion the SI T3 option exchanges control data and I O data with a control device The option sends response data timed to the reception of command data for the local station address from the master in each transmission cycle to communicate The command and response data formats follow the specifications for the MECHATROLINK Drive commands A Master MP2300 Controller Example B Drive A1000 Example C Dri...

Page 22: ...te Data Transmission Figure 7 2 Basic Format of Data Transfer 32 Byte Data Transmission Communication Phases The SI T3 option changes status after it receives a command code or fault from the master as shown in the figure The communication phases determine the available commands Refer to Table 7 1 and Table 7 2 for more information ...

Page 23: ...ications frame The phase moves to phase 3 when a SYNC_SET command is received and it moves to phase 1 when a DISCONNECT command is received If the drive receives the DISCONNECT command the phase moves to phase 1 Phase 3 Synchronous communications Watchdog timer faults in the communications frame are detected The phase moves to phase 1 if the DISCONNECT command is received The phase moves to phase ...

Page 24: ...g a main command or a sub command the drive gives priority to the command being processed If there is a conflict between an INV_CTL main command and an INV_I O sub command the drive gives priority to the sub command Refer to MECHATROLINK II Commands on page 25 for more information about command formats Table 7 3 shows the combinations of main commands and sub commands Table 7 3 Main Commands and S...

Page 25: ...command is ignored If a warning is generated the values that are read are undefined If a register number NO fault occurs Data setting warning A 94 If SIZE is an odd number or is not between 2 and 8 Data setting warning A 94 The register number NO is the same as the register number that is set and referenced in MEMOBUS Modbus transfers Set the lower byte LSB before you set the upper byte MSB The SI...

Page 26: ...t Command warning A 95 The register number NO is the same as the register number that is set and referenced in MEMOBUS Modbus transfers Set the lower byte LSB before setting the upper byte MSB Refer to the drive technical manual for more information Set the values for DATA from lower byte LSB to upper byte MSB For SIZE set the number of bytes to be written as an even number You can specify eight b...

Page 27: ...ing the region are represented by spaces 3 Identifies the voltage class 2 Three Phase 200 V 4 Three Phase 400 V 5 Three Phase 575 V 4 The portions showing the structure are represented by spaces 5 Four digits indicating any customized specifications 6 Identifies the SI T3 software version 7 Identifies the Drive software version 8 Identifies the Product series name Refer to the Model Number section...

Page 28: ...o frequently If changing several parameters carry out the CONFIG command only after all the parameters have been changed ALM_RD 05 Hex Read Alarm and Warning Byte Command Response 1 ALM_RD ALM_RD 2 0 ALARM 3 4 STATUS 5 ALM_RD_MOD ALM_RD_MOD 6 15 0 ALM_DATA 16 WDT RWDT Table 8 7 ALM_RD_MOD Byte ALM_RD_MOD 0 ALM_RD_MOD 1 ALM_RD_MOD 2 5 00 Hex 01 Hex 02 Hex 6 U2 01 U3 01 Alarm Index 7 U2 02 U3 02 Low...

Page 29: ...lave station it does not remove the cause of a fault After the cause of the alarm or warning has been removed this command is then used to clear the status of the alarm or warning In the following case a warning is generated and the command is ignored If ALM_CLR_MOD is other than a set value Data setting warning A 94 If not in phase 2 or 3 Command warning A 95 Table 8 9 ALM_CLR_MOD ALM_CLR_MOD Des...

Page 30: ...ata transfer mode SYNCMOD Transmission Synchronization 0 Move to phase 2 1 Move to phase 3 Note If Bit6 Bit5 Bit4 or Bit0 is set to 1 a warning will be generated Data setting warning A 94 COM_TIM Set the factor of the transmission cycle to COM_TIM communications time so that the setting range satisfies the following formulas When the transmission cycle is equal to the communications time COM_TIM 1...

Page 31: ...d releases the connection The communication phase shifts to communication phase 1 after this command is completed After moving to phase 1 no check for transmission faults is executed The command can be used in communication phases 2 and 3 If this command is received while in phase 2 or 3 the data for the control command to the Drive is cleared to 0 and a fault reset command is carried out for the ...

Page 32: ... command 1 8 External fault EF0 1 External fault EF0 9 Fault reset 2 3 1 Fault reset A Multi function terminal input 9 Terminal S9 input function 0 Terminal S9 function OFF 1 Terminal S9 function ON H1 09 1 B Multi function terminal input 10 Terminal S10 input function 0 Terminal S10 function OFF 1 Terminal S10 function ON H1 10 1 C D Reserved E Fault history trace clear 1 Fault history trace clea...

Page 33: ... enable A F Not used 1 Terminals are different for different drive models YASKAWA AC Drive 1000 Series CIMR xAx CIMR xTx CIMR xKx CIMR xBx CIMR xDx P1 PC CIMR xUx CIMR xCx M3 M4 YASKAWA AC Drive GA700 GA800 CIPR GAxAx CIPR GAxTx CIPR GAxUx CIPR GAxCx CIPR GAxBx CIPR GAxKx CIPR GAxDx M3 M4 YASKAWA AC Drive CR700 CH700 CIPR CR70Ax CIPR CR70Tx CIPR CH70Bx M3 M4 2 Terminals are different for different...

Page 34: ...s This sub command functions in the same way as the PRM_RD main command In the following case a warning is generated and the command is ignored If a warning is generated the values that are read are undefined If a register number NO fault occurs Data setting warning A 94 If SIZE is an odd number or is not between 2 and 8 Data setting warning A 94 If a main command is PRM_RD or PRM_WR Command warni...

