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10 Process Data Objects (PDO)

YASKAWA ELECTRIC

SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual

Receive PDOs (RxPDO)

The Receive PDOs have a default mapping according to

Table 16

. The end user can re-map Receive PDOs by writing to

the map objects 0x1600-1628. Refer to

Communication Profile Objects (DSP 301) on page 26

Table 16 Receive PDO

RxPDO Mapped Drive Registers Above 0x0100 Range

Drive registers above 0x0100 cannot be configured as process data exchanged on each I/F scan cycle. To be able to
RxPDO map those objects on EtherCAT, a “slow” IO channel must be realized inside the option system firmware. This
slow IO channel uses the overlaid MEMOBUS/Modbus channel in I/F to write the drive registers required.

When the RxPDO mapping is performed on any drive register and the address is larger than 0x0100, it will be added to
the slow IO control set.

ENTER command management for slow IO channel 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 RxPDO EtherCAT process data cycle is

complete.

• If the written value via MEMOBUS/Modbus fails, i.e. parameter cannot be written when the drive is running, a new

retry will be triggered after 8 ms.

• If a RAM ENTER command is required for the written value to be used by the drive, the ENTER command will be

written when the last register that should be updated in an slow IO data scan set update is triggered.

• Mapped drive registers: A: 0x0200, B: 0x0201, C: 0x0203

• All three registers change at the same time: RAM ENTER command executed with C.
• Only register 0x0200 changes: RAM ENTER command executed with A.

PDO Number

Receive PDO Mapping

Mapped Objects (Hex)

Index (Hex)

Sub-index 1: 0x6040#0, 2-bytes (DSP402 controlword)

0x1600

Sub-index 1: 0x6040#0, 2-bytes (DSP402 controlword)
Sub-index 2: 0x6060#0, 1-bytes (DSP402 modes of operation)

0x1601

Sub-index 1: 0x6040#0, 2-bytes (DSP402 controlword)
Sub-index 2: 0x6042#0, 2-bytes (vl target velocity)

0x1605

Sub-index 1: 0x6040#0, 2-bytes (DSP402 controlword)
Sub-index 2: 0x60FE#1, 4-bytes (Physical digital outputs)

0x1606

Sub-index 1: 0x6040#0, 2-bytes (DSP402 controlword)
Sub-index 2: 0x6060#0, 1-bytes (DSP402 modes of operation)

0x1607

Sub-index 1: 0x6048#1, 4-bytes (vl accel delta speed)
Sub-index 2: 0x6048#2, 2-bytes (vl accel delta time)

0x1614

Sub-index 1: 0x6049#1, 4-bytes (vl decel delta speed)
Sub-index 2: 0x6049#2, 2-bytes (vl decel delta time)

0x1615

Sub-index 1: 0x604A#1, 4-bytes (vl quick stop delta speed)
Sub-index 2: 0x604A#2, 2-bytes (vl quick stop delta time)

0x1616

Sub-index 1: 0x604C#1, 4-bytes (vl dimension factor numerator)
Sub-index 2: 0x604C#2, 4-bytes (vl dimension factor denominator)

0x1617

Sub-index 1: 0x2000#1, 2-bytes (Operation command)

0x1623

Sub-index 1: 0x2010#1, 2-bytes (Speed reference/Speed limit)

0x1624

Sub-index 1: 0x2020#1, 2-bytes (Torque reference/Torque limit)

0x1625

Sub-index 1: 0x2030#1, 2-bytes (Torque compensation)

0x1626

Sub-index 1: 0x2040#1, 4-bytes (MEMOBUS/Modbus read request)

0x1627

Sub-index 1: 0x2050#1, 4-bytes (MEMOBUS/Modbus write request)

0x1628

Содержание SI-ES3

Страница 1: ......

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

Страница 3: ... 7 4 OPTION COMPONENTS 8 5 INSTALLATION PROCEDURE 11 6 DSP301 AND DSP402 SPECIFICATIONS 17 7 RELATED DRIVE PARAMETERS 24 8 OBJECT DICTIONARY 26 9 CONFIGURING MANUFACTURER SPECIFIC CANOPEN OBJECTS 45 10 PROCESS DATA OBJECTS PDO 47 11 DRIVE PARAMETER MONITOR AND CONTROL REGISTER ACCESS 52 12 FAULT DIAGNOSIS AND POSSIBLE SOLUTIONS 54 13 SPECIFICATIONS 60 ...

