Yaskawa CM059 User Manual

DeviceNet™ CM059 (SI-N1) Option

For Option: CM059 (SI-N1)
Models: CIMR-G5*, CIMR-F7*, CIMR-G7*,
CIMR-ACA* Document Number TM.AFD.13

Technical Manual

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2

Warnings and Cautions

This Section provides warnings and cautions pertinent to this product, that if
not heeded, may result in personal injury, fatality, or equipment damage.
Yaskawa is not responsible for consequences of ignoring these instructions.

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 servicidriveng this drive. All warnings, cautions, and

instructions must be followed. 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 electric 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 voltage.

 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.

3

Introduction

This manual explains the specifications and handling of the Yaskawa DeviceNet™ CM059 (SI-N1) option.

The Option connects the drive to a DeviceNet™ network and facilitates the exchange of data.

Option Compatibility

The CM059 (SI-N1) option is compatible with these Yaskawa drive products:

Table 1: Compatible Yaskawa Drive Products for the CM059 (SI-N1) Option

Product

Series

GPD/515/G5 CIMR-G5■ —

F7 CIMR-F7■ —

G7 CIMR-G7■ —

ACA CIMR-ACA■

Terminology

Models

(Drive Nameplate)

Notes

1. The CM059 (SI-N1) option firmware must be version 2.4 or later for operation with
the ACA product series.
Refer to the firmware lable on the CM059 (SI-N1) option to identify the
firmware. Contact Yaskawa to obtain an updated CM059 (SI-N1) option if required.

2. The ACA product will appear the the same as the G7 product series when viewed
on the network.

CM059 (SI-N1):

The CM059 option is also known as the SI-N1 option. They are one in the same.

Option:
Throughout this manual the term “option” will be used when referring to the CM059 (SI-N1) Option.

Inverter, drive, AC drive:

In this document, the word “inverter”, “ac drive” and “drive” may be used interchangeably.

Related Documents

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
MODBUS technical manual. All technical manuals and support files can be found on the CD that came with the drive and are
available for download at www.yaskawa.com

For information on DeviceNet™ contact the Open DeviceNet™ Vendor Association at www.odva.org

GPD515/G5 Technical Manual document reference TM 4515

F 7 document reference T M . F 7 . 0 1 ( F 7 U s e r M a n u a l ) o r T M . F 7 . 0 2 ( F 7 P r o g r a m m i n g M a n u a l )

G7 document reference TM.G7.01 (G7 User Manual)

CIMR-ACA* document reference TOEPC71063600 (Instruction Manual)

GPD515/G5 MODBUS Technical Manual document reference TM 4025

F7 MODBUS Technical Manual document reference TM.F7.11

GPD is a trademark of Yaskawa, Inc.

MODBUS

®

is a registered trademark of Schneider Automation, Inc.

.

.

DeviceNet™ is a registered trademark of the Open DeviceNet™ Vendor Association.

RSNetWorx™ is a registered trademark of Rockwell Automation.

All trademarks are the property of their respective owners.

4

Overview

R

R

RS-232

Interface

Module

Master

24Vdc

G5

F7

G7

Trunkline

Droplines

Terminating

Resistor

Terminating

Resistor

Fig. 1 Sample DeviceNet Network

This manual describes the set-up and programming of the option. The option will allow
communication between a DeviceNet Communication Network and one drive.

To connect a drive to the DeviceNet network, the following materials will be necessary:

 CM059 (SI-N1) option
 CM059 (SI-N1) option Technical Manual
 CM059 (SI-N1) option EDS Files (Found on www.yaskawa.com or CD.AFD7.01 included with the drive)
 Drive User Manual (TM 4515, TM.F7.01, or TM.G7.01).

The DeviceNet Network

DeviceNet is a low-cost communications link to connect industrial devices (such as limit switches, photoelectric switches,
valve manifolds, motor starters, smart motor controllers, operator interfaces, and variable frequency drives) as well as control
devices (such as programmable controllers and computers) to a network. Figure 1 shows an example DeviceNet network.

DeviceNet is a simple, networking solution that reduces the cost and time to wire and install factory automation devices, while
providing interchangeability of “like” components from multiple vendors.

DeviceNet is an “open device network standard”. The specifications and protocol are open - vendors are not required to
purchase hardware, software, or licensing rights to connect devices to a system. Vendors who choose to participate may obtain
the set of specifications from the Open DeviceNet Vendor Association (ODVA).

DeviceNet provides:

DeviceNet has two primary purposes:

 A cost effective solution to low-level device networking
 Access to intelligence present in the devices
 Master/Slave capabilities

 Transport of control-oriented information associated with the control/monitoring of devices
 Transport of configuration parameters which are indirectly related to system control

5

The list below presents a summary of the Physical/Media specific characteristics of DeviceNet:

 Trunkline-dropline configuration
 Support for up to 64 nodes
 Node removal without severing the network
 Simultaneous support for both network-powered and self-powered devices
 Use of sealed or open-type connectors
 Protection from wiring errors
 Selectable data rates of 125kBaud, 250kBaud, and 500kBaud
 Adjustable power configuration to meet individual application needs
 High current capability (up to 16 Amps per supply)
 Operation with off-the-shelf power supplies
 Power taps that allow the connection of several power supplies from multiple vendors that comply with DeviceNet

standards

The list below summarizes additional communication features provided by DeviceNet:

 Use of Controller Area Network (CAN) technology
 Connection-based model to facilitate application to application communications
 Provisions for the typical request/response oriented network communications
 Provisions for the efficient movement of I/O data
 Fragmentation for moving larger quantities of data
 Duplicate MAC ID detection

The communication platform for the DeviceNet Network is based on the CAN (Controller Area Network) technology, which
was first developed by Bosch for the automotive industry. Some of the benefits of this protocol are high noise immunity and
high temperature operation. Because it uses a serial bus, it reduces signal wiring complexity and cost while providing high­speed digital control for optimum performance. These benefits make DeviceNet especially suitable for the industrial automation
environment.

6

Table of Contents

Warnings and Cautions....................................................................................2

Introduction ......................................................................................................3

Overview of the DeviceNet Network ................................................................4

Chapter 1- Installation................................................................................................... 9

DeviceNet™ Simplified Start-up Procedure .................................................. 11

Unpack and Inspect....................................................................................... 13

Part Names ................................................................................................... 13

Installation and Wiring ................................................................................... 14

Verify Drive Operation ................................................................................... 14

Installation of DeviceNet Option .....................................................................14

Connect The Drive To The DeviceNet Network..............................................15

Set Baud Rate and Node Address .................................................................15

Baud Rate Setting Switch...............................................................................16

MAC ID Setting Switch ...................................................................................16

Termination Resistors.....................................................................................16

Option Indication LEDs...................................................................................16

Verify DeviceNet Option Operation ................................................................17

Initial Settings .................................................................................................17

Run/Stop and Frequency Selection................................................................17

DeviceNet Indication LEDs.............................................................................18

Chapter 2- Network Configuration .............................................................................19

DeviceNet Configuration ............................................................................... 20

EDS Files in General..................................................................................... 20

Install EDS File.............................................................................................. 21

Set Application Parameters........................................................................... 23

Configure the Scanner .................................................................................. 24

Add Drive to Scanlist and Specify Settings ................................................... 25

Data Storage of Option and Drive ................................................................. 30

Save Data to EEPROM with the ENTER Command..................................... 31

7

Chapter 3- Network Communications........................................................................33

DeviceNet Polled I/O Messaging Communications ..................................... 34

Basic Speed Control Input Instance 20 (14 Hex) ......................................... 35

Basic Speed Control Output Instance 70 (46 Hex) ...................................... 36

Extended Speed Control Input Instance 21 (15 Hex)................................... 37

Extended Speed Control Output Instance 71 (47Hex)................................. 38

Drive Modbus I/O Control Input Instance 100 (64 Hex) ............................... 39

Drive Modbus I/O Control Output Instance 150 (96 Hex) ............................. 40

Standard Drive Control Input Instance 101 (65 Hex) .................................... 41

Standard Drive Control Output Instance 151 (97 Hex) ................................. 43

DeviceNet Explicit Messaging Communications........................................... 45

Identity Object Class (01 Hex): ..................................................................... 46

Message Router Object Class (02 Hex): ...................................................... 48

DeviceNet Object Class (03 Hex): ................................................................ 48

Assembly Object Class (04 Hex): ................................................................. 49

DeviceNet Connection Object Class (05 Hex): ............................................. 50

Motor Data Object Class (28 Hex): ............................................................... 52

Control Supervisor Object Class (29 Hex): ................................................... 52

AC/DC Drive Object Class (2A Hex):............................................................ 54

Drive Parameters Object Class 100 (64 Hex):.............................................. 56

DeviceNet Fault Diagnostics......................................................................... 58

Drive Faults................................................................................................... 58

Fault Diagnostics .......................................................................................... 59

DeviceNet Communication LED Faults and Operation................................. 60

Explicit Message Communication Error ........................................................ 61

I/O Message Communication Modbus I/O Instance Errors........................... 61

Appendix A- Product Specifications..........................................................................63

DeviceNet Product Specification Table .....................................................................64

Appendix B- Cable Specifications .............................................................................65

DeviceNet Cable Specifications ................................................................... 66

DeviceNet Cable Vendor Table .................................................................... 66

DeviceNet Network Topology ....................................................................... 67

DeviceNet Maximum Cable Distance........................................................... 67

8

Chapter 1

Installation

This chapter describes how to install and setup the DeviceNet Option

DeviceNet™ Simplified Start-up Procedure ........................ 11

Unpack and Inspect............................................................... 13

Part Names............................................................................. 13

Installation and Wiring .......................................................... 14

Verify Drive Operation ........................................................... 14

Installation of DeviceNet Option ...........................................14

Connect The Drive To The DeviceNet Network.................... 15

Set Baud Rate and Node Address.........................................15

Baud Rate Setting Switch ......................................................16

MAC ID Setting Switch ...........................................................16

Termination Resistors ............................................................16

Option Indication LEDs ..........................................................16

Verify DeviceNet Option Operation ....................................... 17

Initial Settings .........................................................................17

Run/Stop and Frequency Selection ......................................17

DeviceNet Indication LEDs ....................................................18

9

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10

DeviceNet™ Simplified Start-up Procedure

1

2

3

4

5

BK BL WH RD

GR

BL WH

BK GR RD

Table 2: DeviceNet Terminal Block Connections

Ter minal

No.

