Yaskawa CM013 User Manual

Document Number: TM.V7.16 Models: CIMR-V7AM* (software versions 8340 and 8350 only)

CM013 V7 DeviceNet™ Option

Technical Manual

Warnings and Cautions

WARNING

YASKAWA manufactures component parts that can be used in a wide variety of industrial applications. The selection and application of YASKAWA products remain the responsibility of the equipment designer or end user. YASKAWA accepts no responsibility for the way its products are incorporated into the final system design. Under no circumstances should any YASKAWA product be incorporated into any product or design as the exclusive or sole safety control. Without exception, all controls should be designed to detect faults dynamically and to fail safely under all circumstances. All products designed to incorporate a component part manufactured by YASKAWA must be supplied to the end user with appropriate warnings and instructions as to that part’s safe use and operation. Any warnings provided by YASKAWA must be promptly provided to the end user. YASKAWA offers an express warranty only as to the quality of its products in conforming to standards and specifications published in the YASKAWA manual. NO OTHER WARRANTY, EXPRESS OR IMPLIED, IS OFFERED. YASKAWA assumes no liability for any personal injury, property damage, losses, or claims arising from misapplication of its products.

WARNING

 Read and understand this manual before installing, operating, or servicing this drive. All warnings, cautions, and instructions must be fol-

lowed. All activity must be performed by qualified personnel. The drive must be installed according to this manual and local codes.

 Do not connect or disconnect wiring while the power is on. Do not remove covers or touch circuit boards while the power is on. Do not

remove or insert the digital operator while power is on.

 Before servicing, disconnect all power to the equipment. The internal capacitor remains charged even after the power supply is turned

off. Status indicator LEDs and Digital Operator display will be extinguished when the DC bus voltage is below 50VDC. To prevent elec tric shock, wait at least 5 minutes after all indicators are OFF and measure the DC bus voltage level to confirm that it is at a safe level.

 Do not perform a withstand voltage test on any part of the unit. This equipment uses sensitive devices and may be damaged by high volt-

age.

 The drive is not suitable for circuits capable of delivering more than the specified RMS symmetrical amperes. Install adequate branch

short circuit protection per applicable codes. Refer to the specification. Failure to do so may result in equipment damage and/or personal injury.

 Do not connect unapproved LC or RC interference suppression filters, capacitors, or overvoltage protection devices to the output of the

drive. Capacitors may generate peak currents that exceed drive specifications.

 To avoid unnecessary fault displays, caused by contactors or output switches placed between drive and motor, auxiliary contacts must be

properly integrated into the control logic circuit.

 YASKAWA is not responsible for any modification of the product made by the user. Doing so will void the warranty. This product must

not be modified.

 Verify that the rated voltage of the drive matches the voltage of the incoming power supply before applying power.  To meet CE directives, proper line filters and proper installation are required.  Some drawings in this manual may be shown with protective covers or shields removed, to describe details. These must be replaced

before operation.

 Observe Electrostatic Discharge Procedures when handling the drive and drive components to prevent ESD damage.  The attached equipment may start unexpectedly upon application of power to the drive. Clear all personnel from the drive, motor and

machine area prior to applying power. Secure covers, couplings, shaft keys, machine beds and all safety equipment before energizing the drive.

CAUTION

 When using this kit, it is strongly recommended that no connections be made to the V7 Drive's DC Bus terminals (+1 and -) on models

CIMR-V7AMxxxx, where xxxx is 25P5, 27P5, 45P5, or 47P5. A (+1 to +2) connection for a DC reactor is allowed.

CAUTION

 Make sure that the V7AM software version is either 8340 or 8350. Check parameter n179 for current software revision.

Introduction

This manual explains the specifications and handling of the Yaskawa CM013 V7 DeviceNet Option for the Yaskawa V7 drives with software ID 8340 or 8350 only. The V7 DeviceNet Option connects the drive to a DeviceNet network and facilitates the exchange of data. In this document, the word “inverter”, “AC drive” and “drive” may be used interchangeably.

To ensure proper operation of this product, read and understand this manual. For details on installation and operation of the drive, refer to the appropriate drive technical manual. For details on specific parameters, refer to the appropriate drive user and/or programming manual. All technical manuals and EDS and support files can be found on the CD that came with the drive. They are also available for download at www.yaskawa.com. Refer to the web site for the most recent information.

