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7 Modbus TCP/IP Messaging

YASKAWA

SIEP C730600 0E YAI Modbus TCP/IP Technical Manual

No. (Modbus

Register)

Drive Registers

Register Name

Bit

Description

Control Power Supply Undervoltage (Uv2)

Soft Charge Circuit Fault (Uv3)

Short Circuit/IGBT Failure (SC)

Ground Fault (GF)

Overcurrent (oC)

Overvoltage (ov)

Heatsink Overheat (oH)

Heatsink Overheat (oH1)

Motor Overload (oL1)

Drive Overload (oL2)

Overtorque Detection 1 (oL3)

Overtorque Detection 2 (oL4)

Dynamic Braking Transistor Fault (rr)

Braking Resister Overheat (rH)

200A

Error Signal 2

External Fault 3, input terminal S3 (EF3)

External Fault 4, input terminal S4 (EF4)

External Fault 5, input terminal S5 (EF5)

External Fault 6, input terminal S6 (EF6)

External Fault 7, input terminal S7 (EF7)

External Fault 8, input terminal S8 (EF8)

Cooling fan Error (FAn)

Overspeed (oS)

Excessive Speed Deviation (dEv)

PG Disconnected (PGo)

Input Phase Loss (PF)

Output Phase Loss (LF)

Motor Overheat (PTC input) (oH3)

Digital Operator Connection Fault (oPr)

EEPROM Write Error (Err)

Motor Overheat Fault (PTC input) (oH4)

200B

Error Signal 3

MEMOBUS/Modbus Communication Error (CE)

Option Communication Error (bUS)

Reserved

Control Fault (CF)

Zero Servo Fault (SvE)

Option External Fault (EF0)

PID Feedback Loss (FbL)

Undertorque Detection 1 (UL3)

Undertorque Detection 2 (UL4)

High Slip Braking Overload (oL7)

Reserved

Hardware Fault (includes oFx)

Содержание SI-EM3

Страница 1: ... YAI YASKAWA AC Drive Option Modbus TCP IP Technical Manual Model SI EM3D To properly use the product read this manual thoroughly and retain for easy reference inspection and maintenance Ensure the end user receives this manual ...

Страница 2: ...This Page Intentionally Blank 2 YASKAWA SIEP C730600 0E YAI Modbus TCP IP Technical Manual ...

Страница 3: ...ure 11 Section Safety 11 Procedures to Install and Wire Options on a Drive 11 Procedure A 12 Procedure B 15 Procedure C 18 Procedure D 21 Communication Cable Specifications 26 Option Connection Diagram 26 Prepare and Connect Communication Cable Wiring 27 6 Related Drive Parameters 27 7 Modbus TCP IP Messaging 31 Modbus TCP IP Overview 31 Supported Modbus TCP IP Commands 31 Drive Modbus TCP IP Opti...

Страница 4: ...48 9 Rapid Spanning Tree Protocol RSTP 49 Convergence Time 49 Topology 49 Enabling RSTP 49 RSTP Monitor U6 96 50 10 Troubleshooting 51 Drive Side Error Codes 51 Fault 51 Minor Faults and Alarms 52 bUS Fault Tolerance 52 bUS Fault Auto Restart 52 Option Error Codes 52 Option Fault Monitors U6 98 and U6 99 52 Option Compatibility 52 11 Option Installation 53 12 Specifications 54 Specifications 54 13...

Страница 5: ...No SIEP C730600 0E 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 of these manuals For questions contact Yaskawa or a Yaskawa representative YASKAWA AC Drive Manuals Refer to the drive man...

Страница 6: ...o obey can cause serious injury or death or cause damage to the drive or option and will void warranty Yaskawa is not responsible for modifications of the product made by the user NOTICE Damage to Equipment Do not use steam or other disinfectants to fumigate wood for packaging the drive Use alternative methods for example heat treatment before you package the components Gas from wood packaging fum...