Ter minal

Color

Name

Wiring

Color

Content

1 Black V- Black Communication power supply GND

2 Blue CAN_L Blue Communication data low side

3 Green Shield Bare Shield wire

4 White CAN_H White Communication data high side

5 Red V+ Red Communication power supply +24V

dc

ON

OFF

1 2 3 4 5 6 7 8

Baud Rate

1 2
OFF OFF 125kbps

OFF

ON 250kbps

ON OFF 500kbps
ON ON Not Allowed

MAC ID

3 4 5 6 7 8

OFF OFF OFF OFF OFF OFF 0

OFF OFF OFF OFF OFF

ON 1

OFF OFF OFF OFF

ON OFF 2

OFF OFF OFF OFF

ON ON 3

ON ON ON ON ON OFF 62

ON ON ON ON ON ON 63

Note: Setting the “Not Allowed”

baud rate configuration
(Switch 1 and 2 “ON”)
causes a “BUS” fault on
the Digital Operator.

Fig. 2 DeviceNet DIP Switch Settings

DR 1

DR 0

ADR5

ADR4

ADR3

ADR2

ADR1

ADR0

１２３４ ８５６７

The following is a quick reference guide to install and configure the drive’s option. For more details, please refer to the drive’s
DeviceNet Technical Manual sections referenced.

1. Verify that the drive functions properly without the option installed. This includes running the drive from the operator
keypad, without communications.

2. Turn off the drive power supply and wait for at least 1 minute for the charge lamp to be completely out before
removing the operator and front cover. Remove the option hold-down tab on the left side of the drive case by
carefully compressing the top and bottom until it becomes free of its holder. Lift it out.

3. Install the option onto the drive. Mount the DeviceNet unit onto the drive making sure to connect 2CN securely. Replace
the option hold-down. Install the operator keypad and front cover back onto the unit after securing the DeviceNet unit
with screw.

4. Connect the DeviceNet communication wires to the screw terminals on the option.

5. Using the DIP switch bank on the DeviceNet option kit, set communication baud rate (switch 1, 2) and MAC ID
(switch 3 – 8). Be sure to verify that no devices on the network have duplicate MAC IDs.

11

6. Power up the drive and set the number of motor poles in parameter o1-03 to read and set the speed in motor RPMs.

7. Set the drive’s run/stop and frequency reference to meet the application requirements as explained below.

Example 1. Control from DeviceNet network

When the drive is set to be controlled by the DeviceNet network, the frequency and the start/stop commands are
issued through the master device. Set the drive parameters b1-01 and b1-02 as shown in the table.

Table 3: Drive Parameter Settings for DeviceNet Control

Parameter Display Text Value Description

b1-01

b1-02

Example 2. Monitor only

The drive can be connected to the DeviceNet network without being controlled.The motor speed and the status of the
drive can be monitored via DeviceNet while controlling the drive from another source specified by parameters b1-01
and b1-02.
Please refer to the drive Technical Manual for the proper settings of parameters b1-01 and b1-02.

8. Download the proper EDS file for the corresponding drive model number from CD ROM - CD.AFD7.01 included
with the drive or from www.yaskawa.com
Product Codes for a complete list of EDS files with the model number of the drive. Each model of drive has its own
EDS file, so it is important to select the EDS file that matches the drive capacity. The EDS file is necessary to map the
DeviceNet and drive parameters into the configuration tool where the user can access the parameters through
DeviceNet. Install the EDS file in the configuration tool software, such as RSNetWorx™ for DeviceNet™ from
Rockwell Software (Appendix B DeviceNet Configuration for RSNetWorx).

Note: The EDS files will be in zip format, so you must unzip the file before installing it in the configuration tool.

Reference Source

Option

Run Source

Option

3

3 Sets the sequence to come from the option.

in the “Software Downloads” area. Refer to the table of EDS Files and

Sets the frequency reference to come from
the option.

12

Unpack and Inspect

Connector for Options (60-pin)

Indication LEDs

DeviceNet

DIP Switch

Ground Wire

Terminal Block

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.

Part Names

Option components are as follows:

DeviceNet Option CM059 (SI-N1) 1

Installation Guide IG.AFD.13. DeviceNet CM059 (SI-N1) 1

Fig. 3 CM059 (SI-N1) Option

Table 4: Option Kit Parts List

Part Qty.

13

Installation and Wiring

Grounding Term inal

4CN
Option Card A

2CN
Option Card C

3CN
Option Card D

Option Clip

The following describes the installation and configuration of the option. For detailed information about the drive or the DeviceNet
option, please refer to the appropriate sections of this manual or the appropriate drive Technical Manual.

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 appropriate drive Technical Manual for information on connecting and operating the drive.

 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.

 Remove the operator keypad and drive cover(s).
 Remove the option hold-down on the left side of the drive case by carefully compressing the top and bottom until it

becomes free of its holder. Lift it out.

Installation of the Option

Install the option on the drive control PCB after having removed the front cover of the drive body. Install the option in

accordance with the following procedure:

 Align the JP2 connector on the back of the option with its mating 2CN connector on the drive control card.
 Align the two standoffs on the front of the drive control board with the two holes on the right side of the option.
 Press the option firmly onto the drive 2CN connector and standoffs until the JP2 connector is fully seated on 2CN and

the drive standoffs have locked into their appropriate holes.

 Replace the option hold down.

 Connect the ground wire from the ground terminal E on the option to a ground terminal on the terminal assembly.
 After installing the option, make the terminal connections per the instructions on the next page and set the DIP switch

to the correct settings. Thereafter, re-install the front cover and the operator in their original positions.

Fig. 4 Option Locations

14

Connect The Drive To The DeviceNet Network

1

2

3

4

5

BK BL WH RD

GR

BK GR RD

BL WH

Table 5: DeviceNet Terminal Block Connections

Ter minal

No.

Ter minal

Color

Name

Wiring

Color

Content

1 Black V- Black Communication power supply GND

2 Blue CAN_L Blue Communication data low side

3 Green Shield Bare Shield wire

4 White CAN_H White Communication data high side

5 Red V+ Red Communication power supply +24V

dc

DR 1

DR 0

ADR5

ADR4

ADR3

ADR2

ADR1

ADR0

１２３４ ８５６７

OFF

ON

MAC ID Setting

Baud Rate Setting

Fig. 5 DIP Switch Settings for Baud Rate and Node Address

Wire the DeviceNet communication cable to the terminal block according to the following procedures:

 Loosen terminal screws using a slotted screwdriver.
 Strip about 5.5mm of insulation from the end of each DeviceNet wire and insert it into the corresponding terminal

according to the table and diagram below.

 Secure wires by tightening terminal screws (Tightening torque: 0.22 ～ 0.25 [N ・ m]).
 Tie the DeviceNet cable to a point near the terminal block to provide strain relief for the terminal block and cable

connection.

Note: The shield is daisy chained between devices and should be grounded at the 24 V

the Open DeviceNet Vendor Association (ODVA).

dc power supply as specified by

Set Baud Rate and Node Address

The option is equipped with one 8-bit DIP switch for baud rate and node address set-up. The DIP switches are located next to
the DeviceNet connector on the short side of the option. Set the network node address (MAC ID) by setting the DIP switches.
All devices on the network must have unique node addresses. Check the network layout to verify that the node address
selected is unique, falls between 3 and 62, and matches the master device configuration for that device. Node addresses 0 and
1 are typically reserved for master devices, while node address 2 is reserved for diagnostic/monitoring equipment, and address
63 for vendor-specific functions in some systems.

15

Baud Rate Setting Switch

R

R

RS-232

Interface

Module

Master

24Vdc

G5

F7

G7

Trunkline

Droplines

Terminating

Resistor

Terminating

Resistor

PLC/

Scanner

Power (PWR)

DeviceNet Module Status (MS)

DeviceNet Network Status (NS)

Option Status (WD)

Fig. 7 DeviceNet Status Indication LEDs

Table 6: Baud Rate DIP Switch Setting

Switch 500 kbps 250 kbps 125 kbps Setting Prohibited

DR1 ON OFF OFF ON
DR0 OFF ON OFF ON

Note: If DR1 and DR0 are ON and set to Setting Prohibited, both MS and NS LEDs light up solid red.

MAC ID Setting Switch

Table 7: MAC ID Switch Setting

DIP Switch

ADR5 OFF OFF OFF OFF OFF OFF OFF OFF OFF
ADR4 OFF OFF OFF OFF OFF OFF OFF OFF OFF
ADR3 OFF OFF OFF OFF OFF OFF OFF OFF ON
ADR2 OFF OFF OFF OFF ON ON ON ON OFF
ADR1 OFF OFF ON ON OFF OFF ON ON OFF
ADR0 OFF ON OFF ON OFF ON OFF ON OFF

012345678

MAC ID

・・・
・・・
・・・
・・・
・・・
・・・
・・・

62 63
ON ON
ON ON
ON ON
ON ON
ON ON

OFF ON

Termination Resistors

Terminating resistors must be mounted on the first and last node in a DeviceNet network, at both of the furthest ends of the
cable. The value of the Terminating resistor is specified by the ODVA (Open DeviceNet Vendors Association) and is a value of
121 Ohms, 1% tolerance, and ¼ watt. Terminating resistors can be found in the ODVA product catalog.

