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YASKAWA CANopen SI-S3/V, Руководство по установке

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7  Communication Objects Overview

32 

YASKAWA

 

TOBP C730600 24A V1000 Option CANopen Installation Manual

◆

PDO Mapping

The drive supports 15 Receive and 16 Transmit PDO's. The tables below show the 

default PDO Mapping.

■

Receive PDO

PDO

Number

Receive PDO Parameter

Receive PDO Mapping

COB-ID (Hex.)

Index (Hex.)

Mapped Objects

Index (Hex.)

1

200 + Node ID

1400

Subindex 1: 6040

1600

2

300 + Node ID

1401

Subindex 1: 6040
Subindex 2: 6060

1601

6

Not assigned

1405

Subindex 1: 6040
Subindex 2: 6042

1605

7

Not assigned

1406

Subindex 1: 6040
Subindex 2: 60FE

1606

8

Not assigned

1407

Subindex 1: 6040
Subindex 2: 6060

1607

21

Not assigned

1414

Subindex 1: 6048 sub1
Subindex 2: 6048 sub2

1614

22

Not assigned

1415

Subindex 1: 6049 sub1
Subindex 2: 6049 sub2

1615

23

Not 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

Содержание CANopen SI-S3/V

Страница 1: ...書をお手元に保管していただくとともに 最終的に本製品をご使用になる ユーザー様のお手元に確実に届けられるよう お取り計らい願います To properly use the product read this manual thoroughly and retain for easy reference inspection and maintenance Ensure the end user receives this manual Installation Manual CANopen Communications YASKAWA AC Drive V1000 Option Type SI S3 V ...

Страница 2: ... written permission of Yaskawa No patent liability is assumed with respect to the use of the informa tion contained herein Moreover because Yaskawa is constantly striving to improve its high quality products the information contained in this manual is sub ject to change without notice Every precaution has been taken in the preparation of this manual Yaskawa assumes no responsibility for errors or ...

Страница 3: ...al 3 Table of Contents 1 Preface and Safety 4 2 Product Overview 10 3 Receiving 11 4 CANopen Option Components 12 5 Installation Procedure 17 6 CANopen Parameters 26 7 Communication Objects Overview 28 8 Fault Diagnosis and Possible Solutions 34 9 Specifications 37 ...

Страница 4: ... sole safety control Without exception all controls should be designed to detect faults dynamically and fail safely under all circumstances All systems or equipment designed to incorporate a product 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 provi...

Страница 5: ...echatronics com Other areas contact a Yaskawa representative Yaskawa Drive V1000 Series AC Drive Technical Manual Manual No SIEP C710606 16 This manual describes installation wiring operation procedures functions troubleshooting maintenance and inspections to perform before operation To obtain instruction manuals for Yaskawa products access these sites Europe http www yaskawa eu com Japan https ww...

Страница 6: ...30600 24A V1000 Option CANopen Installation Manual Registered Trademarks CANopen is a registered trademark of the CAN in Automation CiA Other company names and product names listed in this manual are registered trademarks of those companies ...

Страница 7: ...icate safety messages in this manual Failure to heed these messages could result in serious or possibly even fatal injury or damage to the products or to related equipment and systems DANGER Indicates a hazardous situation which if not avoided will result in death or serious injury WARNING Indicates a hazardous situation which if not avoided could result in death or serious injury CAUTION Indicate...

Страница 8: ... content and presentation of the manual may be changed without notice to improve the product and or the manual When ordering a new copy of the manual due to damage or loss contact your Yaskawa representative or the nearest Yaskawa sales office and provide the manual number shown on the front cover DANGER Heed the safety messages in this manual Failure to comply will result in death or serious inju...

Страница 9: ...permettre la decharge des condensateurs Pour repondre aux exigences s assurer que le neutre soit relie a la terre pour la serie 400V WARNING Read manual before installing Wait 5 minutes for capacitor discharge after disconnecting power supply To conform to ޓ requirements make sure to ground the supply neutral for 400V class Risk of electric shock Risque de decharge electrique AVERTISSEMENT Lire le...

Страница 10: ...e drive Monitor the drive operation status Read or modify drive parameters The SI S3 V supports the following communication profiles DS 301 Ver 4 02 DSP 402 Ver 1 1 Velocity Mode Applicable Models The CANopen Option can be used with the drive models in Table 1 Table 1 Applicable Models 1 See PRG on the drive nameplate for the software version number Drive Software Version 1 CIMR V A BA 5010 1010 o...

Страница 11: ...gure 1 If you have received the wrong model or the CANopen Option does not function properly contact your supplier Contents and Packaging Table 2 Contents of Package Tool Requirements A Phillips screwdriver for screw size 1 1 or 2 U S standard size is required to install the CANopen Option 1 Screw sizes vary by drive capacity Select a screwdriver that matches the drive capacity Note Tools required...

Страница 12: ... packaged separately in the box Figure 2 1 A LED RUN green G Function Earth cable connection FE B LED ERR red H Mounting clip C Option cover I Cable 1 D CANopen PCB J Through hole for cable E Attachment screw hole for option cover K Communication cable connector 9 pin D SUB F PCB part number L Option board connector A B C CANopen with cover attached L H E D H G I J CANopen with cover removed under...