Страница 4: ... Automation GmbH Germany All trademarks are the property of their respective owners Option Yaskawa AC Drive 1000 Series Option SI ES3 EtherCAT Installation Manual Manual No TOBP C730600 64 Read this manual first The installation manual is packaged with the option and contains information required to install the option and set up related drive parameters Yaskawa AC Drive 1000 Series Option SI ES3 E...

Страница 5: ... 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 applicable The products and specifications described in this manual or the content and presentation of the manual may be changed without notice to improve the product and or the manual When ordering new c...

Страница 6: ...ding interchangeability of like components from multiple vendors By installing the option to a drive it is possible to do the following from an EtherCAT master device drive operation drive operation status monitoring changing parameter settings The option provides instant connectivity to an EtherCAT network for the Yaskawa A1000 drive The option supports the Velocity mode according the CANopen Dev...

Страница 7: ... function properly Option Package Components Table 2 Option Package Contents Tools Required for Installation A Phillips screwdriver M3 metric 1 2 U S standard size 1 is required to install the option and remove drive front covers Diagonal cutting pliers required for some drive models A small file or medium grit sandpaper required for some drive models Note Tools required to prepare option networki...

Страница 8: ... ERR 1 I Communication connector CN1 RJ45 1 Refer to Option LED Display on page 9 for details on the LEDs 2 The ground wire provided in the option shipping package must be connected during installation E LED L A OUT 1 J Communication connector CN2 RJ45 EtherCAT Connector Pin Signal Description 1 TD Send data 2 TD 3 RD Receive data 4 N C Pins denoted as N C do not connect to any signal 5 N C Pins d...

Страница 9: ...approximately 200 ms followed by a long off phase approximately 1000 ms Continuously on The device is in Operational state Red Blinking 1 Hz or 6 Hz The Option BOOT or APP firmware is executing the NOID firmware loader 1 Hz Firmware loader protocol is in IDLE state waiting for commands from the drive 6 Hz Firmware loader protocol is processing commands ERR Red Continuously off No fault The EtherCA...

Страница 10: ...CANopen Objects The vendor specific CANopen object model is integrated into EtherCAT Error Management EtherCAT processes drive and EtherCAT specific errors and assures that all faults process and propagate properly to the drive EtherCAT network flickering blinking single flash double flash inverted double flash triple flash n flashes on 50 ms 200 ms 200 ms 200 ms 1000 ms 200 ms 200 ms 200 ms 200 m...

Страница 11: ... personnel to use equipment Failure to comply could result in death or serious injury Maintenance inspection and replacement of parts must be performed only by authorized personnel familiar with installation adjustment and maintenance of this product Do not touch circuit boards while the power to the drive is on Failure to comply could result in death or serious injury Do not use damaged wires pla...

Страница 12: ... Figure 4 Figure 4 Drive Components with Option 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 and connecting any other devices Failure to comply may result in damage to the option A Insertion point for CN5 connector H Included screws B SI ES3 o...

Страница 13: ... off measure the DC bus voltage to confirm safe level and check for unsafe voltages before servicing The internal capacitor remains charged after the power supply is turned off 1 Shut off power to the drive wait the appropriate amount of time for voltage to dissipate then remove the digital operator D and front covers C F Refer to the Quick Start Guide packaged with the drive for directions on rem...

Страница 14: ...minal K using one of the remaining provided screws H Connect the other end of the ground wire I to the remaining ground terminal and installation hole on the option B using the last remaining provided screw H and tighten both screws to 0 5 to 0 6 Nxm 4 4 to 5 3 in lbs Figure 8 Figure 8 Connect the Ground Wire Note There are two screw holes on the drive for use as ground terminals K When connecting...

Страница 15: ...Note Separate communication cables from main circuit wiring and other electrical lines Figure 9 Figure 9 Wire Routing Examples 6 Connect the EtherCAT communication cable to the option modular connector CN1 and CN2 To connect the option to a network insert the RJ45 communication connector of the Cat5e patch cable into the option modular female connector CN1 and CN2 Ensure the cable end is firmly co...

