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7 Transmission Interface

YASKAWA

SIEP C730600 88F MECHATROLINK-III Technical Manual

23

Table 7.1 Command Format of the Standard Profile Common Commands

–

Byte

Command

Response

Reference

Main

Commands

0

CMD

RCMD

•

CMD/RCMD Command code specified for individual commands:
Refer to page

27

.

•

WDT/RWDT: Watchdog data is usually set automatically.

•

CMD_CTRL: Refer to page

26

.

•

CMD_STAT: Refer to page

26

.

•

CMD_DATA/RSP_DATA: Specified for individual commands.
Refer to page

27

.

1

WDT

RWDT

2

CMD_CTRL

CMD_STAT

3

4

CMD_DATA

RSP_DATA

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

26

27

28

29

30

31

Sub-Commands

32

SUBCMD

RSUBCMD

Do not use sub-commands when

F6-21 = 1 [MECHATROLINK

Frame Size = 32-byte]

.

•

SUBCMD/RSUBCMD: Command code specified for individual
commands. Refer to page

42

.

•

SUB_CTRL: Refer to page

42

.

•

SUB_STAT: Refer to page

42

.

•

SUB_CMD_DATA/SUB_RSP_DATA: Specified for individual
commands. Refer to page

42

.

33

SUB_CTRL

SUB_STAT

34

35

36

SUB_CMD_DATA

SUB_RSP_DATA

37

38

・

・

61

62

63

Содержание SI-ET3

Страница 1: ...F YASKAWA AC Drive Option MECHATROLINK III Technical Manual Model SI ET3 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 88F MECHATROLINK III Technical Manual ...

Страница 3: ...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 15 MECHATROLINK III Communications Cables 18 Option Connection Diagram 18 Communication Cable Topology 19 6 Related Drive Parameters 20 7 Transmission Interface 21 MECHATROLINK III Cyclic Transmissions 21 Command Format of ...

Страница 4: ...and 36 INV_CTL 50 Hex Inverter Operation Control Command 37 INVCMD_CTRL 38 INVCMD_IO Command 39 INV_CTL Response 40 INVCMD_STAT 41 INVCMD_IO Response 41 10 Sub Command 42 SUB_CTRL Sub Command Control Field 42 SUB_STAT Sub Command Status 42 NOP 00 Hex No Operation Command 43 PRM_RD 01 Hex Read Parameter Command 43 PRM_WR 02 Hex Write Parameter Command 44 ALM_RD 05 Hex Read Alarm and Warning Command...

Страница 5: ...YASKAWA SIEP C730600 88F MECHATROLINK III Technical Manual 5 WEEE Directive 52 Revision History 53 ...

Страница 6: ...roduct and contains information necessary to install the option and set related drive parameters YASKAWA AC Drive Option SI ET3 MECHATROLINK III Technical Manual Manual No SIEP C730600 88 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 mec...

Страница 7: ...t 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 WARNING Electrical Shock Hazard ...

Страница 8: ...n option card mounting kit is necessary to install the option on a GA500 drive The option card mounting kit model is JOHB GA500 This kit is sold separately Refer to the option card mounting kit manual for more information about installation A Option B Option card mounting kit components sold separately C Drive front cover Figure 2 1 Option Card Mounting Kit 3 Receiving After receiving the option p...

Страница 9: ... 4 mm 0 02 in width 2 5 mm 0 1 in 1 A pair of diagonal cutting pliers A small file or medium grit sandpaper 1 Phillips screw sizes are different for different drive capacities 4 Drive Components with Option MECHATROLINK III Option A Connector CN5 B Installation hole C LED CON 1 D LED R E 1 E LED LK2 1 F LED LK1 1 G Model H Ground terminal FE installation hole 2 I Communication connector CN1 J Comm...

Страница 10: ... internal self diagnostic error occurred in the SI ET3 CON Lit in green Connection established Established connection Unlit Connection unestablished Connection with master device is not established LK1 Lit in green Connector CN1 connected Connector CN1 is connected to other stations Unlit Connector CN1 disconnected Connector CN1 is not connected to other stations cable not connected cable disconne...

Страница 11: ...ing voltage Incorrect equipment sequencing can cause damage to the drive NOTICE Do not operate a drive or connected equipment that has damaged or missing parts You can cause damage to the drive and connected equipment NOTICE Use Yaskawa connection cables or recommended cables only Incorrect cables can cause the drive or option to function incorrectly NOTICE Damage to Equipment Correctly connect th...