For information on DeviceNet contact the Open DeviceNet Vendors Organization at www.odva.org.

• DriveWizard™ version 6.1 or later with a custom database is required for DriveWizard to operate with this option. Install

DriveWizard with the “Custom” install option checked and the appropriate databases selected.

V7 and V74X Drive User Manual document reference TM.V7.01 V7 DeviceNet™ Option Kit document reference IG.V7.16

GPD is a trademark of Yaskawa, Inc.

MODBUS® is a registered trademark of Schneider Automation, Inc. DeviceNet™ is a trademark of the ODVA. RSNetWorx™ is a trademark of Rockwell Automation. DriveWizard™ is a trademark of Yaskawa. All trademarks are the property of their respective owners.

Warnings and Cautions......................................................................................... i

Introduction .............................................................................................. ii

Table of Contents .................................................................................................. 1

Chapter 1 Installation....................................................................................... 1-1

Installation Check Sheet ....................................................................... 1-2

Unpack and Inspect .............................................................................. 1-3

Installation and Wiring ......................................................................... 1-4

Configure the V7 DeviceNet Option..................................................... 1-6

LED Status............................................................................................ 1-7

Verify that the Drive is on the Network ............................................... 1-8

EDS Files............................................................................................ 1-10

Configure the V7 Drive on the Network ............................................ 1-11

Configure the Scanner ........................................................................ 1-12

Configure the V7 Drive ...................................................................... 1-14

Drive Fault Messages ......................................................................... 1-15

Chapter 2 Supported Objects .......................................................................... 2-1

Supported Input Assemblies................................................................. 2-2

Yaskawa Input Assemblies................................................................... 2-3

Supported Output Assemblies .............................................................. 2-4

Yaskawa Output Assemblies................................................................ 2-5

CIP Supported Objects ......................................................................... 2-7

Yaskawa Supported Objects............................................................... 2-14

Yaskawa V7 Drive Parameter Object................................................. 2-16

Hexadecimal/Decimal Conversion..................................................... 2-20

Chapter 3 Automatic Device Recovery ........................................................... 3-1

Overview .............................................................................................. 3-2

Setup ..................................................................................................... 3-2

Replace a Faulted Drive ....................................................................... 3-4

Chapter 4 Product Description........................................................................ 4-1

Product Description .............................................................................. 4-2

Chapter 5 Cable Specification ......................................................................... 5-1

Cable Specifications ............................................................................. 5-2

Cable Length ........................................................................................ 5-3

Chapter 6 Troubleshooting .............................................................................. 6-1

Verify the Drive.................................................................................... 6-2

LED States............................................................................................ 6-2

DeviceNet Faults .................................................................................. 6-3

Network Wiring.................................................................................... 6-5

Chapter 1 Installation

This section describes how to install and set up the V7 DeviceNet Option.

Installation Check Sheet ..................................................................................... 1-2

Unpack and Inspect............................................................................................. 1-3

Installation and Wiring ....................................................................................... 1-4

Configure the V7 DeviceNet Option................................................................... 1-6

LED Status.......................................................................................................... 1-7

Verify that the Drive is on the Network.............................................................. 1-8

EDS Files .......................................................................................................... 1-10

Configure the V7 Drive on the Network........................................................... 1-11

Configure the Scanner....................................................................................... 1-12

Configure the V7 Drive .................................................................................... 1-14

Drive Fault Messages........................................................................................ 1-15

Installation 1-1

Installation Check Sheet

The following is a quick reference check list to install and configure the V7 DeviceNet Option. Make a copy of this page and check off ; each item as it is completed. For detailed information please refer to the detailed sections that follow.

1.  Unpack and Inspect.

Unpack the V7 DeviceNet Option and verify that all components are present and undamaged. Refer to the “Unpack and Inspect” section of this manual.

2.  Verify Drive Operation:

Refer to the “Verify Drive Operation” section of this manual for details.

3.  Install the V7 DeviceNet Option on the drive:

Refer to the “Prepare the V7 Drive” section of this manual for details. Refer to the “Attach the Motor and Power Leads” section of this manual for details. Refer to the “Mount the V7 DeviceNet Option” section of this manual for details.

4.  Connect the V7 DeviceNet Option to the DeviceNet communication network:

Refer to the “Connect to the V7 DeviceNet Option” section of this manual.