Страница 13: ...Option Components YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 13 Dimensions The installed CANopen Option adds 27 mm 1 06 in to the total depth of the drive Figure 2 Dimensions 27 mm 1 06 in ...

Страница 14: ...ector The connector location is illustrated in Figure 3 the pin assignment is explained in Table 3 Figure 3 Communication connector location Table 3 Communication connector 9 pin D SUB CANopen Connector Pin Signal Description 1 2 CAN_L CAN_L bus line dominant low 3 CAN_GND CAN Ground 4 5 CAN_SHLD CAN shield 6 7 CAN_H CAN_H bus line dominant high 8 9 CAN_SHLD CAN shield 1 5 6 9 Bottom View 7 8 2 3 ...

Страница 15: ...able 4 LED Display Figure 4 explained the indicator flash rates Figure 4 LED Flash Rates and Meaning LED Color Display Meaning RUN Green On Operational State Blinking Pre operational State Single flash Stopped 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 flash Guard Heartbeat eve...

Страница 16: ...CANopen Installation Manual Setting Node Address Set the node address in the drive parameter F6 35 The node address can be set between 1 and 127 but has to be unique in the network If the Node ID is set to 0 communications will not be possible and the ERR LED will flash ...

Страница 17: ...ff The charge indicator LED will extinguish when the DC bus voltage is below 50 Vdc WARNING Electrical Shock Hazard Do not remove option board cover while the power is on Failure to comply could result in death or serious injury The diagrams in this section may include option units and drives without covers or safety shields to show details Be sure to reinstall covers or shields before operating a...

Страница 18: ...e proper electrostatic discharge procedures ESD when handling the option unit drive and circuit boards Failure to comply may result in ESD damage to circuitry Never shut the power off while the drive is outputting voltage Failure to comply may cause the application to operate incorrectly or damage the drive Do not operate damaged equipment Failure to comply may cause further damage to the equipmen...

Страница 19: ...to Equipment Properly connect all pins and connectors Failure to comply may prevent proper operation and possibly damage equipment Check wiring to ensure that all connections are correct after installing the option unit and connecting any other devices Failure to comply may result in damage to the option unit ...

Страница 20: ...minated with a 120Ω resistor As the SI S3 V has no build in terminating resistor make sure to apply a terminating resistor as shown in Figure 6 if the SI S3 V is the last node in the network Figure 6 Terminating Diagram 1 The FE terminal on the CANopen Option must be connected to the drive ground terminal using one of the 4 delivered ground wires V1000 D SUB Connector SI S3 V CAN_SHLD CAN_L CAN_H ...

Страница 21: ...on disconnect all power to the drive The internal capacitor remains charged even after the power supply is turned off The charge indicator LED will extinguish when the DC bus voltage is below 50 Vdc To prevent electric shock wait at least five minutes after all indicators are off and measure the DC bus voltage level to confirm safe level 2 Remove the front cover The original drive front cover may ...

Страница 22: ...able Note Cover removal for certain larger models with a Terminal Cover Single Phase 200 V Class CIMR V BA0006 to BA0018 Three Phase 200 V Class CIMR V 2A0008 to 2A0069 Three Phase 400 V Class All models Remove the terminal cover before removing the bottom cover to install the CANopen Option ground cable Replace the terminal cover after wiring the CANopen Option ground cable Figure 10 Models with ...

Страница 23: ...tion 6 Connect the ground cable from the drive ground terminal to the CANopen Option ground When wiring the CANopen Option pass the ground cable through the inside of the drive bottom cover then pass the ground cable into the through hole at the front of the CANopen Option Figure 12 Ground Cable Connection tabs should line up tabs should line up ground cable drive ground terminal Pass the ground c...

Страница 24: ...the front of the CANopen Option Figure 13 Attach Cover Note When using the drive in an area that may require displaying warning information in Japanese or Chinese a sticker has been provided with the CANopen Option This sticker can be placed over the English and French warnings on the front of the CANopen Option tabs should line up ...

Страница 25: ...cated communication cable only To ensure proper performance Yaskawa recommends using CANopen dedicated communication cables only EDS Files For easy network implementation of drives equipped with a SI S3 V an EDS file can be obtained from Europe http www yaskawa eu com Japan https www e mechatronics com Other areas contact a Yaskawa representative ...

Страница 26: ...e motor nameplate 4 poles E4 04 3 Motor 2 Motor Poles Sets the number of poles of motor 2 4 poles E5 04 3 PM Motor Pole Number Sets the number of motor poles for PM motors 4 F6 01 Operation Selection after Communications Error Determines drive response when a bUS error is detected during communications with the CANopen Option 0 Ramp to Stop 1 Coast to Stop 2 Fast Stop 3 Alarm Only 1 F6 02 External...

Страница 27: ...on 5 If F6 03 is set to 3 then the drive will continue to operate when an EF0 fault is detected Take proper safety measures such as installing an emergency stop switch 6 All node addresses must be unique The ERR light will illuminate when 0 or greater than 127 is entered 7 Default setting is 99 for software versions 5010 1010 and 1011 8 The setting of o1 03 affects the data format in Object 2200 H...