Страница 7: ... GA500 GA700 GA800 or HV600 make sure that the option software version is PRG 0383 or later Note Refer to the option package labeling in the field designated PRG 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...

Страница 8: ...age to the option or other parts 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 Figure 4 1 for more information Contact the distributor where you purchased the option or contact Yaskawa ...

Страница 9: ...erent screwdrivers for different screw sizes 4 Option Components Option PCB Components A Connector CN5 B Installation hole C LED NS 1 D LED MS 1 E Ground terminal FE and installation hole 2 F Port 2 LED 10 100 1 G Option modular connector CN1B Port 2 RJ45 H DIP switch S1 I Port 2 LED LINK ACT 1 J Port 1 LED 10 100 1 K Option modular connector CN1A Port 1 RJ45 L Port 1 LED LINK ACT 1 Figure 4 1 Opt...

Страница 10: ...r up diagnostic process to complete before you verify the LED states The operational status of the option LEDs after the power up diagnostic LED sequence is complete are described in Table 4 2 Table 4 2 Option LED States LED Name Indication Operating Status Description Color Status MS OFF Power supply off There is no power to the drive Green ON Option operating The option is operating normally Gre...

Страница 11: ...ernal components of an energized drive it can cause serious injury or death WARNING Electrical Shock Hazard Do not use damaged wires put too much force on the wiring or cause damage to the wire insulation Damaged wires can cause serious injury or death WARNING Fire Hazard Tighten all terminal screws to the correct tightening torque Connections that are too loose or too tight can cause incorrect op...

Страница 12: ...ctor CN5 C Not available for communication option installation Figure 5 1 Drive Components with Option Install the Option 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 capaci...

Страница 13: ...ver 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 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 ...

Страница 14: ...Isolate communication cables from main circuit wiring and other electrical and power 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 drive will not meet Enclosed wall mounted type IP20 UL Type 1 requirements 6 ...

Страница 15: ... on a Z1000 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 Refer to the drive manuals for more information A Drive grounding terminal FE B Option C Included screws D Drive front cover E Keypad F LED label G Ground wire H Option modular connector CN1 port 1 RJ45 I Option modular connecto...

Страница 16: ...t is energized it will cause serious injury or death from electrical shock 1 Remove the keypad B and front cover A 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 information NOTICE Damage to Equipment When you touch the opt...

Страница 17: ...ounding terminal FE B Included screws C Ground wire Figure 5 12 Connect the Ground Wire 5 Firmly connect the Ethernet communication cable to the option modular connector CN1 port 1 or port 2 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 28 Refer to Communication Cable Specifications on pa...

Страница 18: ...on software version is PRG 0383 or later 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 Included screws D Drive front cover E LED label F Keypad G Option modular connector CN1 port 1 RJ45 H Option modular connector CN1 port 2 RJ45 ...

Страница 19: ...o 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 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 electro...

Страница 20: ...ort 2 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 28 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...

Страница 21: ...ated Drive Parameters on page 27 for correct option performance Procedure D This section shows the procedure to install and wire the option on an HV600 drive Prepare the Drive for the Option Before you install the option on a YASKAWA AC Drive HV600 make sure that the option software version is PRG 0383 or later Correctly wire the drive as specified by the manual packaged with the drive Make sure t...

Страница 22: ...bel 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 cause serious injury or death from electrical shock 1 Remove the keypad B and...

Страница 23: ...TCP IP Technical Manual 23 A Drive front cover B Keypad Figure 5 21 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 22 Put the LED Label on the Drive Front Cover ...

Страница 24: ...ct 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 in lb to 5 3 in lb Note Route ground wire through the right side of the stud D A Drive grounding terminal FE B Ground screw C Ground wire D Stud Figure 5 24 Connect the Ground Wire 5 Install the option A into the CN5 connector C on the drive and use o...

Страница 25: ...all 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 in lb to 5 3 in lb Note Refer to Figure 5 26 for instruction about crimp terminal orientation C and cable wiring route A Ground wire B Included screw C Crimp terminal Figure 5 26 C...