Option Indication LEDs

The option is equipped with four indication LEDs for module and DeviceNet status indication. The LEDs are located on the
option according to the figure below.

Fig. 6 Terminating Resistor Placement on DeviceNet Network

16

Verify Option Operation

 Apply power to the drive.
 Verify that the diagnostic LEDs on the front of the option are in their correct state.

Table 8: Diagnostic LED States

LED Display

PWR MS NS WD

Solid Green Solid Green Solid Green Flashing Green Normal Normal Communication

 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.

 Install the operator keypad and all drive covers.

Content State

Initial Settings

Since the option utilizes the AC drive for many of its calculations; such as speed, please check the following parameters to
verify the correct setting.

Table 9: Parameter o1-03 – Digital Operator Display Mode

Setting No. Name Description

o1-03 Frequency reference

set/display unit selec­tion

Make sure to set number of motor poles (2 ~ 39) to input and output motor speed in
RPMs on DeviceNet control and operator display.
DeviceNet indicates the motor speed unit as RPM.
o1-03 setting value is used since the option converts frequency to RPM. Initial
value is 0 for frequency reference in Hz.

Run/Stop and Frequency Selection

The run/stop commands and frequency reference command can originate from serial communication, the Digital Operator, the
external terminals, or the option. The origin of the run/stop command does not have to be the same as the origin for the fre­quency reference command. Parameter b1-01 (Reference Selection) allows you to set up the origin of the
frequency reference and parameter b1-02 (Operation Method Selection) sets up the origin of the run/stop commands. When
the DeviceNet network is connected to the drive, the motor speed and the status of the drive can be monitored via DeviceNet
while controlling the drive from another source specified by parameters b1-01 and b1-02. The table shown below illustrates
the possible frequency reference and run/stop selections.

Table 10: Possible Frequency Reference and Run/Stop Selections

Parameter b1-01 Setting Frequency Reference Selection

0 Digital Operator
1 Terminals
2 Serial Communication (Modbus)
3 Option (DeviceNet)
4 Pulse Input

Note: The default setting of parameter b1-01 is ‘1’. For DeviceNet Operation, use Setting ‘3’ – Option.

Parameter b1-02 Setting Operation Method Selection (Run/Stop)

0 Digital Operator
1Terminals
2 Serial Communication (Modbus)
3

Note: The default setting of parameter b1-02 is ‘1’. For DeviceNet Operation, use Setting ‘3’ – Option.

17

Option (DeviceNet)

Option Indication LEDs

The table below describes the function of DeviceNet specific LEDs.

Table 11: DeviceNet LED Function

LED

Name

MS

NS

PWR

WD

Notes:

1) If the baud rate configuration is set for “Not Allowed”, both the NS and MS diagnostic LEDs will be solid RED.

2) The LEDs will flash red once (100 ms) during initialization (Internal testing process to verify that the red LED is working properly).

Display

Color Status

Green Lit During option operation The option is operating normally.

Green Flashing During option preparation Initial setting status or communication is not ready.

Red Lit

Red Flashing Recovery from fault possible Possible recovery fault such as switch settings occurred.

－

Green Lit

Green Flashing

Red Lit Communication fault

Red Flashing Communication timeout Communication time out with master occurred.

－

Green Lit Power ON Power to the option is supplied from the drive.

－

Green Flashing During CPU operation CPU of the option is operating normally.

Red Lit CPU fault Option CPU is being ready or has fault.

－

Not lit Power OFF

Not lit Offline, Power OFF

Not lit Power OFF

Not lit Power OFF

Operation Status Description

Recovery from fault
impossible

Online communication is
taking place

Online communication is not
taking place.

Impossible recovery fault occurred in the option.

Power is not being supplied to the drive.
the option has not been properly connected. Therefore, the

power is not being supplied to the option.

DeviceNet is communicating normally.

DeviceNet network is normal, but is not communicating
with the master.

A fault that makes it impossible for the DeviceNet to
communicate has occurred.

 MAC ID overlap
 Bus-off detection

DeviceNet is not set to online.
Power is not being supplied to the option.
Mismatch of baud rate.

Power is not being supplied to the drive.
The option has not been properly connected. Therefore, the
power is not supplied to the option.

Power is not being supplied to the drive.
The option has not been properly connected. Therefore,
power is not being supplied to the option.

18

Chapter 2

Network Configuration

This chapter describes how to properly adjust the parameter settings of a
DeviceNet slave in a network system.

DeviceNet Configuration .................................................................... 20

EDS Files in General ........................................................................... 20

Install EDS File .................................................................................... 21

Set Application Parameters................................................................ 23

Configure the Scanner........................................................................ 24

Add Drive to Scanlist and Specify Settings...................................... 25

Data Storage of Option and Drive...................................................... 30

Save Data to EEPROM with the ENTER Command.......................... 31

19

DeviceNet Configuration

1770-KFD

F7

SLC500

1747-SDN

1770-KFD1770-KFD

F7F7

SLC500

1747-SDN

DeviceNet configuration refers to properly setting the DeviceNet slave in a network system through its parameter settings. The
option allows accessibility to DeviceNet parameters and drive parameters through its EDS file. The configuration software uses
the EDS file to map the DeviceNet and drive parameters. The user can read and set parameters and save the configuration. The
configuration software that this document will address is RSNetWorx for DeviceNet™ from Rockwell Software.

Note: This section is only intended to be used as a guide for configuration of the option using configuration tool software

RSNetWorx. Any updates to the configuration tool software will not be noted in this section. Please reference the
configuration tool technical manual as the primary reference. Use the contents of this section only as a general guide.

EDS files can be downloaded from the internet at www.
sure to select the version of the EDS file that corresponds to the drive capacity and version number of the Option. Each Yaskawa
drive capacity has its own EDS file, so it is important to select the EDS file that matches the drive capacity. Install the EDS files
in a subdirectory of the PC where the configuration software is located.

Note: The EDS files will be compressed in zip format, so unzip the file before installing in the configuration too.

The following steps will outline how to configure the Yaskawa drive on DeviceNet using RSNetWorx.

1. Install the drive EDS file.

2. Set drive parameters and select the proper Polled Producing Assembly (PPA) and Polled Consuming Assembly (PCA)
of the drive for the application.

3. Configure the scanner by adding the drive to the scanner module scanlist.

4. AutoMap the drive in the Input and Output of the scanner’s M File Memory.

yaskawa.com or www.odva.org. For correct scaling of parameters, be

EDS Files in General

EDS files are typically used together with a DeviceNet Network Configuration tool.

DeviceNet Network Configuration tools are used to configure all nodes on a DeviceNet network. Network Configuration tools
provide the ability to upload data from a device and download data to a device. The EDS files provide the Network
Configuration tool with the following information:

 Description of each device parameter
 Maximum and Minimum values for each device parameter
 Default values for each device parameter
 Read/Write access for each device parameter
 Help Information for each device parameter
 Vendor ID of the device
 Device Type of the device
 Product Code of the device
 Revision of the device

Each device on the network has the following values assigned to it:

 Vendor ID
 Device Type
 Product Code
 Revision
 Serial Number

The Network Configuration tool will read these values from the device. When using EDS files, the tool will compare the values
of Vendor ID, Device Type, Product Code, and Revision that were read from the device to the values in the EDS file. They must
match.

20

Install EDS File

Install the drive’s EDS file by selecting EDS Wizard and follow the appropriate steps.
In RSNetWorx, select EDS Wizard under Tools. Be sure that you have the drive EDS files downloaded and unzipped.

Follow the appropriate steps in the EDS Wizard.

21

Once the proper EDS file is installed, the drive icon will appear along with the drive model number.

Yas kaw a

Yaskawa [44]

Double-click on the drive icon to access the drive’s specifications and parameters.

22

Set Application Parameters

Select the Parameters tab to access DeviceNet and drive parameters and set the parameters according to the application.

The parameters are categorized into Groups, which allows you to filter the parameters that are displayed. DN: Polled Config
group shows Polled Producing Assembly (PPA) and Polled Consuming Assembly (PCA).

23

Enter appropriate PPA and PCA to use for polled communications. See Chapter 3 for a complete list of available PPA and PCA.

Yaskawa

Click OK or Apply to save any changes.

Configure the Scanner

Double-click on the Scanner Module icon to configure the Scanner.

24

Add Drive to Scanlist and Specify Settings

Select the Scanlist tab to show available devices for the scanlist.
Add the drive to the scanlist by highlighting the drive and click on the right arrow button (>).

Click on Edit I/O Parameters to set the I/O data settings.

25

Select Polled communications and the correct amount of bytes for PCA (Rx) and PPA(Tx). Click OK.

Select the Input tab and Unmap any data in the Discrete Memory.

26

Select the M File Memory.

Click on the AutoMap button. The selected bytes of polled input data should appear in the scanlist. Click OK.

27

Select the Output tab and Unmap any data in the Discrete Memory.

Select the M File Memory. Click on the AutoMap button. The selected bytes of polled output data should appear in the scanlist.

28

Select the Summary tab to make sure the correct number of I/O bytes are selected and are mapped.

Save the changes and download the configuration to the scanner by clicking Apply.

29

Data Storage of Option and Drive

Power-Up

ENTER

Drive Application

Parameters

Drive Application

Parameters

Drive Application

Parameters

Drive Inactive

RAM

Drive Active

RAM

Drive EEPROM

ENTER

ACCEPT

Drive Runtime

Commands

Drive Runtime

Status/Diagnostics

The drive with option stores data in four locations:

 Active RAM memory on the drive
 Inactive RAM memory on the drive
 EEPROM memory on the drive
 EEPROM memory on the option

Data held in RAM memory, both Active and Inactive, is “Volatile”. Data held in Volatile memory will be lost when power is
removed from the drive.