Страница 16: ...re pinched between the front covers and the drive when replacing the covers 8 Set drive parameters in Table 13 for proper option performance Network Termination The EtherCAT network does not require a termination resistor if the drive is the last node in the network The network is terminated by the ASIC of the EtherCAT option card ESI File For easy network implementation of drives equipped with an...

Страница 17: ... Automatic vendor specific mode It is also possible to run the drive by mapping the vendor specific command and status to control the drive Any access to the DSP402 Controlword will be rejected DSP402 object 0x6061 Modes of operation display 2 Profile vendor mode is automatically activated by the option within the following constraints If an RxPDO mapping has been assigned to DSP402 Controlword 0x...

Страница 18: ...CY Emergency object is used for error reporting when a fault has occurred in the drive or option Services Supported SDO Requests SDO Download Expedited Writes up to four octets to the slave SDO Download Normal Writes up to a negotiated number of octets to the slave Download SDO segment Writes additional data if the object size is greater than the negotiated number of octets SDO Upload Expedited Re...

Страница 19: ...higher state the drive might be controlled locally and reject an application IF state switch an error will be generated on EtherCAT The state transition time out wait time is 3 seconds EtherCAT state Event Description INIT State SDO access possible against the drive PREOP State SDO access possible against the drive No ctrl data is mapped against the drive Only drive status is mapped on resp regist...

Страница 20: ... details 10 Manufacturer specific NA 11 Manufacturer specific NA 12 Manufacturer specific NA 13 Manufacturer specific NA 14 Manufacturer specific NA 15 Manufacturer specific NA Bit Number Statusword Drive Reference 0 Ready to switch on This bit controls the DS402 state machine See Table 11 1 Switched on This bit controls the DS402 state machine See Table 11 2 Operation enabled This bit controls th...

Страница 21: ...Automatic transition to Enable operation state after executing SWITCHED ON state functionality 3 If the option does not have the NetCtrl command it will not process any command orders against the drive 0 0 or 1 1 1 0 2 6 8 Turns off run command 1 Switch on 0 0 1 1 1 3 Turns off run command 2 Switch on enable operation 0 1 1 1 1 3 4 2 3 If velocity mode index 0x6042 vl target velocity 0 runs in rev...

Страница 22: ...transition between the states are either sent with the Controlword or triggered by an internal action All the possible events and the corresponding transition numbers are listed in Table 12 Figure 13 DSP402 State Diagram 1 Transition 16 is only available while the drive is performing the quick stop action When completed transition will automatically be processed Start Not Ready to Switch On Switch...

Страница 23: ...wn command received 3 Ready to switch on Switched on Switch on command received 4 Switched on Operation enabled Enable operation command received 5 Operation enabled Switched on Disable operation command received 6 Switched on Ready to switch on Shutdown command received 7 Ready to switch on Switch on disabled Quick stop command received 8 Operation enabled Ready to switch on Shutdown command rece...

Страница 24: ...o 3 b1 02 181 1 Run Command Selection Selects the run command input source 0 Digital Operator RUN and STOP keys 1 Digital input terminals S1 to S8 2 MEMOBUS Modbus communications 3 Option Default 1 Range 0 to 3 Set to 3 E2 04 311 2 Number of Motor Poles Set the number of motor poles described on the motor nameplate Default 4 Min 2 Max 48 F6 01 3A2 Operation Selection after Communications Error Det...

Страница 25: ...00 64A 1000 Series Option SI ES3 Technical Manual 25 7 The setting specifies that the Torque Reference or Torque Limit is to be provided via network communications F6 06 1 The motor may rotate if no torque reference or Torque Limit is supplied from the PLC ...

Страница 26: ...oftware Version 28 1010 Store Parameters 29 1011 Restore Default Parameters 29 1018 Identity Object 29 1600 1628 Receive PDO Mapping 30 1A00 1A28 Transmit PDO Mapping 30 1C00 Sync Manager Communication Type 30 1C12 Sync Manager RxPDO Assign 31 1C13 Sync Manager TxPDO Assign 31 Index Hex Content Page Input 2000 Operation Command 31 2010 Speed Reference Speed Limit 32 2020 Torque Reference Torque Li...