Страница 12: ...rd 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 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 O...

Страница 13: ...lace Tighten the screw to 0 5 to 0 6 N m 4 4 to 5 3 in lb A Option B Included screws C Connector CN5 A Figure 5 4 Install 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 Ti...

Страница 14: ...oid potential sources of electrical interference 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 wiring is exposed outside the enclosure the drive will not meet Enclosed wall mounted type IP20 UL Type 1 requirements 6 Firmly connect the MECHATROLINK III comm...

Страница 15: ... I LED Status Ring board J Connector CN5 A K Connector CN5 B Not available for communication option installation L Connector CN5 C Not available for communication option installation Figure 5 8 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 dr...

Страница 16: ...try Note 1 Move the keypad connector to the holder on the drive after removing the keypad and before removing the front cover 2 Insert the keypad connector tab into the holder when installing the keypad connector to the holder A Holder B Keypad connector tab C Keypad connector D Drive front cover E Keypad Figure 5 10 Remove the Front Cover and Keypad 3 Carefully remove the LED Status Ring board A ...

Страница 17: ...irmly connect the MECHATROLINK III communication cable to option communication connector CN1 or CN2 Isolate the MECHATROLINK II communications cables from main circuit wiring and other electrical and power lines Ensure the cable end is firmly connected see Figure 5 14 Refer to MECHATROLINK III Communications Cables on page 18 for more information Note Maximum transmission distance is 100 m 328 ft ...

Страница 18: ...OLINK III communication cable to option communication connector CN1 or CN2 Use only MECHATROLINK III dedicated communication cable Refer to Table 5 1 for more information Note Maximum transmission distance is 100 m 328 ft Minimum wiring distance between stations is 0 2 m 7 9 in Option Connection Diagram Figure 5 14 Option Connection Diagram 1 Connect the MECHATROLINK III cable to connector CN1 or ...

Страница 19: ...Figure 5 15 Topology Options Table 5 1 MECHATROLINK III Communications Cable Connection Type Cable Specification Length L Model MECHATROLINK III connection without ferrite core 0 2 m 7 9 in JEPMC W6012 A2 E 0 5 m 19 7 in JEPMC W6012 A5 E 1 m 39 4 in JEPMC W6012 01 E 2 m 78 7 in JEPMC W6012 02 E 3 m 118 1 in JEPMC W6012 03 E 4 m 157 5 in JEPMC W6012 04 E 5 m 196 9 in JEPMC W6012 05 E 10 m 393 7 in ...

Страница 20: ...Keypad 1 Digital Input 2 Memobus Modbus Communications 3 Option Note Set b1 02 3 to start and stop the drive with the master device using serial communications Set b1 01 3 to use the master device to control the frequency reference of the drive 1 0 3 F6 01 03A2 Communication Error Selection Selects drive response when the drive detects a bUS error during communications with the option 0 Ramp to St...

Страница 21: ...will occur and the ERR light will turn on 21 Hex 03 EF Hex F6 21 036C MECHATROLINK Frame Size 0 64 byte 1 32 byte Note Cycle power for setting changes to take effect 0 0 1 F6 23 036E MECHATROLINK Monitor Select E Set MEMOBUS Modbus register to monitor SEL_MON of INV_CTL and INV_I O Note Cycle power for setting changes to take effect Set byte 21 SEL_MON1 2 of INV_CTL or byte 38 SEL_MON 3 4 and byte...

Страница 22: ...Example C Drive GA700 Example Command Format of the Standard Profile Common Commands This section describes the specifications of the standard profile common commands Table 7 1 lists the data format and the common commands and responses Standard inverter profile commands fix the data length at 32 bytes for main commands and sub commands ...

Страница 23: ...ge 26 CMD_DATA RSP_DATA Specified for individual commands Refer to page 27 1 WDT RWDT 2 CMD_CTRL CMD_STAT 3 4 CMD_DATA RSP_DATA 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 Sub Commands 32 SUBCMD RSUBCMD Do not use sub commands when F6 21 1 MECHATROLINK Frame Size 32 byte SUBCMD RSUBCMD Command code specified for individual commands Refer to page 42 SUB_CTRL Refer to...