Page 35: ...cted by SEL MON5 29 30 Reference selected by SEL REF6 Monitor selected by SEL MON6 The INV_I O sub command is used to select the type of output from the Drive s terminals and refers to the values from the Drive s internal monitors These settings do not need to be set every scan The settings are saved in the Drive until the next data is received or until the power is turned OFF Use the SEL REF3 4 c...

Page 36: ...gnal input 0 1 Fault reset signal input 9 AGREE Speed agreement 0 1 Speed agreement A INV_READY Drive ready 0 1 Drive ready B OPE oPE fault 0 1 oPE fault C UV_R Recovery after power loss or recovery after momentary power loss 0 Recovery after power loss 1 Recovery after momentary power loss D REMOTE Local or Remote 0 Local 1 Remote Transfer E SEL_M Motor Selection 0 Motor 1 motor 3 1 Motor 2 F 0_S...

Page 37: ... Processing ALARM STATUS WARNG ALM Drive alarm CODE 1 1 No special processing Required Communications alarm 1 ON Notification to drive Required Drive warning 1 No special processing Required Communications warning 1 No special processing None Not required 1 Refer to Drive Fault Notification on page 38 for detail Note No change Fault notification from Drive When consecutive alarms occur the SI T3 p...

Page 38: ...rning Communications warning Received commands are ignored 95 Command warning Communications warning Received commands are ignored EC WDC fault with drive Communications alarm Waits for power supply to be reset ED Drive access permission fault Access not possible 10 consecutive times Communications alarm Waits for power supply to be reset EE Drive monitor timer over 1 s elapsed Communications alar...

Page 39: ...21 CE Modbus Communication Error 25 CF Control Fault 26 SvE Zero Servo Fault 27 EF0 Option Card External Fault 28 FbL PID Feedback Loss 29 UL3 Undertorque Detection 1 2A UL4 Undertorque Detection 2 2B oL7 High Slip Braking Overload 32 dv1 Z Pulse Fault 33 dv2 Z Pulse Noise Fault Detection 34 dv3 Inversion Detection 35 dv4 Inversion Prevention Detection 36 LF2 Output Current Imbalance 37 STo Motor ...

Page 40: ... 94 95 96 97 CPF22 Hybrid IC Error 98 CPF23 Control Board Connection Error 99 CPF24 Drive Unit Signal Fault 9B CPF26 CPF38 Control Circuit Error Note When using YASKAWA AC Drive 1000 Series CPF36 CPF38 ALRM code A5 A7 will not be displayed 9C 9D 9E 9F A0 A1 A2 A3 A4 A5 A6 A7 E5 E5 MECHATROLINK Watchdog Timer Error E6 bUS Option Communication Error FA oFA00 oFA43 Option Card Error Table 9 9 Drive M...

Page 41: ...bH Excessive PID Feedback 2A dnE Drive Disabled 2B PGoH Encoder PG Hardware Fault 32 AEr Station Address Setting Error 33 CyC MECHATROLINK CommCycleSettingErr 34 HCA High Current Alarm 35 LT 1 Cooling Fan Maintenance Time 36 LT 2 Capacitor Maintenance Time 39 EF1 External Fault Terminal S1 3A EF2 External Fault Terminal S2 3B HbbF Safe Disable Signal Input Note SToF Safe Torque OFF will be display...

Page 42: ...properly Duplicate Station Address Check if the option shares Station Address with at least one other node Check the setting values of F6 20 MECHATROLINK Station Address E5 MECHATROLINK Watchdog Timer Error The drive detected a watchdog circuit exception while it received data from the controller Check the MECHATROLINK cable connection Check for wiring and how to counteract noise according to the ...

Page 43: ...board or the entire drive For instructions on replacing the control board contact Yaskawa or a Yaskawa representative CyPo Cycle Power to Active Parameters Comm Option Parameter Not Upgraded Re energize the drive to update the communication option parameters Note If the option software version is not compatible or if you install an incorrect option to the drive it will trigger an alarm Option Comp...

Page 44: ... 2012 and complies with EMC guidelines The CE marking is declared based on the harmonized standards EMC Guidelines Installation Conditions Verify the following installation conditions to ensure that other devices and machinery used in combination with this option and drives also comply with EMC guidelines 1 Use dedicated shield cable for the option and external device encoder I O device master or ...

Page 45: ...ing wood Harmful gas or fluids Salt Direct sunlight Falling foreign objects Altitude Up to 1000 m 3280 ft 1 For MECHATROLINK I a cycle is 2 ms For MECHATROLINK II a cycle is 1 ms to 8 ms for a 32 byte data transmission and 500 μs to 8 ms for a 17 byte data transmission 2 At the maximum transmission distance of 50 m 1969 0 in the maximum number of stations is 15 3 For MECHATROLINK I only a 17 byte ...

Page 46: ...ified 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 47: ... 2019 4 All Addition Applicable product series Revision Reviewed and corrected entire documentation Chapter 12 Addition Disposal December 2018 3 All Addition Applicable product series Revision Reviewed and corrected entire documentation October 2017 2 All Addition Applicable product series Revision Reviewed and corrected entire documentation Chapter 2 Addition Note in Table 1 October 2016 1 All Ad...

Page 48: ...venida Piraporinha Diadema São Paulo 09950 000 Brasil Phone 55 11 3585 1100 Fax 55 11 3585 1187 http www yaskawa com br YASKAWA EUROPE GmbH Hauptstraβe 185 65760 Eschborn Germany Phone 49 6196 569 300 Fax 49 6196 569 398 E mail info yaskawa eu com http www yaskawa eu com YASKAWA ELECTRIC KOREA CORPORATION 35F Three IFC 10 Gukjegeumyung ro Yeongdeungpo gu Seoul 07326 Korea Phone 82 2 784 7844 Fax 8...

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