Страница 27: ...ble default Input terminal status 37 2190 Selectable default Analog input 1 monitor 37 21A0 Selectable default none 37 21B0 Selectable default none 37 21C0 Selectable default none 37 21D0 Selectable default none 37 21E0 Selectable default none 37 21F0 Selectable default none 37 2200 Motor Speed 38 2210 DC Bus Voltage 38 2220 Analog Input Monitor A1 38 2240 Analog Input Monitor A2 38 2260 Analog In...

Страница 28: ...therCAT for 1000 series 1009 Hex Manufacturer Hardware Version This object contains the manufacturer hardware version Value 1 x x HW revision assigned during production 100A Hex Manufacturer Software Version This object contains the Manufacturer software version Value VST9242xx Yaskawa Def VST9242xx VST9 A1000 option card 2 European product 42 Product code xx Minor revision Index Hex Subindex Cont...

Страница 29: ...her with an EEPROM ENTER command Note Write access is only allowed in the EtherCAT Pre Operational state 1018 Hex Identity Object This object contains general information about the drive Index Hex Subindex Content Access PDO Mapping Value Range 1010 1 Store parameters Read Write No Unsigned 32 Index Hex Subindex Content Access PDO Mapping Value Range 1011 1 Restore default parameters Read Write No...

Страница 30: ...d 32 n Mapped Object n Read Write No Unsigned 32 Index Hex Subindex Content Access PDO Mapping Value Range 1A00 to 1A28 Transmit PDO mapping 0 Number of mapped application objects 0 8 2 Read Write No Unsigned 8 Value 0 8 Depends on TxPDO For default configurations per TxPDO please refer to Table 15 Max Sub index 0x1A00 8 0x1A01 0x1A28 2 Note Write access to those objects are only allowed in the Et...

Страница 31: ...r RxPDO assignment object Note Write access to this object is only allowed in the EtherCAT Pre Operational state 0 Number of entries Read Write No Unsigned 8 Value 0 4 Default 1 1 Assigned RxPDO 1 Read Write No Unsigned 16 Default 0x1600 2 Assigned RxPDO 2 Read Write No Unsigned 16 3 Assigned RxPDO 3 Read Write No Unsigned 16 4 Assigned RxPDO 4 Read Write No Unsigned 16 Index Hex Subindex Content ...

Страница 32: ...set to 0 After sending a MEMOBUS Modbus Read Request to the drive the MEMOBUS Modbus register content can be read out from object 2140H 5 Terminal S2 Function Multi Function Input H1 02 6 Terminal S3 Function Multi Function Input H1 03 7 Terminal S4 Function Multi Function Input H1 04 8 Terminal S5 Function Multi Function Input H1 05 9 Terminal S6 Function Multi Function Input H1 06 A Terminal S7 ...

Страница 33: ...070 Hex MEMOBUS Modbus Limited ENTER Command Depending on the drive parameter H5 11 setting an ENTER command must be used to activate drive parameters changed via MEMOBUS Modbus Write Commands The limited ENTER command activates parameters in the drive s RAM and saves them to the EEPROM When power supply loss occurs or the power supply is cycled the drive will operate using the saved parameters If...

Страница 34: ...r addresses for content 1 and 2 Value 0xAAAABBBB AAAA MEMOBUS Modbus register 1 address BBBB MEMOBUS Modbus register 2 address Reg value 0xFFFF Mapping disabled Note Those values can only be changed in EtherCAT Pre Operational state Refer to Table 4 for the state relations 2090 to 20C0 3000 and 3100 0 Number of entries 2 Read Only No 1 byte 1 Value Read Write Possible 2 byte Value of mapped MEMOBU...

Страница 35: ...ing Stop 1 During Zero Speed 1 During Zero Speed 2 Reverse Running 1 During Reverse Running 0 During Forward Running 3 During Fault Reset Signal Input 1 During Fault Reset Signal Input 4 During Speed Agree 1 During Speed Agree 5 During Drive Ready 1 During Drive Ready 0 Not Ready 6 During Alarm 1 During Alarm 7 During Fault 1 During Fault 8 During Operation Error 1 During Operation Error 9 During ...