Страница 24: ...er fault is detected in phase 1 no fault notification is provided Phase 2 Asynchronous communications All SI ET3 commands can be used Phase 2 starts to count the watchdog timer in the communications 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 Phase 3 Synchronous communications Watchdog timer faults in the commun...

Страница 25: ...bles Table 7 4 Main Commands Code Hex Name Function 00 NOP No Operation Command 01 PRM_RD Read Parameter Command 02 PRM_WR Write Parameter Command 03 ID_RD Read ID Number Command 04 CONFIG RAM Write and EEPROM Write Command 05 ALM_RD Read Alarm and Warning Command 06 ALM_CLR Clear Alarm and Warning Command 0D SYNC_SET Start Synchronous Communication Command 0E CONNECT Connect Command 0F DISCONNECT...

Страница 26: ...bit 2 bit 1 bit 0 CMD_ID Reserved 0 Reserved 0 ALM_CLR Reserved 0 Reserved 0 Reserved 0 bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8 Reserved 0 Command Description CMD_ID This is not used with standard inverter profile commands ALM_CLR 0 Clear alarm warning disabled 1 Clear alarm warning triggered The same processing as when ALM_CLR_MODE 0 for the ALM_CLR command the current alarm warning...

Страница 27: ...equence FCS error 0002 Command data not received 0003 Synchronous frame not received Alarm 0008 Frame Check Sequence FCS error 0009 Command data not received 000A Synchronous frame not received 000B Synchronization interval Error 000C WDT error CMD_ALM Code Hex Contents 0000 Normal Warning 0001 Invalid data Alarm 0008 Unsupported command received 0009 Invalid data 000A Command execution condition ...

Страница 28: ...D Command Byte Command Description 0 PRM_RD 01 Hex Command code 1 WDT Watchdog data 2 CMD_CTRL Refer to page 26 3 4 NO MEMOBUS Modbus register number Lower 5 MEMOBUS Modbus register number Upper 6 SIZE Data size to read units byte 2 4 6 and 8 are available 7 Reserved 0 Not used 8 9 10 31 PRM_RD Response Byte Response Description 0 PRM_RD 01 Hex Command code 1 RWDT Watchdog data 2 CMD_STAT Refer to...

Страница 29: ...he command can be used in communication phases 2 and 3 The CONFIG command must be sent to set up after the parameters are written Refer to the drive manual for more information on MEMOBUS Modbus register numbers PRM_WR Response Byte Command Description 0 PRM_WR 02 Hex Command code 1 WDT Watchdog data 2 CMD_CTRL Refer to page 26 3 4 NO MEMOBUS Modbus register number Lower 5 MEMOBUS Modbus register ...

Страница 30: ...during Under Voltage 9 is set for CMD_ALM Writing Error during Parameter Processing 9 is set for CMD_ALM Example Writing C1 01 200 Hex Byte Command Hex Response Hex 4 00 00 5 02 02 6 02 02 7 00 00 8 Value set to C1 01 Lower Value set to C1 01 Lower 9 Value set to C1 01 Upper Value set to C1 01 Upper ID_RD 03 Hex Read ID Number Command The ID_RD command reads the product information as ID data to r...

Страница 31: ...m transmission cycle 4 byte 800000 8 ms unit 0 01 μs 18 Transmission Cycle Increment Granularity 4 byte 03 Hex Supports 31 25 μs 62 5 μs 125 μs 250 μs 500 μs 750 μs 1 to 64 ms 0 5 ms increment 19 Minimum Value of Communication Cycle 4 byte 25000 250 μs unit 0 01 μs 1A Maximum Value of Communication Cycle 4 byte 3200000 32 ms unit 0 01 μs 1B Number of Transmission Bytes 4 byte 00000014 Hex 64 byte ...

Страница 32: ...ONFIG Command Byte Command Description 0 CONFIG 04 Hex Command code 1 WDT Watchdog data 2 CMD_CTRL Refer to page 26 3 4 CONFIG_MOD Specify the type of setup Refer to Table 9 2 for more information 5 Reserved 0 Not used 6 7 31 CONFIG Response Byte Response Description 0 CONFIG 04 Hex Command code 1 RWDT Watchdog data 2 CMD_STAT Refer to page 26 3 4 CONFIG_MOD The value set in the command 5 Reserved...