5.  Set the V7 DeviceNet Option network address and Baud Rate:

Refer to the “Configure the V7 DeviceNet Option” section of this manual for details.

6.  Apply power to the drive and check diagnostic and operation LED status:

Refer to the “Power-up Diagnostic LED Test Sequence” section of this manual for details. Refer to the “DeviceNet Operation LED Status” section of this manual for details.

WA R NI N G !

Dangerous voltages in excess of 400VDC (230V drives) or 800VDC (460V drives) are present at the DC bus terminals of the drive.

7.  Verify that the drive is on the network:

Refer to the “Verify that the Drive is on the Network” section of this manual for details.

Refer to the documentation included with the DeviceNet configuration utility supplied with the DeviceNet Master controller. Verify that the drive appears on the DeviceNet network at the correct node address.

8.  Install the appropriate EDS file if desired.

Refer to the “EDS Files” section of this manual.

9.  Configure the drive on the network.

Refer to the “Configure the Drive on the Network” section of this manual.

10.  Configure the scanner.

Refer to the “Configure the Scanner” section of this manual.

11.  Set the V7 Drive Parameters:

Refer to the “Configure the V7 Drive” section of this manual for details. Set parameters n003, n004 and n035 to their appropriate values.

When using this kit, it is strongly recommended that no connections be made to the V7 Drive's DC Bus terminals (+1 and -) on models CIMR-V7AMxxxx, where xxxx is 25P5, 27P5, 45P5, or 47P5. A (+1 to +2) connection for a DC reactor is allowed.

Make sure that the V7AM software version is either 8340 or 8350. Check parameter n179 for current software revision.

CAUTION

Installation 1-2

Unpack and Inspect

Prior to unpacking, check the package label and verify that the product received matches the product ordered. Unpack the option and verify that the following items are included in the product package and are undamaged.

Fig 1.1 – V7 DeviceNet Option

Table 1.1 – Parts List

Kit Parts Qty.

V7 DeviceNet Opti o n (CM013)

Option Mounting Bracket 1

Mounting Bracket Screw 1

Ferrite (Power & Motor Leads) (Steward 28A5776-0A2) 2

Cable Ties (UWS-0137) 2

6” Ground Wire (150 mm) 1

8.5” Ground Wire (220 mm) 1

12.5” Ground Wire (320 mm) 1

Installation Guide (IG.V7.16) 1

Installation 1-3

Installation and Wiring

 Verify Drive Operation

Connect power to the drive and verify that the drive functions properly. This includes running the drive from the operator keypad. Refer to the V7 and V74X Drives Technical Manual, TM.V7.01, for information on connecting and operating the drive.

 Prepare the V7 Drive

1. Remove power from the drive and wait for the charge lamp to be completely extinguished. Wait at least five additional minutes for the drive to be completely discharged. Measure the DC bus voltage and verify that it is at a safe level.

WARNING!

Dangerous voltages in excess of 400VDC (230V drives) or 800VDC (460V drives) are present at the DC bus terminals of the drive.

2. Remove the operator and terminal cover retaining screw.

3. Remove the operator keypad.

4. Remove the terminal cover by lifting out the cover.

5. Remove the CN2 cover from the V7 drive housing. Carefully snip the 3 tabs connecting the CN2 cover to the V7 housing and remove the cover.

6. Attach the mounting bracket. Align the mounting bracket as shown in the figure to the right. Secure the mounting bracket to the V7 drive housing using the M3x8 screw provided.

7. Wire the V7 drive I/O, power and motor terminals prior to mounting the V7 DeviceNet Option, as the option will obscure the terminals when mounted.

Fig 1.2 – Prepare the V7 Drive

Installation 1-4

 Attach Motor and Power Lead Ferrites

Attach the provided ferrites (Steward 28A5776-0A2) to the V7 drive motor and power leads as close to the V7 drive terminals as possible (typically within 1 foot). Secure the ferrites to the motor and power leads with the provided cable ties.

Fig 1.3 – Attach Ferrites

 Mount the V7 DeviceNet Option

1. Connect a ground wire of appropriate length from those provided to the ground connection on the back of the V7 DeviceNet Option.

2. Align the CN1 connector on the back of the option with its mating CN2 connector on the front of the V7 drive.

3. Simultaneously align connector CN3 (male RJ-45) on the back of the option with connector CN1 (female RJ-45) on the front of the V7 drive.