Страница 36: ...sing a MEMOBUS Modbus write command object 2050 Hex Bytes 1 and 2 of subindex 1 will contain the data that were written and bytes 3 and 4 will contain the MEMOBUS Modbus Address that was written to Value 0xAAAABBBB 0xAAAA Drive register 0xBBBB Data 2155 Hex PDO Parameter Write Response Note Object only available in EtherCAT SAFEOP or Operational state Object data is always cleared when a transitio...

Страница 37: ...ontent of this object can be selected by linking them to drive MEMOBUS Modbus registers Index Hex Subindex Content Access PDO Mapping Data Length 2155 0 PDO parameter write response Read Only Tx 3 byte Index Hex Subindex Content Access PDO Mapping Data Length 2160 0 MEMOBUS Modbus not limited ENTER command response Read Only Tx 4 byte Index Hex Subindex Content Default Access PDO Mapping Value Ran...

Страница 38: ...ge 2200 Motor speed Read Only 0 Number of entries Read Only No Unsigned 8 1 Motor speed Read Only Tx Unsigned 16 2 MEMOBUS Modbus register address of content 0044 Hex Read Only No Unsigned 16 Value MEMOBUS Modbus register 0x0044 Motor speed Index Hex Subindex Content Default Access PDO Mapping Value Range 2210 DC bus voltage Read Only 1 Value 1 V Read Only Tx Unsigned 16 2 MEMOBUS Modbus register ...

Страница 39: ...content 0049 Hex Read Only No Unsigned 16 Value MEMOBUS Modbus register 0x0049 Input Terminal Status Index Hex Subindex Content Default Access PDO Mapping Value Range 4000 Option NVS FATAL record Read Write No Unsigned 8 Information regarding a system failure crash is stored in this object and can be read out for on site troubleshooting 1 Number of FATALs Read Only No Unsigned 16 Total number of F...

Страница 40: ... the frequency reference The 0x6040 Enable operation command will also be processed as RUN REV order If target velocity 0 the value will be used natively in the frequency reference The 0x6040 Enable operation command will also be processed as RUN FWD order 6043 Hex vl Velocity Demand The vl velocity demand is the output frequency of the drive to the motor MEMOBUS Modbus register 0x003E Output freq...

Страница 41: ...uency reference lower limit Note The parameter specifies the rate of E1 04 maximum output frequency Internal parameter calculations are needed 2 vl velocity max amount Read Write Rx Tx 0 232 1 r min Maximum speed reference allowed MEMOBUS Modbus register 0x0289 d2 01 Frequency reference upper limit Note The parameter specifies the rate of E1 04 maximum output frequency Internal parameter calculati...

Страница 42: ... Unit 6049 1 Deceleration delta speed Read Write Rx Tx 0 223 1 r min T MEMOBUS Modbus register 0x0201 C1 02 Unit 0 1 0 01 s Deceleration time 1 M MEMOBUS Modbus register 0x0303 E1 04 Unit 0 1 Hz Max output frequency P MEMOBUS Modbus register 0x0211 E2 04 Motor pole count Mrpm 120 M P dt Delta time sub index 2 Delta speed ds Mrpm At power up T dt M ds Note Unit of T C1 01 is linked to C1 10 2 Decel...

Страница 43: ...tting in the drive MEMOBUS Modbus register 0x0311 E2 04 Number of motor poles 6060 Hex Modes of Operation This object sets the mode of the device The object supports 2 Velocity Mode only Value 2 Velocity mode 6061 Hex Modes of Operation Display This object shows the mode of the device The object supports 2 Velocity Mode only Value 2 Velocity mode Value 2 Vendor specific mode Index Hex Subindex Con...

Страница 44: ...ction Description 0 to F Reserved 10 to 1F Bit 0 to F of drive register 004A Hex drive output terminal status monitor U1 11 1 ON 0 OFF Index Hex Subindex Content Access PDO Mapping Value Range 60FE Drive digital input command Read Write 0 Number of elements Read Only 0 255 1 Physical outputs Read Write Rx Tx 0 232 1 Bit No Hex Function Description 0 to 17 Reserved Set to zero 18 Terminal S3 Functi...