Страница 33: ...ower 5 Specify the alarm or warning state Lower 6 ALM_INDEX Specify the alarm index The command is enabled when ALM_RD_MODE is 2 Lower 7 Specify the alarm index The command is enabled when ALM_RD_MODE is 2 Upper 8 Reserved 0 Not used 9 10 31 ALM_RD Response Byte Response Description 0 ALM_RD 05 Hex Command code 1 RWDT Watchdog data 2 CMD_STAT Refer to page 26 3 4 ALM_RD_MOD The value set in the co...

Страница 34: ...U3 06 Upper 20 U3 07 Lower 21 U3 07 Upper 22 U3 08 Lower 23 U3 08 Upper 24 U3 09 Lower 25 U3 09 Upper 26 U3 10 Lower 27 U3 10 Upper ALM_CLR 06 Hex Clear Alarm and Warning Command The ALM_CLR command clears the alarm or warning state after the cause has been removed The command can be used in communication phases 2 and 3 This command changes the state of a slave station it does not remove the cause...

Страница 35: ...ons The SYNC_SET command starts synchronous communications This command also restores synchronous if communications become asynchronous due to any fault The command can be used in communication phases 2 and 3 Completing this command commences watchdog data error detection SYNC_SET Command Byte Command Description 0 SYNC_SET 0D Hex Command code 1 WDT Watchdog data 2 CMD_CTRL Refer to page 26 3 4 Re...

Страница 36: ...used 31 CONNECT Response Byte Response Description 0 CONNECT 0E Hex Command code 1 RWDT Watchdog data 2 CMD_STAT Refer to page 26 3 4 VER The value set in the command 5 COM_MOD The value set in the command 6 COM_TIM The value set in the command 7 PROFILE_TYPE The value set in the command 8 Reserved 0 Not used 31 Table 9 5 COM_MOD bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 SUBCMD 0 0 0 DTMODE SYNCMODE...

Страница 37: ... Response Description 0 INV_CTL 50 Hex Command code 1 WDT Watchdog data 2 CMD_CTRL Refer to page 26 3 4 INVCMD_CTRL Refer to page 38 5 6 7 8 INVCMD_IO Refer to page 39 9 10 11 12 Speed reference Speed Reference Lower 13 Speed Reference Upper 14 Not used Set to 0 15 Not used Set to 0 16 Torque reference Torque Reference Lower 17 Torque Reference Upper 18 Not used Set to 0 19 Not used Set to 0 20 SE...

Страница 38: ... Function Input Terminal 3 8 GA500 Multi Function Input Terminal 3 7 bit 31 bit 30 bit 29 bit 28 bit 27 bit 26 bit 25 bit 24 Reserved 0 Table 9 6 INVCMD_CTRL Bits Bit Name Description 0 Forward operation 0 Stop 1 Forward operation 1 Reverse operation 0 Stop 1 Reverse operation 9 Fault Reset 1 Fault reset 10 External fault EF0 1 External fault input EF0 11 Clear fault history 1 Clear fault history ...

Страница 39: ...REF Reference Data Codes Selection Code Hex Monitor Name Contents 0 Nothing Selected 1 Torque Compensation Unit 0 1 2 Analog output terminal 1 output Enabled when H4 01 000 3 1000 Series Drives GA700 GA800 CR700 and CH700 Analog Output Terminal 2 Output GA500 Not used 1000 Series Drives GA700 GA800 CR700 and CH700 Enabled when H4 04 000 GA500 4 Drive terminal output 5 PID Setpoint Unit 0 01 6 Puls...

Страница 40: ... Monitor Data Set to F6 24 INV_CTL Response INV_CTL Response Byte Response Description 0 INV_CTL 50 Hex Command code 1 RWDT Watchdog data 2 CMD_STAT Refer to page 26 3 4 INVCMD_STAT Refer to page 41 5 6 7 8 INVCMD_IO Refer to page 41 9 10 11 12 Output Frequency Output Frequency Lower 13 Output Frequency Upper 14 Not used Set to 0 15 Not used Set to 0 16 Output current Output current Lower 17 Outpu...

Страница 41: ...Description 0 Forward Operation 0 Stop 1 Forward operation in progress 1 Reverse Operation 0 Stop 1 Reverse operation 2 Baseblock Released 0 Baseblock 1 Baseblock released 3 Main Power Supply ON 0 Main power supply OFF 1 Main power supply ON 4 Zero Speed 1 Zero Speed 5 Speed Agree 1 Speed agree 6 Drive Ready 1 Drive ready 7 oPE Error 1 oPE error 9 Fault Reset Signal being Input 1 Fault reset signa...