Страница 26: ...n 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 information NOTICE Do not pinch cables between the front covers and the drive Failure to comply could cause erroneous operation A Drive front cover B Keypad Figure 5 27 Replace the Front Cover and Keypad 9 Set drive parameters in Related Drive Parameters on page 27 for ...

Страница 27: ...k communication are represented in hexadecimal numbers No Hex Name Description Default Range b1 01 0180 Frequency Reference Selection 1 Selects the input method for frequency reference 0 Keypad 1 Analog Input 2 Memobus Modbus Communications 3 Option PCB 4 Pulse Train Input Note Set b1 02 3 Run Command Selection 1 Option PCB to use the master device and serial communications to start and stop the d...

Страница 28: ... 01 Torque Control Selection to determine whether the value is read as the Torque Limit value or the Torque Reference value d5 01 0 Torque Limit d5 01 1 Torque Reference In A1 02 6 Control Method Selection PM Advanced Open Loop Vector this value is read as the Torque Limit GA500 Parameter is available in A1 02 2 6 8 Control Method Selection Open Loop Vector PM Advanced Open Loop Vector EZ Vector C...

Страница 29: ...significant octet Note This parameter is only effective when F7 13 0 Address Mode at Startup Static All IP Addresses must be unique You must cycle power to the drive for the changes to take effect For non 1000 series drives you can set F6 15 1 Comm Option Parameters Reload Reload Now 255 0 255 F7 06 03EA Subnet Mask 2 Sets the static fixed Subnet Mask Sets the second most significant octet Note Th...

Страница 30: ...Full port 1 is set to Half and port 2 is set to Full When 5 Auto Half port 1 is set to Auto and port 2 is set to Half When 6 Auto Full port 1 is set to Auto and port 2 is set to Full When 7 Full Half port 1 is set to Full and port 2 is set to Half When 8 Full Auto port 1 is set to Full and port 2 is set to Auto 1 0 8 F7 15 03F3 Communication Speed Selection Sets the communications speed Port 1 Por...

Страница 31: ...t Shows first option fault Refer to page 52 for more information U6 99 Current Fault Shows current option fault Refer to page 52 for more information 7 Modbus TCP IP Messaging Modbus TCP IP Overview The Modbus TCP IP protocol is essentially the Modbus protocol over an Modbus TCP IP network A master controller typically a PLC sends commands to slave devices which then perform the specified function...

Страница 32: ...3 bit7 Multi Function Input 4 bit8 Multi Function Input 5 bit9 Multi Function Input 6 bit A Multi Function Input 7 bit B Multi Function Input 8 bit C F Reserved 0002 Frequency Reference Units are determined by parameter o1 03 Frequency Display Unit Selection 0003 Output voltage gain Unit 0 1 Setting range 20 2 0 2000 200 0 the default value at energize 1000 100 0 0004 Torque reference torque limit...

Страница 33: ...Hex 001D Digital output option DO A3 output value binary 001E 001F Reserved Table 7 3 Drive Registers No Modbus Register Drive Registers Register Name Bit Description 2000 4B Drive Status U1 12 0 1 During Run 1 1 During zero speed 2 1 During reverse 3 1 During reset signal input 4 1 During Speed Agree 5 1 Drive operation ready 6 1 Alarm 7 1 Fault 8 1 During Operation Error oPExx 9 1 Momentary powe...

Страница 34: ...l S4 EF4 2 External Fault 5 input terminal S5 EF5 3 External Fault 6 input terminal S6 EF6 4 External Fault 7 input terminal S7 EF7 5 External Fault 8 input terminal S8 EF8 6 Cooling fan Error FAn 7 Overspeed oS 8 Excessive Speed Deviation dEv 9 PG Disconnected PGo A Input Phase Loss PF B Output Phase Loss LF C Motor Overheat PTC input oH3 D Digital Operator Connection Fault oPr E EEPROM Write Err...