Страница 45: ...dbus register of the drive to subindex 1 of an object the MEMOBUS Modbus register address must be written to subindex 2 of the object Examples In order to map the drive output power monitor U1 08 0047 Hex to output object 21A0 Hex write 0047 Hex to subindex 2 of object 21A0 Hex In order to map the frequency reference 1 d1 01 0280 Hex to input object 2090 Hex write 0280 Hex to subindex 2 of object ...

Страница 46: ...For 4 byte input objects MEMOBUS Modbus register numbers below 0100 Hex can be linked in any combination If MEMOBUS Modbus register numbers above 00FF Hex are linked to a 4 byte object the MEMOBUS Modbus register numbers must be consecutive Register numbers must not be consecutive for 4 byte output objects A MEMOBUS Modbus register cannot be mapped to two or more objects at the same time MEMOBUS M...

Страница 47: ... index 1 0x6041 0 2 bytes DSP402 statusword Sub index 2 0x6061 0 2 bytes DSP402 modes of operation display 0x1A01 6 Sub index 1 0x6041 0 2 bytes DSP402 statusword Sub index 2 0x6044 0 2 bytes vl velocity actual value 0x1A05 7 Sub index 1 0x6041 0 2 bytes DSP402 statusword Sub index 2 0x60FD 0 4 bytes Digital inputs 0x1A06 21 Sub index 1 0x6042 0 2 bytes vl target velocity 0x1A14 22 Sub index 1 0x6...

Страница 48: ...ow IO data scan set update is triggered Mapped drive registers A 0x0200 B 0x0201 C 0x0203 All three registers change at the same time RAM ENTER command executed with C Only register 0x0200 changes RAM ENTER command executed with A PDO Number Receive PDO Mapping Mapped Objects Hex Index Hex 1 Sub index 1 0x6040 0 2 bytes DSP402 controlword 0x1600 2 Sub index 1 0x6040 0 2 bytes DSP402 controlword Su...

Страница 49: ...x20A0 0x20B0 0x20C0 0x3000 0x3100 If sub index 2 MEMOBUS Modbus register address is 0x0100 that address is linked Configurable input objects 0x2040 0x2140 Register address in MEMOBUS Modbus read payload Overlaid MEMOBUS Modbus read channel request and response CoE objects 0x2050 0x2150 Register address in MEMOBUS Modbus write payload Overlaid MEMOBUS Modbus write channel request and response CoE o...

Страница 50: ...U1 14 RO 0x0050 INVR_U114_TER_A3IN CoE 0x2260 Analog input monitor A3 A3 terminal level voltage U1 15 RO 0x0080 INVR_U201_FAULTCUR EtherCAT CoE Emergency services Current fault U2 01 RO 0x0001 INVR_INVCTRL1 CoE 0x6040 DSP402 controlword CoE 0x60FE Digital outputs CoE 0x2000 Operation command Run operation signal option RW 0x0002 INVR_OPT_FREQ_REF CoE 0x2010 Speed reference Speed limit Frequency re...

Страница 51: ...CoE 0x6048 vl velocity acceleration CoE 0x6049 vl velocity deceleration CoE 0x604A vl velocity quick stop CoE 0x604D vl pole number Number of motor poles E2 04 RW 0x0910 INVR_ENTER_RAM CoE 0x2060 MEMOBUS Modbus unlimited ENTER command Drive RAM ENTER command WO 0x0900 INVR_ENTER_EEP CoE 0x1010 Store parameters CoE 0x2070 MEMOBUS Modbus limited ENTER command Drive EEPROM ENTER command WO 0x0103 INV...

Страница 52: ...egister using a MEMOBUS Modbus read command requires the following steps Write the address of the drive MEMOBUS Modbus register to be read to subindex 1 of object 2040 Hex Read the value of the drive MEMOBUS Modbus register from the MEMOBUS Modbus read response in subindex 1 of object 2140 Hex Objects 2040 Hex and 2140 Hex can both be mapped to PDOs Writing a Drive Parameter or Drive Control Regis...