4. Align the tabs on the option with their corresponding slots on the front of the V7 drive.

5. Press the option and the V7 drive together until the tabs lock into their associated slots.

6. Secure the option to the V7 drive by tightening the locking screw at the top-center of the option.

7. Connect the ground wire to the ground screw on the V7 drive.

Fig 1.4 – Mount the V7 DeviceNet Option

Installation 1-5

 Connect to the V7 DeviceNet Option

Connect the DeviceNet network cable to the DeviceNet connector as shown. If the drive is the last device on a network segment make sure to install the terminating resistor (120Ω 1% metal film 1/4W) between the two CAN connections, 2 (Blue) and 4 (White).

Table 1.2 – DeviceNet Connection

Terminal Color Name Wire Color Description

1 Black V- Black Network common

2 Blue CAN_L Blue CAN Data Low

3 Green Shield Green Cable Shield

4 White CAN_H White CAN Data High

5RedV+ Red+24VDC

Fig 1.5 – DeviceNet Connector

Configure the V7 DeviceNet Option

 Set the DeviceNet Option Card Baud Rate

Set the drive baud rate by selecting the appropriate Baud Rate Sw setting. Settings of 3 through 8 will load the previously stored baud rate. A setting of 9 will enable Auto Baud. The factory default setting is 3.

Setting Description

0 125 kbps

1 250 kbps

2 500 kbps

3 ~ 8 NVRAM (Last stored baud rate) (3 = default setting)

9 Auto Sense

Fig 1.6 – DeviceNet Option Card

Installation 1-6

 Set the DeviceNet Option Card MAC ID

Set the drive MAC address by selecting the appropriate settings of the address MSD and LSD switches. The MSD switch sets the MAC address’s te ns digit while th e LSD s witch set s th e on es di git. Valid MAC ad dr esse s a re 0 thr oug h 63 alth ough ad dre sse s of 0 , 1, 62 and 6 3 are typically reserved.

 Settings of 0 ~ 63: The MAC address will be selected from the MSD & LSD switch settings.

 Settings of 64 ~ 99: The MAC address will be set to the last saved MAC address. The CM013 comes from the factory with the

MAC address switches set to 63 and the MAC address last saved to 63 (for use with some vendors’ faulted or automatic device recovery features)

 For use with ADR-enabled controllers/scanners, power off the drive and set the MAC ID rotary switches to 63. Power cycle th e

drive ON and OFF. Change the MAC ID rot ary switch setting to 64. P ower the dri ve ON. The MAC ID will be set a t 63 and can be reset through the Dev iceNet network.

The drive must be power cycled to accept a new switch setting.

LED Status

 Power-Up Diagnostic LED Status

A power-up diagnostic test is performed each time the device is powered up and after the initial boot sequence. The initial boot sequence may take several seconds. After the LEDs have gone through the DeviceNet diagnostic LED sequence, the V7 DeviceNet Option is successfully initialized. The LEDs will assume their operational conditions as shown below.

Table 1.3 - V7 DeviceNet Option Diagnostic LED Sequence

Seq MOD NET Time

1 GREEN OFF 250 ms 2 RED OFF 250 ms 3 GREEN OFF 250 ms 4 GREEN GREEN 250 ms 5 GREEN RED 250 ms 6GREENOFF

Fig 1.7 – LEDs

Installation 1-7

 DeviceNet Operation LED States

The operational states of the V7 DeviceNet Option LEDs after the DeviceNet diagnostic LED sequence has been completed is described below. Please wait at least 10 seconds for the loading process to complete before verifying the states of the LEDs.

Table 1.4 – DeviceNet Option LED States

LED State Indicates

Off No Power

On Green Device Operational

MOD

NET

Flash Green Device in Standby

Flash Red Minor Fault

On Red Unrecoverable Fault

Flash Red-Green Device Self-Test

Off Not Powered/Not Online

Flash Green Online/Not Connected

On Green Link OK/Online and Connected

Flash Red Connection Timeout

On Red Critical Link Failure

Flash Red & Green Communication Faulted

Verify that the Drive is on the Network

 Normal Operation LED States

The table below describes the V7 DeviceNet Option Card LED states under normal operation. The V7 DeviceNet Option Card has been properly connected to the DeviceNet network, configured on that network and is properly part of the scan list. The network is currently operational.