Data held in drive EEPROM and option EEPROM memory is “Non-Volatile”. Data held in Non-Volatile memory will be
retained when power is removed from the drive.

The following table shows which memory location is used for the data available over the DeviceNet network.

DataType MemoryType

Drive Runtime Commands

Run/Stop
Frequency Reference

Drive Runtime Status and Diagnostics

Run/Stop Status
Frequency Output
Current Output
Fault Diagnostics

Drive Application Parameters

A1-00 through o3-02

DeviceNet Network Parameters

Polled Consuming Assembly
Polled Producing Assembly
Motor Nameplate Data

Drive RAM

Drive RAM

Drive EEPROM

& Drive RAM

Option

EEPROM

The drive Application Parameters are held both in drive EEPROM and drive RAM. On power-up, the drive Application
Parameters that are stored in drive EEPROM memory are transferred to drive RAM memory.

If drive Application Parameters are changed via DeviceNet, the new data will be placed into drive Inactive RAM memory. At
this point, the new data will not be activated or retained if a drive power loss occurs. In order for the new data to be retained,
the ‘ACCEPT’ command must be executed. When the ‘ACCEPT’ command is executed, the new data is transferred into Active
RAM memory. In order for the new data to be retained, the ‘ENTER’ command must be executed. When the ‘ENTER’
command is executed, all of the drive Application Parameters in drive RAM memory are transferred into drive EEPROM
memory.

30

Some Parameter Data registers may be written to while the drive is running. These parameters are called run operative

CAUTION

Use the ENTER Command only when necessary!
The life of the EEPROM on the drive will support a finite number of operations.
This means that the ENTER command can only be used a maximum of 100,000 times to store data in the EEPROM. After
the specified number of operations, the EEPROM may fault (CPF04) requiring the drive control board to be replaced.

CAUTION

The DeviceNet Network parameters do not require the use of the ENTER Command.
They are automatically stored in EEPROM memory. The life of the EEPROM on the option will support a finite number of
operations. This means that the DeviceNet Network parameters can only be changed a maximum of 100,000 times. After the
specified number of operations, the EEPROM may fault,
requiring the option to be replaced.

parameters. For a list of these parameters refer to Appendix A of the drive User Manual.

All other Parameter Data registers may only be written to when the drive is stopped. These are called non-run operative
parameters.

If new data is written to any parameter serially, and is not followed by an ‘ENTER’ command, a Busy Write Protected” message
will flash on the Digital Operator display if an attempt is then made to change a parameter using the Digital Operator.

Save Data to EEPROM with the ENTER Command

The ENTER Command can be accomplished in the following way:

 Perform a SET service on Yaskawa Class 64 Hex, Instance 09 Hex, Attribute 00 Hex

The value ‘0’ should be SET to the ENTER Command attribute.

31

Notes:

32

Chapter 3

Network Communications

This chapter describes how to install and setup the DeviceNet Option

DeviceNet Polled I/O Messaging Communications.......................... 34

Basic Speed Control Input Instance 20 (14 Hex).............................. 35

Basic Speed Control Output Instance 70 (46 Hex)........................... 36

Extended Speed Control Input Instance 21 (15 Hex) ....................... 37

Extended Speed Control Output Instance 71 (47Hex) ..................... 38

Drive Modbus I/O Control Input Instance 100 (64 Hex).................... 39

Drive Modbus I/O Control Output Instance 150 (96 Hex).................. 40

Standard Drive Control Input Instance 101 (65 Hex)......................... 41

Standard Drive Control Output Instance 151 (97 Hex)...................... 43

DeviceNet Explicit Messaging Communications ..............................45

Identity Object Class (01 Hex):............................................................46

Message Router Object Class (02 Hex):.............................................48

DeviceNet Object Class (03 Hex): .......................................................48

Assembly Object Class (04 Hex): .......................................................49

DeviceNet Connection Object Class (05 Hex): ..................................50

Motor Data Object Class (28 Hex):......................................................52

Control Supervisor Object Class (29 Hex):........................................52

AC/DC Drive Object Class (2A Hex): .................................................. 54

Drive Parameters Object Class 100 (64 Hex):....................................56

DeviceNet Fault Diagnostics ...............................................................58

Drive Faults...........................................................................................58

Fault Diagnostics .................................................................................59

DeviceNet Communication LED Faults and Operation.....................60

Explicit Message Communication Error ............................................61

I/O Message Communication Modbus I/O Instance Errors .............. 61

33

DeviceNet Polled I/O Messaging Communications

DeviceNet Communications between a Master (PLC or PC) and the drive (Slave) uses Polled I/O messaging, based from the
following I/O Assemblies, to transfer control and diagnostic information to and from the drive. The “Input Data Assemblies”
or “Polled Consuming Assemblies (PCA)” refer to a message sent from the Master to the drive. The “Output Data
Assemblies” or “Polled Producing Assemblies (PPA)” refer to the response from the drive back to the Master. The factory
default of the drive DeviceNet is Extended Speed Control Input Instance 21 and Extended Speed Control Output Instance 71.

The configuration software uses the EDS file to change the PCA and PPA. By accessing the EDS file through configuration
software, the PCA and PPA can be accessed under the DeviceNet Parameter Groups “Polled Consuming Assembly” and
“Polled Producing Assembly”. Set the appropriate value using the table below and save the changes to the device.

Be sure to power down the drive, then power up to store the changes made to the PCA and PPA.

Table 12: Supported Service

Service Code

(Hex)

0E Get_Attribute_Single Designated attribute content is read.
10 Set_Attribute_Single Designated attribute content is changed.

Class Instance Attribute Type Data Description

101

(65 Hex)

1

Service Name Description of Service

70

(46 Hex)

PPA

1

2

(Output Data

Assembly)

PCA

(Input Data

Assembly)

71

(47 Hex)

150

(96 Hex)

151

(97 Hex)

20

(14 Hex)

21

(15 Hex)

100

(64 Hex)

101

(65 Hex)

Bas ic Spe ed Co nt rol Ou tp ut I ns ta nc e 70

E x te n d e d Sp e e d Co n t r ol O ut p u t I ns t a n ce 7 1

Drive Modbus I/O Control Output Instance 150

D r i v e S t a n d a r d D r i v e C o n t r o l O u t p u t I n s t a n c e 1 5 1

Basic Speed Control Input Instance 20

E x t e n d e d S p e e d C o n t r o l I n p u t I n s t a n c e 2 1

Drive Modbus I/O Control Input Instance 100

D r i v e S t a n d a r d D r i v e C o n t r o l I n p u t I n s t a n c e 1 0 1

*default

*default

The tables in the following pages indicate the format and structure of the I/O Assemblies.

Note: 1. Regardless if I/O Data Exchange is enabled or disabled, communications will occur at the determined intervals

set by the Master.

2. Input Data Assemblies = Polled Consuming Assemblies
Output Data Assemblies = Polled Producing Assemblies

34

Basic Speed Control Input Instance 20 (14 Hex)

This function is the basic I/O instance of Assembly Object Class (04 Hex) Attribute (03 Hex), which defines DeviceNet AC
Drive Profile. Both input/output use 4 bytes each.

Table 13: Drive Basic Speed Control Instance 20 (14 Hex) (INPUT ASSEMBLY)

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0
1

－－－－－
－－－－－－－－

2 Speed Reference (Lower Byte)
3 Speed Reference (Upper Byte)

Data Name Description

Byte 0, Bit 0

Byte 0, Bit 2

Run Fwd

Fault Reset

The drive runs forward 0: Stop

The drive from fault detection status is reset. 0: Fault reset off

The drive speed reference is set.

Speed command data: Frequency reference [RPM]×1/2

Byte 2, 3

Speed Reference

Setting range: 0xFFFF Hex
Example: When setting 1800r/min reference, (Speed scale = 0)

Speed reference data: 1800 X 1/2

Lower Byte (byte 2) = 08 Hex, Upper Byte (byte 3) = 07 Hex

Notes: *1 Speed scale can be set by explicit messaging communication AC/DC Drive Object (Class 2A Hex) attribute 16.

*2 Setting of a speed exceeding the drive maximum output frequency (E1-04) will be limited by the maximum output frequency (E1-04).
*3 When applying a speed reference make sure to set No. of poles (2 ~ 39) to the drive parameter o1-03 (frequency reference set/display unit

selection).

Fault Reset

1: FWD run

where SS: Speed Scale

*2

0

= 0708 Hex

－

1: Fault reset

SS

*1

Fwd Run

35

Basic Speed Control Output Instance 70 (46 Hex)

This function is the basic I/O instance of Assembly Object Class (04 Hex) Attribute (03 Hex), which defines DeviceNet AC
Drive Profile. Both input/output use 4 bytes each.

Table 14: Drive Basic Speed Control Instance 70 (46 Hex) (OUTPUT ASSEMBLY)

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0

1
2 Speed Monitor (Lower Byte)
3 Speed Monitor (Upper Byte)

Byte 0, Bit 0

Byte 0, Bit 2

Byte 2, 3 Speed Monitor

Note: *1 Speed scale can be set by explicit messages communication AC/DC Drive Object (Class 2A Hex) attribute 16.

－－－－－

－－－－－ － － －

Data Name Description

Fault

During FWD

*2 When applying a speed reference make sure to set No. of poles (2 ~ 39) to the drive parameter o1-03 (frequency reference set/display unit

selection).

The drive fault detection status is displayed. 0: Normal

The drive run status is displayed. 0: During Stop/REV.

The drive speed is displayed.