Страница 42: ... bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 Not used Reserved 0 SUBCMDRDY Not used bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8 Reserved 0 SUBCMD_ALM bit 23 bit 22 bit 21 bit 20 bit 19 bit 18 bit 17 bit 16 Reserved 0 SEL_MON6 Status SEL_MON5 Status SEL_MON4 Status SEL_MON3 Status Command Description SUBCMDRDY 0 Sub command reception disabled 1 Sub command reception enabled SUBCMD_ALM Notifies th...

Страница 43: ...to page 42 34 35 36 Reserved 0 Not used 37 63 NOP Response Byte Response Description 32 NOP 00 Hex Command code 33 SUB_STAT Refer to page 42 34 35 36 Reserved 0 Not used 37 63 PRM_RD 01 Hex Read Parameter Command The PRM_RD command specifies the parameter number and the data size to read a parameter The command can be used in communication phases 2 and 3 Refer to the drive manual for details on ME...

Страница 44: ...ored in PARAMETER when command error occurs 41 42 63 PRM_WR 02 Hex Write Parameter Command The PRM_WR command specifies the parameter number data size and parameter data to write a parameter The command can be used in communication phases 2 and 3 The CONFIG command must be sent to set up after the parameters are written Refer to the drive manual for more information on MEMOBUS Modbus register numb...

Страница 45: ...nder Voltage 9 is set for CMD_ALM Writing Error during Parameter Processing 9 is set for CMD_ALM ALM_RD 05 Hex Read Alarm and Warning Command The ALM_RD command reads the alarm or warning state Refer to ALM_RD 05 Hex Read Alarm and Warning Command on page 33 for more information on ALM_DATA The command can be used in communication phases 2 and 3 The current alarm or warning state is read from ALM_...

Страница 46: ...0 to 3 and to select the contents of REF6 with bits 4 to 7 Refer to Table 9 7 for the selection ranges for SEL REF5 6 and SEL MON5 6 38 SEL_MON 3 4 Use the SEL MON3 4 command to select the contents of MON3 with bits 0 to 3 and to select the contents of MON4 with bits 4 to 7 Refer to Table 9 8 for the selection ranges for SEL REF3 4 and SEL MON3 4 39 SEL_MON 5 6 Use the SEL MON5 6 command to select...

Страница 47: ...set to SEL_MON3 Lower 41 Monitor data set to SEL_MON3 Upper 42 Not used Set to 0 43 Not used Set to 0 44 Monitor data set to SEL_MON4 Monitor data set to SEL_MON4 Lower 45 Monitor data set to SEL_MON4 Upper 46 Not used Set to 0 47 Not used Set to 0 48 Monitor data set to SEL_MON5 Monitor data set to SEL_MON5 Lower 49 Monitor data set to SEL_MON5 Upper 50 Not used Set to 0 51 Not used Set to 0 52 M...

Страница 48: ...K 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 following manuals by MECHATROLINK Members Association MECHATROLINK III Installation Guide MMATDEP018A EF0 Option Card External Fault An external fault was received from the PLC 1 Remov...

Страница 49: ...e for the upper controller within the allowable setting range for the MECHATROLINK option 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 Compatibility Users may connect ...

Страница 50: ... 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 run the wiring through a metal conduit 2 Keep wiring as short as ...

Страница 51: ...ofile Compliant with standard inverter profile Maximum number of stations 62 1 Ambient temperature 10 C to 50 C 14 F to 122 F Humidity 95 RH or lower with no condensation Storage temperature 20 C 60 C 4 F to 140 F allowed for short term transport of the product Area of use Indoors and free from Oil mist corrosive gas flammable gas and dust Radioactive materials or flammable materials including woo...

Страница 52: ...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 53: ...ll Revision Reviewed and corrected entire documentation Addition Applicable product series Chapter 14 Addition Disposal January 2019 3 All Addition Applicable product series Revision Reviewed and corrected entire documentation October 2017 2 All Revision Reviewed and corrected entire documentation Addition Applicable product series October 2016 1 All Revision Reviewed and corrected entire document...

Страница 54: ... www yaskawa com YASKAWA ELÉTRICO DO BRASIL LTDA 777 Avenida 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 Yeong...

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