Страница 53: ...nlimited ENTER Command is sent after setting register 0103 object 1011 Hex In order to initialize a drive via EtherCAT communications follow the instructions below 1 Read out the value of drive parameter H5 11 using a MEMOBUS Modbus Read Request Obj 2040 Hex on drive register 04C3 Hex H5 11 2 If the content of register 04C3 Hex is 1 then change it to 0 using a MEMEOBUS Modbus Write Request Obj 205...

Страница 54: ... MEMOBUS Modbus Register 0x0080 Enum Value 0000 No error No error 0x00 3220 DC bus undervoltage Uv1 0x02 5200 Control power supply voltage fault Uv2 0x03 3221 Undervoltage 3 soft charge bypass circuit fault Uv3 0x04 2330 Ground fault GF 0x06 2220 Overcurrent oC 0x07 3210 Overvoltage ov 0x08 4280 Heatsink overheat oH 0x09 4210 Overheat 1 heatsink overheat oH1 0x0A 2310 Motor overload oL1 0x0B 2221 ...

Страница 55: ... disconnect control mode with PG PGoH 0x38 FF3B Too many speed search restarts SEr 0x3B FF41 PID feedback loss FbH 0x41 FF0D External fault input terminal S1 EF1 0x42 FF0E External fault input terminal S2 EF2 0x43 FF44 Mechanical weakening detection 1 oL5 0x44 FF45 Mechanical weakening detection 2 UL5 0x45 FF46 Current offset fault CoF 0x46 FF47 PLC detection error 1 PE1 0x47 FF49 DriveWorksEZ fau...

Страница 56: ...is not in program mode Communication cable is not connected properly Check for faulty wiring Correct any wiring problems A data error occurred due to noise Inspect items that can minimize the effects of electrical noise Counteract noise in the control circuit main circuit and ground wiring If a magnetic contactor is identified as a source of noise install a surge absorber to the contactor coil Mak...

Страница 57: ...the drive Connect the correct option to CN5 A LED Operator Display Fault Name oFb02 Option Fault CN5 B Two identical options are connected at the same time Cause Possible Solution Options AI A3 or DI A3 are connected to the CN5 B port with an option connected to CN5 A Only one type of AI A3 DI A3 or SI option can be connected to the drive The SI ES3 option can only be connected to CN5 A LED Operat...

Страница 58: ...Option card is overloaded 2 Option is not properly processing the state 1 Drive fault oF 32 2 Drive fault oF 30 Disable process data OUT sync manager channel Force EtherCAT state change to SAFEOP OP SAFEOP 1 Option card frame check sequence error 2 Option card COMID error 1 Option card has detected a Sum check error 2 Option card has detected a Communication Option card ID error Possible cause 1 D...

Страница 59: ...or Fault Name EEP EEPROM Error EEPROM checksum error Cause Possible Solution Minor Fault H2 10 Communication wiring is faulty there is a short circuit or something is not connected properly Check for wiring errors Correct the wiring Remove and ground shorts and reconnect loose wires YES EEPROM checksum error If these errors occur the object dictionary will be reset to its default values After the ...

Страница 60: ...ons Model SI ES3 Communication Profile DS 301 Ver 4 02 DSP 402 Ver 1 1 Velocity Mode Connector RJ45 connector Communications Speed 10 100 Mbps Ambient Temperature 10 C to 50 C 14 F to 122 F Humidity Up to 95 RH no condensation Storage Temperature 20 C to 60 C 4 F to 104 F allowed for short term transport of the product Area of Use Indoor free of corrosive gas airborne particles etc Altitude 1000 m...

Страница 61: ...1 Revision History Revision dates and manual numbers appear on the bottom of the back cover Date of Publication Revision Number Section Revised Content October 2013 First edition MANUAL NO SIEP C730600 64A Published in Japan October 2013 13 10 Date of publication Date of original publication A1000 ...

Страница 62: ...uangHe Road HuangPu District Shanghai 200003 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 http www yaskawa com cn YASKAWA ELECTRIC CHINA CO LTD BEIJING OFFICE Room 1011 Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 YASKAWA ELECTRIC TAIWAN CORPORATION 9F 16 Nanking E Rd Sec 3 Taipei 104 Taiwan Phone 886 2 2502 50...

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