Speed monitor data: Frequency monitor [r/min]×1/2

where SS: Speed Scale

Example: If speed monitor data is 1000RPM (03E8 Hex), speed scale = 0

Lower Byte (byte 2) = E8 Hex, Upper Byte (byte 3) = 03 Hex

Frequency monitor: 03E8 Hex X 1/2

During FWD
Run (Fwd)

1: During FWD/DC braking

0

X = 1000r/min.

1: During fault detection

*1

－

SS

Fault

36

Extended Speed Control Input Instance 21 (15 Hex)

This function is the basic I/O instance of Assembly Object Class (04 Hex) Attribute (03 Hex), which is defined by the
DeviceNet AC Drive Profile. This is the Factory Default. Both I/O Assemblies use 4 bytes.

Table 15: Drive Extended Speed Control Instance21 (15 Hex) (INPUT ASSEMBLY)

ByteBit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0

0

1
2 Speed Reference (Lower Byte)
3 Speed Reference (Upper Byte)

－
－－－－－－－－

Data Name Description

Byte 0, Bit 0

Byte 0, Bit 1

Byte 0, Bit 2

Byte 0, Bit 5

Byte 0, Bit 6

Byte 2, 3

NetRef NetCtrl

Fwd Run

Rev Run

Fault Reset

NetCtrl

NetRef

Speed Reference

－－

Fault Reset Rev Run Fwd Run

The drive runs forward. 0: Stop

1: Fwd run

The drive runs reverse. 0: Stop

1: Rev. run

The drive resets at fault detection status. 0: Fault reset off

1: Fault reset

Run command rights are set.
0: Run command input procedures are set by set run command selection (b1-02)
1: Run command (Byte 0 – Bit 0, 1) through DeviceNet enabled.

Frequency reference rights are set.
0: Frequency reference input procedures set by frequency reference selection (b1-01)
1: Frequency reference (Byte 2, 3) through DeviceNet enabled.

The drive speed reference is set.
This function is the same as the Speed Reference in the Basic Speed Control Input
Instance 20 (14 Hex) section.

37

Extended Speed Control Output Instance 71 (47 Hex)

This function is the basic I/O instance of Assembly Object Class (04 Hex) Attribute (03 Hex), which is defined by the
DeviceNet AC Drive Profile. This is the Factory default. Both I/O Assemblies use 4 bytes.

Table 16: Drive Extended Speed Control Instance 71 (47 Hex) (OUTPUT ASSEMBLY)

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Speed

0

Agree

1
2 Speed Monitor (Lower Byte)
3Speed Monitor (Upper Byte)

Data Name Description

Byte 0, Bit 0

Byte 0, Bit 1

Byte 0, Bit 2

Byte 0, Bit 3

Byte 0, Bit 4

Byte 0, Bit 5

Byte 0, Bit 6

Byte 0, Bit 7

Byte 2, 3

－－－－－－－－

During Fwd Run

During Rev Run

Inverter Ready

Ctrl From Net

Ref From Net

Speed Agree

Speed Monitor

Fault

Alarm

Ref From
Net

Ctrl From
Net

The drive fault detection status is displayed: 0: Normal

The drive alarm detection status is displayed: 0: Normal

The drive run status is displayed: 0: During stop/reverse

The drive run status is displayed: 0: During stop/forward run/DC brake

The drive ready status is displayed: 0: During fault detection/ready
1: Ready
The drive run command input selection status is displayed.
0: Run command input is enabled other than the DeviceNet.
1: Run command input is enabled from the DeviceNet.
The drive frequency input selection status is displayed.
0: Run command input is enabled other than the DeviceNet.
1: Run command input is enabled from the DeviceNet.
The drive frequency agree detection status is displayed.
0: During stop/acceleration and deceleration
1: Frequency agree
The drive speed is displayed.
This function is the same as the Speed Monitor in the Basic Speed Control Output
Instance 70 (46 Hex) section.

Inverter
Ready

During
Reverse
Run

During
Forward
Run

1: During fault detection

1: During alarm detection

1: During forward run/DC braking

1: During reverse run

Alarm Fault

38

Drive Modbus I/O Control Input Instance 100 (64 Hex)

This I/O instance allows all drive parameters and monitors to be read/set. This instance is for Yaskawa drives only, and is not
interchangeable with other DeviceNet drives, Assembly Object Class (04 Hex) Attribute (03 Hex). Both input/output use 5
bytes each. Refer to the Appendix A for a list of Modbus Registers.

Table 17: Drive Modbus I/O Control Instance 100 (64 Hex) (INPUT ASSEMBLY)

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Function Code
1 Register Number (Upper Byte)
2 Register Number (Lower Byte)
3 Register Data (Upper Byte)
4 Register Data (Lower Byte)

Data Name Description

Modbus (reference message) function code is set.

Byte 0

Byte 1, 2 Register Number (Upper and Lower Byte) A drive Modbus register No. is set.
Byte 3, 4 Register Data (Upper and Lower Byte) The write data at Modbus write command is set.

Function Code

03 Hex: Read
10 Hex: Write
00 Hex: Undetermined

39

Drive Modbus I/O Control Output Instance 150 (96 Hex)

CAUTION

Use the ENTER Command only when necessary! The life of the EEPROM on the drive will support a finite
number of operations. This means that the ENTER command can only be used a maximum of 100,000 times to
store data in the EEPROM. After the specified number of operations, the EEPROM may fault (CPF04) requiring
the drive control board to be replaced.

This I/O instance allows all drive parameters and monitors to be read/set. This instance is for Yaskawa drives only, and is not
interchangeable with other DeviceNet drives, Assembly Object Class (04 Hex) Attribute (03 Hex). Both input/output use 5
bytes each. Refer to the Appendix A for a list of Modbus Registers.

Table 18: Drive Modbus I/O Control Instance 150 (96 Hex) (OUTPUT ASSEMBLY)

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Function Code
1 Register Number (Upper Byte)
2 Register Number (Lower Byte)
3 Register Data (Upper Byte)
4 Register Data (Lower Byte)

Data Name Description

The Modbus (response message) function code No. is displayed.
03 Hex: Read normal

Byte 0

Byte 1, 2

Byte 3, 4

Register Number (Upper and Lower Byte)

Register Data (Upper and Lower Byte)

Function Code

10 Hex: Write normal
83 Hex: Read fault
90 Hex: Write fault
The processed Modbus register No. is displayed.
For Read/write faults, Modbus error code is displayed.
The read data at Modbus read command is displayed.

The ACCEPT/ENTER parameter group contains only two parameters, the ACCEPT and ENTER parameters.

If the value of ‘0’ is written to the ACCEPT parameter (0910 Hex), the drive will save the current values of the all drive
parameters (A1-00 through o3-02) into RAM memory on the drive. Values saved in RAM memory will not be retained in case
of power loss to the drive.
If the value of ‘0’ is written to the ENTER parameter (0900 Hex), the drive will save the current values of all of the drive
parameters (A1-00 through o3-02) into EEPROM memory on the drive. Values saved in EEPROM memory will be retained in
case of power loss to the drive.

40

Standard Drive Control Input Instance 101 (65 Hex)

This I/O instance is for the input/output functions as well as the expansion I/O instance functions. This instance is for Yaskawa
series drives only, and is not interchangeable with other DeviceNet drives, Assembly Object Class (04 Hex) Attribute (03
Hex). Both input and output use 8 bytes each.

Table 19: Standard Drive Control Instance 101 (65 Hex) (INPUT ASSEMBLY)

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0

1

2 Speed Reference (Lower Byte)
3 Speed Reference (Upper Byte)
4 Torque Reference/Torque Limit (Low Order Byte)
5 Torque Reference/Torque Limit (High Order Byte)
6 Torque Compensation (Low Order Byte)
7 Torque Compensation (High Order Byte)

Terminal S8Terminal S7Terminal S6Terminal S5Terminal S4Terminal

S3
Terminal
M5-M6

Terminal
M3-M4

Terminal
M1-M2

－－－

Rev Run Fwd Run

Fault
Reset

*1

External
Fault

Table 20: Standard Drive Control Instance 101 (65 Hex) (INPUT ASSEMBLY)*1

Data Name

The drive runs forward.

Byte 0, Bit 0

Byte 0, Bit 1

Byte 0, Bit 2

Byte 0, Bit 3

Byte 0, Bit 4

Byte 0, Bit 5

Byte 0, Bit 6

Byte 0, Bit 7

*1 Drive products may provide additional inputs and outputs that are not supported through DeviceNet. For example, G7 has

12 digital inputs; however; only 8 digital inputs are supported through DeviceNet.

Forward Run

Reverse Run

Terminal S3

Terminal S4

Terminal S5

Terminal S6

Terminal S7

Terminal S8

0: Stop
1: Forward run
The drive runs reverse.
0: Stop
1: Reverse run
Functions set in the drive multi-function input terminal S3 is input. The drive
parameter H1-01 sets multi-function input terminal S3 functions.
0: Terminal S3 multi-function OFF
1: Terminal S3 multi-function ON
Functions set in the drive multi-function input terminal S4 is input. The drive
parameter H1-02 sets multi-function input terminal S4 functions.
0: Terminal S4 multi-function OFF
1: Terminal S4 multi-function ON
Functions set in the drive multi-function input terminal S5 is input. The drive
parameter H1-03 sets multi-function input terminal S5 functions.
0: Terminal S5 multi-function OFF
1: Terminal S5 multi-function ON
Functions set in the drive multi-function input terminal S6 is input. The drive
parameter H1-04 sets multi-function input terminal S6 functions.
0: Terminal S6 multi-function OFF
1: Terminal S6 multi-function ON
Functions set in the drive multi-function input terminal S7 is input. The drive
parameter H1-05 sets multi-function input terminal S7 functions.
0: Terminal S7 multi-function OFF
1: Terminal S7 multi-function ON
Functions set in the drive multi-function input terminal S8 is input. The drive
parameter H1-06 sets multi-function input terminal S8 functions.
0: Terminal S8 multi-function OFF
1: Terminal S8 multi-function ON

Description

41

Table 20: Standard Drive Control Instance 101 (65 Hex) (INPUT ASSEMBLY) *1 (Cont.)