Страница 35: ... Function Differences Depending on the Setting of H5 11 Table 7 5 Enter Command Function Differences Depending on the Setting of H5 11 H5 11 Settings H5 11 0 H5 11 1 Time when the parameter settings are enabled When the drive receives the Enter command from the master When you change the parameter settings Upper and lower limit check Checks the upper and lower limits and considers the related para...

Страница 36: ...the least significant bits Table 7 6 Read Multiple Registers Command Description Byte No Data Hex Slave Address Unit Identifier 1 00 FF Function Code 1 03 Starting Register 2 0000 FFFF Quantity of Registers 2 N 1 1 N Quantity of Registers 1 to 16 Table 7 7 Read Multiple Registers Response Description Byte No Data Hex Slave Address Unit Identifier 1 00 FF Function Code 1 03 Number of Data Bytes 1 2...

Страница 37: ...ster Upper 01 Lower 09 Last Register Upper 00 Lower 00 Table 7 11 Example Read Multiple Registers Error Response Description Data Hex Slave Address Unit Identifier 02 Error Code 83 Exception Code 02 06 06 Hex Write Single Register This function code is used to write to a single register in the drive The command specifies the address of the register to be written and the value to write The normal r...

Страница 38: ...g the register address 0000 Hex to the network 2 The drive automatically convert the register address 0000 Hex to 0001 Hex 3 The drive responds the value of register address 0001 Hex to the PLC Table 7 16 Example Write Single Register Response Description Data Hex Slave Address Unit Identifier 01 Function Code 06 Register Address Upper 00 Lower 01 Register Values Upper 00 Lower 03 Table 7 17 Examp...

Страница 39: ...resses 0001 Hex and 0002 Hex in a drive with the slave address unit identifier 01 Hex Table 7 22 shows examples of responses indicating that the write command has been executed successfully The command specifies the beginning of the register address and the number of registers Table 7 23 shows examples of an error response when writing to a register The exception code is 02 Hex indicating a regist...

Страница 40: ...Quantity of Registers to Write 2 N 2 Write Byte Count 1 N 2 2 Write Register Values N 2 2 0000 FFFF 1 M Quantity of Registers to Read range is 1 16 2 N Quantity of Registers to Write range is 1 16 Table 7 25 Read Write Multiple Registers Response Description Byte No Data Hex Slave Address Unit Identifier 1 00 FF Function Code 1 17 Number of Data Bytes 1 M 1 2 Read Register Values M 1 2 Values cont...

Страница 41: ...ription Data Hex Slave Address Unit Identifier 01 Error Code 97 Exception Code 02 Modbus TCP IP Exception Codes When an error occurs remove the cause and restart communications The response message will contain one of the Error Codes defined in Table 7 30 Table 7 30 Modbus TCP IP Exception Codes Error Code Hex Error Name and Cause 01 Function Code Error Attempted to set a function code from a PLC ...

Страница 42: ...n A controlled connection is defined as one in which a master commands the drive by writing to register 01 Hex After this write the option will begin a timer The timer will be reset upon subsequent writes to register 01 Hex If the timer exceeds the value programmed in drive parameter F7 16 Timeout Value the option will declare a bUS Option Communication Error if the option has an active run comman...

Страница 43: ...ure 8 2 Modbus TCP Page View Table 8 1 Modbus TCP Page Description Network Monitor Description Current Connections Current number of open connections Control Connection Delta Time The time between the last two writes to the Control register MEMOBUS Modbus address 0001 Hex Network Page The Network tab shows the status of the option network traffic and the status of open I O connections ...

Страница 44: ...k Subnet Mask of the option Gateway Address The Gateway IP Address that the option will use MAC Address MAC Address of the option Address Mode Either static IP address or DHCP Link Status Active if the cable is plugged in or inactive if no cable Speed Connection speed either 10 Mbps or 100 Mbps Duplex Display either Full or Half Auto Negotiation If auto negotiation is enabled this will show the st...