Table 1.5 – Normal Operation LED States

LED State Indicates

MOD On Green Device Operational

NET On Green Link OK/Online and Connected

Installation 1-8

 DeviceNet Network

The example below refers to a DeviceNet network configured as shown. A Rockwell 1770-KFD module is used to interface a PC to the DeviceNet network.

Fig 1.8 – DeviceNet Network Example

 RSLinx™

Configure Rockwell’s RSLinx software for the 1770-KFD module by selecting the DeviceNet Drivers (…, 1770-KFD, …) module. Select Add New, highlight the Allen-Bradley 1770-KFD and click on Select. Select the PC’s communication Port and Baud Rate and the 1770-

KFD module's Node Address and the Data Rate of the DeviceNet network. Click OK.

Refer to the documentation included with RSLinx. Verify that the drive appears on the DeviceNet network at the correct node address.

Fig 1.9 – RSLinx Example

Installation 1-9

 RSNetWorx for DeviceNet

With RSLinx running and configured for DeviceNet, run Rockwell’s RSNetWorx for DeviceNet. Select Network → On-Line from the main menu and select 1770-KFD-1, DeviceNet from the network selections.

Fig 1.10 – RSNetWorx for DeviceNet Example

EDS Files

 EDS Files

The EDS file can be obtained from the CD that was included with the drive or downloaded from www.yaskawa.com. It is recommended that the EDS file be downloaded from

www.yaskawa.com to be sure that the latest version is used. From www.yaskawa.com select Downloads

→ Browse → By Inverter Drives → By Product. Select Network Comms-DeviceNet from the menu on the left. Select the appropriate

EDS file from those listed.

Note: The EDS files located on the CD or downloaded from www.yaskawa.com will be in “zip” format and will need to be unzipped to a temporary directory prior to installation.

 Installing the EDS File

With RSNetWorx for DeviceNet, select Tools → EDS Wizard from the main menu. Follow the resulting prompts to install the EDS file(s).

Note: It is recommended, when upgrading to a new version EDS file, that the original EDS file(s) be deleted prior to upgrading.

Install the EDS file into the DeviceNet configuration tool (i.e., RSNetWorx for DeviceNet). There is a separate EDS file for each drive model. Verify that the correct EDS file has been installed for the drive model selected on the network. Refer to the documentation that came with the DeviceNet Master configuration tool for information on installing EDS files and configuring a DeviceNet node.

Fig 1.11 – RSNetWorx for DeviceNet EDS Wizard

Installation 1-10

Configure the V7 Drive on the Network

 Select Drive Properties

After the appropriate EDS file has been loaded and the drive is recognized by the network, highlight the drive, right click on it and select Properties.

Fig 1.12 – Select Drive Properties

 Upload Drive Parameters

Select the Parameters tab and Upload the parameters from the drive.

Fig 1.13 – Upload Drive Parameters

Installation 1-11

 Select the Poll Produced and Poll Consumed Assemblies

Scroll through the parameter list to the Poll Consumed Assembly (PCA). Enter the desired PCA. Scroll to the Polled Produced Assembly (PPA) and enter the desired PPA. Select Apply when done to download the new values to the drive. Select OK.

Note that the drive will have to be power cycled for the new PCA and PPA to take effect.

Fig 1.14 – Set Desired PCA and PPA

Configure the Scanner

 Select Scanner Properties

Once the drive has been properly configured on the network, highlight the DeviceNet scanner, right click on it and select Properties.

The example below shows how to add a drive to an A-B 1747-SDN Scanner module. To configure another scanner, please consult the documentation for that particular scanner.

Fig 1.15 – Select Scanner Properties

Installation 1-12

 Upload Scanner Configuration

Upload the current scanner configuration.

Fig 1.16 – Update Scanner Configurations

 Update the Scan List

Update the scan list by highlighting any devices in the Available Devices column and clicking on either the > or >> buttons until all DeviceNet devices show in the Scanlist column. For each device in the scan list, select the Input and Output tabs and verify that the device memory has been properly allocated. Also select Edit I/O Parameters and verify that the number on input and output bytes matches those of the selected PCA and PPA.

When complete, select Download to Scanner in order to download the new configuration information to the scanner module.

Fig 1.17 – Update the Scan List

Installation 1-13

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