Byte 1, Bit 0

Byte 1, Bit 1

Byte 1, Bit 5

Byte 1, Bit 6

Byte 1, Bit 7

Byte 2, 3

Byte 4,5

Byte 6,7

*1 Drive products may provide additional inputs and outputs that are not supported through DeviceNet. For example, G7 has 5

digital outputs; however, only 3 digital outputs are supported through DeviceNet.

External Fault

Fault Reset

Terminal M1-M2

Terminal M3-M4

Terminal M5-M6

Speed Reference

Torque Reference/

Torque Limit

Torque Compensation

External fault (EF0) is input from option. 0: External Fault Off

1: External fault (EF0)

The drive is reset at fault detection status. 0: Fault reset Off

1: Fault reset
The drive multi-function output terminal M1-M2 is operated.
Only when “F” is set to the drive parameter H2-01 becomes enabled.
0: Terminal M1-M2 OFF
1: Terminal M1-M2 ON
The drive multi-function output terminal M3-M4 is operated.
Only when “F” is set to the drive parameter H2-02 becomes enabled.
0: Terminal M3-M4 OFF
1: Terminal M3-M4 ON
The drive multi-function output terminal M5-M6 is operated.
Only when “F” is set to the drive parameter H2-03 becomes enabled.
0: Terminal M5-M6 OFF
1: Terminal M5-M6 ON
Drive speed reference is set.
This function is the same as the Speed Reference in Basic Speed Control
Input Instance 20 (14 Hex) section.
Sets the torque reference torque limit of the drive. The setting unit is fixed
at 0.1%. Enabled only when the drive is set to the vector control mode with
PG (A1-02=3). When the drive is in the torque control mode (d5-01=1), the
torque reference is enabled. When in the speed control mode (d5-01=0),
functions as the torque limit. When the drive parameter F6-06 is set to 0, it
becomes disabled.
Sets the drive torque compensation. The setting unit is fixed at 0.1%.
Enabled only when the drive is set into the torque control with Flux Vector
Control mode (A1-02=3).

42

Standard Drive Control Output Instance 151 (97 Hex)

This I/O instance is for the input/output functions as well as the expansion I/O instance functions. This instance is for Yaskawa
series drives only, and is not interchangeable with other DeviceNet drives, Assembly Object Class (04 Hex) Attribute (03
Hex). Both input and output use 8 bytes each.

Table 21: Standard Drive Control Instance 151 (97 Hex) (OUTPUT ASSEMBLY)

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Fault Alarm

1

2 Speed Actual (Lower Byte)
3 Speed Actual (Upper Byte)
4
5
6 Output Current Monitor (Lower Byte)
7 Output Current Monitor (Upper Byte)

Byte 0, Bit 0

Byte 0, Bit 1

Byte 0, Bit 2

Byte 0, Bit 3

Byte 0, Bit 4

Byte 0, Bit 5

Byte 0, Bit 6

Byte 0, Bit 7

Byte 1, Bit 0

－－

Data

During Run

During Zero Speed

During Reverse Run

During Reset Input

Speed Agree

Inverter Ready

During OPE

Inverter

Ready

Ter mi na l

M5-M6

Name

Alarm

Fault

Speed
Agree

Terminal

M3-M4

The drive run status is displayed.
0: During stop
1: During Forward/reverse/DC braking
The drive run status is displayed.
0: During forward/reverse
1: During stop/DC braking
The drive run status is displayed.
0: During forward run
1: During reverse run/reverse command input
The drive reset signal input status is displayed.
0: Off
1: During reset signal input
The drive frequency agree detection status is displayed.
0: During stop/acceleration and deceleration
1: Frequency agree
The drive ready status is displayed.
0: During fault detection/ready
1: Ready
The drive alarm detection status is displayed.
0: Normal
1: During alarm detection
The drive fault detection status is displayed.
0: Normal
1: During fault detection
The drive Modbus parameter setting error (OPE) detection status is
displayed.
0: Normal
1: During OPE, (OPE1-OPE11) fault detection

During

reset

Terminal

M1-M2

－
－

During
reverse

Local/

Remote

Description

During

zero

speed

During

UV

*1

During Run

During

OPE

*1 Drive products may provide additional inputs and outputs that are not supported through DeviceNet. For example, G7 has 5

digital outputs; however, only 3 digital outputs are supported through DeviceNet.

43

Table 21: Standard Drive Control Instance 151 (97 Hex) (OUTPUT ASSEMBLY)

The drive low voltage error (UV) detection status is displayed.

Byte 1, Bit 1

Byte 1, Bit 2

Byte 1, Bit 3

Byte 1, Bit 4

Byte 1, Bit 5

Byte 1, Bit 6

Byte 1, Bit 7

Byte 2, 3

Byte 4, 5

Byte 6, 7

*1 Drive products may provide additional inputs and outputs that are not supported through DeviceNet. For example, G7 has 5

digital outputs; however, only 3 digital outputs are supported through DeviceNet.

During UV

Local/Remote

Term i na l M1 - M 2

Term i na l M3 - M 4

Term i na l M5 - M 6

Not Used

During Zero Servo

Speed Monitor

Torque Reference

Output Current Monitor

0: Normal
1: During UV detection
The drive run command input selection status is displayed.
0: Run command input is enabled other than the DeviceNet.
1: Run command input is enabled from DeviceNet.
The drive multi-function output terminal M1-M2 output status is
displayed.
0: Terminal M1-M2 OFF
1: Terminal M1-M2 ON
The drive multi-function output terminal M3-M4 output status is
displayed.
0: Terminal M3-M4 OFF
1: Terminal M3-M4 ON
The drive multi-function output terminal M5-M6 output status is
displayed.
0: Terminal M5-M6 OFF
1: Terminal M5-M6 ON

­Displays the zero servo complete status of drive.
0: Zero servo not complete or not input.
1: Zero servo complete.
The drive speed is displayed.
This function is the same as the Speed Monitor in Basic Speed
Control Output Instance 70 (46 Hex) section.
Displays the torque reference of the drive.
The unit is fixed at 0.1%.
The drive output current is displayed. The unit (0.1A) is fixed.

There is no effect on the current scale

setting.

*1

(Cont.)

44

DeviceNet Explicit Messaging Communications

The DeviceNet communications may also be accomplished by utilizing an “Explicit Message” to communicate with the
master PLC or controller. The Explicit messaging communications is performed differently than Polled I/O type messaging in
that commands are not sent cyclically in the scan of the controlling master, but one message is sent and one response is
received. See table below for details on Explicit Message Format.

Table 22: Explicit Message Format

Header MAC ID Service Code Class Instance Attribute Data Footer

Item Description

Header Since it is automatically set, there is no need to do anything.

MAC ID Master/slave MAC ID is input for communication.

Code, which shows data write/read, is input in the requested message.
Also, the requested service code MSB (the most significant bit) inputs “1” at normal

Service Code

Class

Instance

Attribute

Data

Footer Since it is automatically set, there is no need to do anything.

response, and “94” at fault.
Example: 0E: Read request 8E: Read normal response

10: Write request 90: Write normal response
94: Fault response

Each function of DeviceNet is classified by three codes.
When you wish to designate data, use these 3 codes to do so.

Request: Write data is input.
Response: Read data and error code are input.

The following pages define the supported DeviceNet implemented objects and services for the drive option.

45

Identity Object Class (01 Hex):

The Identity object stores DeviceNet product information.

Table 23: Supported Services

Service Code (Hex) Service Name Description of Service

0E Get_Attribute_Single Designated attribute content is returned.

05 Reset Option unit status is reset. (returns to initial status)

Table 24: Object Content

Instance

(Hex)

00 01

01

Attribute

(Hex)

01 Vendor ID

02 Device Type

03 Product Code Manufacturer’s code.

04 Revision Option unit software revision 2003 * Word

05 Status

06 Serial Number Option unit serial number

07 Product Name

08 Present Status

Name Description

Object Software

Revision

Identity object software revision is
displayed.
Manufacturer code No. is displayed.
44 (2C Hex): Yaskawa Electric
Device profile of the compatible
DeviceNet is displayed.
The DeviceNet product is compatible
with AC Drive Profile.
2: AC drive

Option unit communication status is
displayed.

Product model is displayed.