Страница 28: ...echnical Manual Communication Objects DS 301 Index Hex Object 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 1010 Store Parameters 1011 Restore Default Parameters 1014 COB ID Emergenc...

Страница 29: ... for V f control Index Hex Object Name 2000 Operation Command 2010 Speed Command 2020 Torque Limit 2030 Torque Compensation 2040 MEMOBUS Read Command 2050 MEMOBUS Write Command 2060 MEMOBUS Not Limited Enter Command 2070 MEMOBUS Limited Enter Command Index Hex Object Name 2100 Drive Status 2110 Output Frequency 2120 Output Current 2130 Output Torque 2140 MEMOBUS Read Command Response 2150 MEMOBUS ...

Страница 30: ...tting parameter o1 03 2 If these settings are not done properly the Velocity Mode objects can not be used or deliver wrong data Common Entries 1 YASKAWA specifies this object as the drive digital output monitor Input of the network 2 YASKAWA specifies this object as additional digital inputs of the drive Output of the network Device Control Velocity Mode Index Hex Object Name 60FD Digital Input 1 ...

Страница 31: ...rview YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 31 6048 vl_velocity_acceleration 6049 vl_velocity_deceleration 604A vl_velocity_quick_stop 604C vl_dimension_factor 604D vl_pole_number Index Hex Object Name ...

Страница 32: ...ex 2 6042 1605 7 Not assigned 1406 Subindex 1 6040 Subindex 2 60FE 1606 8 Not assigned 1407 Subindex 1 6040 Subindex 2 6060 1607 21 Not assigned 1414 Subindex 1 6048 sub1 Subindex 2 6048 sub2 1614 22 Not assigned 1415 Subindex 1 6049 sub1 Subindex 2 6049 sub2 1615 23 Not assigned 1416 Subindex 1 604A sub1 Subindex 2 604A sub2 1616 24 Not assigned 1417 Subindex 1 604C sub1 Subindex 2 604C sub2 1617...

Страница 33: ...1A06 21 Not assigned 1814 Subindex 1 6042 1A14 22 Not assigned 1815 Subindex 1 6043 1A15 23 Not assigned 1816 Subindex 1 6048 sub1 Subindex 2 6048 sub2 1A16 24 Not assigned 1817 Subindex 1 6049 sub1 Subindex 2 6049 sub2 1A17 25 Not assigned 1818 Subindex 1 604A sub1 Subindex 2 604A sub2 1A18 26 Not assigned 1819 Subindex 1 604C sub1 Subindex 2 604C sub2 1A19 36 Not assigned 1823 Subindex 1 2100 1A...

Страница 34: ...for the drive Faults bUS CANopen Option Communication Error and EF0 External Fault Input from the CANopen Option may appear as an alarm or a fault When a fault occurs the digital operator LEDs remain lit When an alarm occurs the digital operator LEDs flash and the ALM light illuminates If communication stops while the drive is running check the following items Is the CANopen Option properly instal...

Страница 35: ...CANopen requirements Ground the shield on the controller side and on the CANopen Option side CANopen Option is damaged If there are no problems with the wiring and the error continues to occur replace the CANopen Option CANopen Option is not properly connected to the drive The connector pins on the CANopen Option are not properly seated with the connector pins on the drive Reinstall the CANopen Op...

Страница 36: ...tween the drive and CANopen Option Turn the power off and check the connectors between the drive and CANopen Option LED Operator Display Fault Name oFA03 CANopen Option Fault CANopen Option self diagnostics error Cause Possible Solution CANopen Option hardware fault Replace the CANopen Option LED Operator Display Fault Name oFA04 CANopen Option Fault CANopen Option Flash write mode Cause Possible ...

Страница 37: ...on 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 to 1 Mbps Ambient Temperature 10 C to 50 C Humidity up to 95 Rh no condensation Storage Temperature 20 C to 60 C allowed for short term transport of the product Area of Use Indoors free of corrosive gas airborne particles etc Altitude Up to 1000 m ...

Страница 38: ...tory The revision dates and numbers of the revised manuals are given on the bottom of the back cover Date of Priting Rev No Section Revised Content August 2007 First edition MANUAL NO ޓ TOBP C730600 24A Printed in Japan August 2007 07 8 Date of printing Date of original publication ...

Страница 39: ...Avenida Fagundes Filho 620 Bairro Saude Sao Paulo SP Brazil CEP 04304 000 Phone 55 11 5071 2552 Fax 55 11 5581 8795 YASKAWA ELECTRIC EUROPE GmbH Am Kronberger Hang 2 65824 Schwalbach Germany Phone 49 6196 569 300 Fax 49 6196 569 312 YASKAWA ELECTRIC UK LTD 1 Hunt Hill Orchardton Woods Cumbernauld G68 9LF United Kingdom Phone 44 1236 735000 Fax 44 1236 458182 YASKAWA ELECTRIC KOREA CORPORATION 7F D...

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