Страница 45: ...modified To change either of these values you must be logged into the page first Figure 8 4 Ring Page View RSTP Figure 8 5 Ring Page View RSTP Ring Protocol After setting the setting value to ENABLED click Save Changes to enable RSTP Priority The RSTP Priority controls which bridge in the network becomes the root bridge For most installations the PLC or controller should be configured as the root ...

Страница 46: ...ridge Alternate This port is an alternate path to the root bridge Backup This port is an alternate path away from the root bridge Disabled This port does not have an active link N A RSTP is disabled State The State field indicates if the port is accepting and sending messages The four possible values for State field and the features of each state are shown in Table 8 5 Table 8 5 State Values State...

Страница 47: ...educing emails about reoccurring errors The timer helps limit the amount of emails sent regarding the same intermittent condition and helps to reduce network traffic by reducing emails about reoccurring errors To save the entered information into the option click Save Email Settings Figure 8 7 Email Alerts Page View Procedure Conditional Email Set up 1 Click the Enable check box to enable the aler...

Страница 48: ...a Read or Set command is given Status will display Waiting while the action is being carried out then Read Successful or Write Successful is displayed when finished Settings Page The Settings page sets web page behavior parameters Access is restricted unless a valid password is entered Figure 8 9 Settings Page View Security Login Click Login and enter a valid password The button text changes to Lo...

Страница 49: ...and when the network changes e g path failures and restorations Take special care when using parameter F7 16 Timeout Value Communication Timeout Loss and be sure to give RSTP enough time for convergence When F7 16 is set too short convergence will not be able to complete before it expires The complexity of the network and the number of drives on the network will both factor into the value of the t...

Страница 50: ...he first two digits belong to port 1 and the last two digits belong to port 2 The first and third digits represent port role while the second and fourth digits represent port state The possible port role and state values are shown in Figure 9 2 Figure 9 2 U6 96 Monitor Values Refer to Table 8 4 for descriptions of the port role values Refer to Table 8 5 for descriptions of the port state values Be...

Страница 51: ...al interference from the controller Option is damaged If there are no problems with the wiring and the error continues to occur replace the option Connection Time out The PLC needs to communicate with the option within the time out period set by F7 16 Duplicate IP Address Check if the option shares an IP address with at least one other node Make sure that every node on the network has a unique IP ...

Страница 52: ...or warning conditions via drive monitor parameters on the drive keypad as shown in Table 10 1 Table 10 1 Option Fault Monitor Descriptions Status Fault Declared Status Value U6 98 U6 99 Description No faults 0 No faults Fatal error occurred EF0 3 Network sent a message to force this node to the fault state Network Link Down bUS 1104 No network link to option Connection Time out bUS 1101 The contro...

Страница 53: ...tween 450 and 630 kW 4 To use AI A3 and DI A3 input statuses as monitors connect the options to one of CN5 A CN5 B or CN5 C 11 Option Installation Verify the following installation conditions to make sure that other devices and machinery used with this option and drive also comply with EMC guidelines 1 Use dedicated shield cable for the option and external device encoder I O device master or run t...

Страница 54: ...ess Setting Programmable from drive keypad or network Communication Speed Programmable from drive keypad or network 10 100 Mbps auto negotiate Number of Connections Modbus TCP IP 10 Web page connections 2 Duplex Mode Half Half Auto negotiate Full Full Address Startup Mode Static BOOTP DHCP Ambient Temperature 10 C 50 C 14 F 122 F Humidity Up to 95 RH no condensation Storage Temperature 20 C 60 C 4...

Страница 55: ...ve 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 ...

Страница 56: ...SIEP C730600 0E YAI Modbus TCP IP Technical Manual Revision History Date of Publication Revision Number Section Revised Content May 2021 YAI All Updated instructions to support YAI software June 2020 First Edition ...

Страница 57: ...YASKAWA SIEP C730600 0E YAI Modbus TCP IP Technical Manual 57 ...

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