Drive status is displayed.
3: Inverter ready

Initial
Va lu e
(Hex)

0001 * Word

002C * Word

0002 * Word

(See Table

of EDS

Files and

Product

Codes on

the

following

page)

0000 * Word

Depends
on product
(See Table

of EDS

Files and

Product

Codes on

the

following

page)

03 * Byte

Read Write Size

*Word

*Long

* String

46

Table 25: Option Product Name and Product Codes

CIMR-

F7U

or

CIMR-

Drive

Capacity

o2-04

Product Name Product Code Product Name Product Code

F7/SI-N1 G7/SI-N1

G7U

20P4 00 Hex CIMRF7U20P4_SI-N1 8960 (2500 Hex) CIMRG7U20P4_SI-N1 9984 (2700 Hex)

20P7 01 Hex CIMRF7U20P7_SI-N1 8961 (2501 Hex) CIMRG7U20P7_SI-N1 9985 (2701 Hex)

21P5 02 Hex CIMRF7U21P5_SI-N1 8962 (2502 Hex) CIMRG7U21P5_SI-N1 9986 (2702 Hex)

22P2 03 Hex CIMRF7U22P2_SI-N1 8963 (2503 Hex) CIMRG7U22P2_SI-N1 9987 (2703 Hex)

23P7 04 Hex CIMRF7U23P7_SI-N1 8964 (2504 Hex) CIMRG7U23P7_SI-N1 9988 (2704 Hex)

25P5 05 Hex CIMRF7U25P5_SI-N1 8965 (2505 Hex) CIMRG7U25P5_SI-N1 9989 (2705 Hex)

27P5 06 Hex CIMRF7U27P5_SI-N1 8966 (2506 Hex) CIMRG7U27P5_SI-N1 9990 (2706 Hex)

2011 07 Hex CIMRF7U2011_SI-N1 8967 (2507 Hex) CIMRG7U2011_SI-N1 9991 (2707 Hex)

2015 08 Hex CIMRF7U2015_SI-N1 8968 (2508 Hex) CIMRG7U2015_SI-N1 9992 (2708 Hex)

2018 09 Hex CIMRF7U2018_SI-N1 8969 (2509 Hex) CIMRG7U2018_SI-N1 9993 (2709 Hex)

2022 0A Hex CIMRF7U2022_SI-N1 8070 (250A Hex) CIMRG7U2022_SI-N1 9994 (270A Hex)

2030 0B Hex CIMRF7U2030_SI-N1 8071 (250B Hex) CIMRG7U2030_SI-N1 9995 (270B Hex)

208 - 230Vac

2037 0C Hex CIMRF7U2037_SI-N1 8072 (250C Hex) CIMRG7U2037_SI-N1 9996 (270C Hex)

2045 0D Hex CIMRF7U2045_SI-N1 8973 (250D Hex) CIMRG7U2045_SI-N1 9997 (270D Hex)

2055 0E Hex CIMRF7U2055_SI-N1 8974 (250E Hex) CIMRG7U2055_SI-N1 9998 (270E Hex)

2075 0F Hex CIMRF7U2075_SI-N1 8975 (250F Hex) CIMRG7U2075_SI-N1 9999 (270F Hex)

2090 10 Hex CIMRF7U2090_SI-N1 8976 (2510 Hex) CIMRG7U2090_SI-N1 10000 (2710 Hex)

2110 11 Hex CIMRF7U2110_SI-N1 8977 (2511 Hex) CIMRG7U2110_SI-N1 10001 (2711 Hex)

40P4 20 Hex CIMRF7U40P4_SI-N1 8992 (2520 Hex) CIMRG7U40P4_SI-N1 10016 (2720 Hex)

40P7 21 Hex CIMRF7U40P7_SI-N1 8993 (2521 Hex) CIMRG7U40P7_SI-N1 10017 (2721 Hex)

41P5 22 Hex CIMRF7U41P5_SI-N1 8994 (2522 Hex) CIMRG7U41P5_SI-N1 10018 (2722 Hex)

42P2 23 Hex CIMRF7U42P2_SI-N1 8995 (2523 Hex) CIMRG7U42P2_SI-N1 10019 (2722 Hex)

43P7 24 Hex CIMRF7U43P7_SI-N1 8996 (2524 Hex) CIMRG7U43P7_SI-N1 10020 (2724 Hex)

44P0 25 Hex CIMRF7U44P0_SI-N1 8997 (2525 Hex) CIMRG7U44P0_SI-N1 10021 (2725 Hex)

45P5 26 Hex CIMRF7U45P5_SI-N1 8998 (2526 Hex) CIMRG7U45P5_SI-N1 10022 (2726 Hex)

47P5 27 Hex CIMRF7U47P5_SI-N1 8999 (2527 Hex) CIMRG7U47P5_SI-N1 10023 (2727 Hex)

4011 28 Hex CIMRF7U4011_SI-N1 9000 (2528 Hex) CIMRG7U4011_SI-N1 10024 (2728 Hex)

4015 29 Hex CIMRF7U4015_SI-N1 9001 (2529 Hex) CIMRG7U4015_SI-N1 10025 (2729 Hex)

4018 2A Hex CIMRF7U4018_SI-N1 9002 (252A Hex) CIMRG7U4018_SI-N1 10026 (272A Hex)

4022 2B Hex CIMRF7U4022_SI-N1 9003 (252B Hex) CIMRG7U4022_SI-N1 10027 (272B Hex)

4030 2C Hex CIMRF7U4030_SI-N1 9004 (252C Hex) CIMRG7U4030_SI-N1 10028 (272C Hex)

4037 2D Hex CIMRF7U4037_SI-N1 9005 (252D Hex) CIMRG7U4037_SI-N1 10029 (272D Hex)

480Vac

4045 2E Hex CIMRF7U4045_SI-N1 9006 (252E Hex) CIMRG7U4045_SI-N1 10030 (272E Hex)

4055 2F Hex CIMRF7U4055_SI-N1 9007 (252F Hex) CIMRG7U4055_SI-N1 10031 (272F Hex)

4075 30 Hex CIMRF7U4075_SI-N1 9008 (2530 Hex) CIMRG7U4075_SI-N1 10032 (2730 Hex)

4090 31 Hex CIMRF7U4090_SI-N1 9009 (2531 Hex) CIMRG7U4090_SI-N1 10033 (2731 Hex)

4110 32 Hex CIMRF7U4110_SI-N1 9010 (2532 Hex) CIMRG7U4110_SI-N1 10034 (2732 Hex)

4132 33 Hex CIMRF7U4132_SI-N1 9011 (2533 Hex) CIMRG7U4132_SI-N1 10035 (2733 Hex)

4160 34 Hex CIMRF7U4160_SI-N1 9012 (2534 Hex) CIMRG7U4160_SI-N1 10036 (2734 Hex)

4185 35 Hex CIMRF7U4185_SI-N1 9013 (2535 Hex) CIMRG7U4185_SI-N1 10037 (2735 Hex)

4220 36 Hex CIMRF7U4220_SI-N1 9014 (2536 Hex) CIMRG7U4220_SI-N1 10038 (2736 Hex)

4300 37 Hex CIMRF7U4300_SI-N1 9015 (2537 Hex) CIMRG7U4300_SI-N1 10039 (2737 Hex)

Note: The EDS files will be in zip format, so unzip the file before installing in the DeviceNet configuration software tool.

47

Message Router Object Class (02 Hex):

The Message Router object has the function of routing DeviceNet communication information to the correct object. DeviceNet
messages are routed to each function through this object. The Message Router object itself performs the internal processes only.

Table 26: Supported Service

Service Code (Hex) Service Name Description of Service

0E Get_Attribute_Single Designated attribute content is returned.

Table 27: Object Content

Instance

(Hex)

Attribute

(Hex)

Name Description

Setting

Range

Initial
Va lu e
(Hex)

Read Write Size

00 01

Object Software
Revision

Message Router object software
revision is displayed.

DeviceNet Object Class (03 Hex):

This object is for the DeviceNet communication information/functions.

Table 28: Supported Service

Service Code (Hex)

0E Get_Attribute_Single Designated attribute content is returned.

10 Set_Attribute_Single Designated attribute content is changed.

Instance

(Hex)

00 01

01

Attribute

(Hex)

01

02

05

Service Name Description of Service

Table 29: Object Content

Name Description

Object
Software
Revision

MAC ID

Baud Rate

Allocation

Information

DeviceNet object software
revision is displayed.

MAC ID setting value is
displayed according to the DIP
switch setting.

Baud rate setting value is
displayed according to the DIP
switch settings.
0: 125kbps
1: 250kbps
2: 500kbps

DeviceNet communication
connection information is
displayed.

−

Setting

Range

Initial
Va lu e
(Hex)

−

0x63 00

0x02 00

−

00,00

0001

0002

o

Read Write Size

o

o

o

o

Word

−

Word

−

Byte

−

Byte

−

Byte

−

×2

48

Assembly Object Class (04 Hex):

The Assembly object is for the polled I/O message functions.

Table 30: Supported Service

Service Code (Hex) Service Name Description of Service

0E Get_Attribute_Single Designated attribute content is returned.

10 Set_Attribute_Single Designated attribute content is changed.

Table 31: Object Content

Instance

(Hex)

00 01

14 03

15 03

46 03

47 03

64 03

65 03

96 03

Attribute

(Hex)

Name Description

Object Software

Revision

I/O Data

I/O Data

I/O Data

I/O Data

I/O Data

I/O Data

I/O Data

Assembly object software revision
is displayed.

Same function as the basic I/O
instance 20 (input/PCA)

Same function as the extended I/O
instance 21 (input/PCA)

Same function as the basic I/O
instance 70 (output/PPA)

Same function as the extended I/O
instance 71 (output/PPA)

Same function as the Modbus I/O
instance 100 (input/PCA)

Same function as the drive
standard control I/O instance 101
(input/PCA/PPA)

Same function as the Modbus I/O
instance 150 (output/PPA)

Setting

Range

−

*1

*1

Initial
Va lu e
(Hex)

0002 o

−

−

−−

−−

*1

*1

−

−

−−

Read Write Size

Word

−

oo

oo

o

o

oo

oo

o

Byte

×4

Byte

×4

Byte

−

−

−

×4

Byte

×4

Byte

×5

Byte

×8

Byte

×5

Same function as the drive

97 03

*1 Setting range is the same as the individual I/O message function.

I/O Data

standard control I/O instance 151
(output/PPA)

49

−−

o

Byte

−

×8

DeviceNet Connection Object Class (05 Hex):

The DeviceNet Connection object has the function of keeping track of the DeviceNet communication connection information/
functions. On initialization, the communication connection with the master is established by using information and functions

from this object. Please note that Instance 2 of DeviceNet Object Class 05 Hex supports only polled messaging.

Table 32: Supported Service

Service Code (Hex) Service Name Description of Service

0E Get_Attribute_Single Designated attribute content is returned.

10 Set_Attribute_Single Designated attribute content is changed.

Table 33: Object Content

Instance

(Hex)

00 01

01

Explicit

Message

Attribute

(Hex)

01

02

03

04

05

06

07

08

09

0C

0D

0E

0F

10

Name

Object Software

Revision

Instance State

Instance type

Connection

operation

Output (PPA)

connection ID

Input (PCA)

connection ID

Message group

No. of Max. output

(PPA) bytes

No. of Max. input

(PCA) bytes

Timeout time

Watchdog timeout

process

No. of output (PPA)

connection bus bytes

Output (PPA)

Connection Bus

No. of input (PCA)

connection bus bytes

Input (PCA)

connection bus

Description

DeviceNet connection object software
revision is displayed.

This instance status is displayed.
00: It does not exist in the Network yet,

and is being prepared.

01: On-line status and waiting for the

connection from the master.
02: Waiting for the connection ID write.
03: Connection is completed.
04: Time out.

This instance type is displayed.
00: Explicit message
01: I/O message

The option unit communication status is
displayed by a code.

The level used by the option unit
communication header is displayed.
This function is set when communication
connection is completed.

The option unit communication status is
displayed by a code.

No. of Max. output (PPA) bytes is
displayed.

No. of Max. input (PCA) bytes is
displayed.

Internal process timeout time is displayed
when communication request is received.
(Round up 10ms unit)

Timeout internal process regarding
communication is displayed.
00: Holds until reset/shut off
01: Automatically shut off
02: Restart with connected status.

No. of output (PPA) connection bus bytes
is displayed.

The application object received the data
through this instance is displayed.

No. of input (PCA) connection bus bytes is
displayed.

The application object received the data
through this instance is displayed.

Setting

Range

−

−

−

−

−

−

−

−

−

65535

(ms)

−

−

−−

−

−−

Initial
Va l ue
(Hex)

0001

03

00

83

71

21

21

0020

0020

09C4

(2500ms)

01

0000

0000

Read Write Size

o

o

o

o

o

o

o

o

o

−

−

−

−

−

−

−

−

−

oo

o

o

o

o

o

−

−

−

−

−

Wor d

Byte

Byte

Byte

Wor d

Wor d

Byte

Wor d

Wor d

Wor d

Byte

Wor d

Array

Wor d

Array

50

Instance

(Hex)

02

Polled

Message

Only

Attribute

(Hex)

01

02

03

04

05

06

07

08

09

0C

0D

0E

0F

10

Name

Instance status

Instance type

Connection

operation

Output (PPA)

Connection ID

Input (PCA)

connection ID

Message group

No. of Max. output

(PPA) bytes

No. of Max. input

(PCA) bytes

Tim eou t tim e

Watchdog timeout

process

No. of output (PPA)

connection path bytes

Output

communication path

Polled Producing

Assembly (PPA)

No. of input (PCA)

communication path

bytes

Input communication

path

Polled Consuming

Assembly (PCA)

Table 33: Object Content (Continued)

Description

This instance status is displayed.
00: It does not exist in the Network yet,

and is being prepared.
01: On-line status and waiting for the

connection from the master.
02: Waiting for the connection ID write.
03: Connection is completed.
04: Time out.

This instance type is displayed.
00: Explicit message
01: I/O message

The option unit communication status is
displayed by a code.

The level used by the option unit
communication header is displayed.
This function is set when communication
connection is completed.

The option unit communication status is
displayed by the code.

No. of max. output (PPA) bytes is
displayed.

No. of max. input (PCA) bytes is
displayed.

Internal process timeout time is displayed
when communication request is received.
(Round up 10ms unit)

Timeout internal process regarding
communication is displayed.
00: Holds until reset/shut off
01: Automatically shut off
02: Restart with connected status.

No. of output (PPA) connection path bytes
is displayed.

The application object received the data
through this instance is displayed.

No. of input (PCA) connection bus bytes is
displayed.

The application object received the data
through this instance is displayed.

Setting

Range

−

−

−

−

−

−

−

−

65535

(ms)

−

−

−

−

−

Initial
Va l ue
(Hex)

03

01

82

71

21

01

0004

0004

0000

(0ms)

01

0003

62 34 37

0003

62 31 35

Read Write Size

o

o

o

o

o

o

o

o

−

−

−

−

−

−

−

−

oo

oo

o

−

oo

o

−

oo

Byte

Byte

Byte

Wor d

Wor d

Byte

Wor d

Wor d

Wor d

Byte

Wor d

Array

Wor d

Array

51

Motor Data Object Class (28 Hex):

The motor data object is for the information and functions related to the motor connected to the drive. Motor rated current and
rated voltage can be set and read.

Table 34: Supported Service

Service Code No. (Hex) Service Name Description of Service

0E Get_Attribute_Single Designated attribute content is returned.

10 Set_Attribute_Single Designated attribute content is changed.

Table 35: Object Content

Instance

(Hex)

00 01

01

*1 　 The motor rated current initial value varies according to drive capacity.

*2 　 The initial value and setting range are for the 200V class. For the 400V class, the value is twice that of the 200V class.

Attribute

(Hex)

03

06

07

Name Description

Object

Software

Revision

Motor Type

Motor
Rated

Current

Motor
Rated

Voltage

Motor Data object software
revision is displayed.

Used motor type is displayed,
7: Squirrel-cage induction motor

Motor rated current can be set and
read.
Setting unit: 0.1A

Motor rated voltage can be set and
read.
Setting unit: 1V

Setting

Range

−

−

10~20%

of drive

rated

current

255V

*2

Initial
Va lu e
(Hex)

0001 o

07 o

*1 o o Word

00C8

*2

Read Write Size

Word

−

−

ooWord

Byte

Control Supervisor Object Class (29 Hex):

The control supervisor object is dedicated to the information and services related to the drive control functions. The basic
control functions such as, inverter run, stop, and fault detect are implemented. The control supervisor object functions are
commonly used with polled I/O messaging functions.

Table 36: Supported Service

Service Code No. (Hex) Service Name Description of Service

0E Get_Attribute_Single Designated attribute content is returned.

10 Set_Attribute_Single Designated attribute content is changed.
05 Reset Option unit status is reset. (returns to initial status)

52

Table 37: Object Content

Instance

(Hex)

00 01

01

Notes:

*1 A setting during drive operation cannot be changed.
*2 DeviceNet communication fault cannot be set. The drive detects fault and stops at DeviceNet communication fault. The drive stopping method at

communication fault can be selected by time-over detection selection parameter (n151).

*3 Fault Code (See below table for interpretation)

Attribute

(Hex)

03

04

05

06

07

08

09

0A

0B

0C

0D

0F

10

11

12

Name

Object Software

Revision

Forward Run

Reverse Run

NetCtrl

Inverter Status

During

Forward Run

During Reverse

Run

Inverter Ready

Fault

Alarm

Fault Reset

Fault Code

Ctrl From Net

DeviceNet

Fault Mode

External Fault

from Option

External Fault

Input Status
from Option

Description

Control supervisor object software revision is
displayed.
The drive runs forward.
00: Stop
01: Forward run
The drive runs reverse.
00: Stop
01: Reverse run
Run command rights displayed. *1
00: Run command input method set by run

command selection (n003)

01: Run command (byte 0 – bit 0, 1) is enabled

through DeviceNet.
The drive status is displayed.
03: Inverter ready
The drive run status is displayed.
00: During stop/reverse
01: During forward run/DC braking
The drive run status is displayed.
00: During stop/forward/DC braking
01: During reverse
The drive operation preparing status is displayed.
00: During fault detection/preparation
01: Ready
The drive fault detection status is displayed.
00: Normal
01: During fault detection
The drive alarm detection status is displayed.
00: Normal
01: During alarm detection
The drive is reset through fault detection status.
00: Fault reset off
01: Fault reset
The drive fault detection content is displayed by the
code listed in the table below. *3
The drive run command input selection status is
displayed.*1
00: Run command input other than the DeviceNet is

enabled.
01: Run command input is enabled through

DeviceNet.
Mode selection is displayed when DeviceNet
becomes fault.*2
02: Manufacturer
External fault (EF0) is input
00: EF0 Not Active
01: External fault (EF0)
External fault (EF0) input status is displayed.
00: EF0 Not Active
01: During external fault (EF0) input

Setting

Range

00,01 00

00,01 00

00,01 00

00,01 00

00,01 00

Initial
Va lu e
(Hex)

0001

−

Read Write Size

o

−

oo

oo

oo

−

−

−

−

−

−

03

00

00

00

00

00

o

o

o

o

o

o

−

−

−

−

−

−

oo

0000

−

−

−

00

02

o

o

o

−

−

−

oo

−

00

o

−

Wor d

Byte

Byte

Byte

Byte

Byte

Byte

Byte

Byte

Byte

Byte

Wor d

Byte

Byte

Byte

Byte

53

AC/DC Drive Object Class (2A Hex):

The AC/DC Drive Object is also dedicated to the information and function related to the drive operation. Frequency reference
settings, individual monitor parameters, and data unit settings can be changed. The AC/DC Drive Object function is com-

monly used with I/O message functions for setting or returning drive status information.

Table 38: Supported Service

Service Code No. (Hex) Service Name Description of Service

0E Get_Attribute_Single Designated attribute content is returned.

10 Set_Attribute_Single Designated attribute content is changed.

Table 39: Object Content

Instance

(Hex)

00 01

01

Attribute

(Hex)

03

04

06

07

08

09

0F

10

11

12

13

14

Name Description

Object Software Revision

Speed agree

NetRef

Control mode

Speed monitor

Spe ed referen ce

Output current

Output power

Input Voltage

Output Voltage

Accel Time

Decel Time

Low Speed Limit

AC/DC Drive Object software revision is
displayed.

Drive frequency agree detection status is
displayed.
00: During stop/decel/accel
01: Frequency agree

Frequency reference rights is set.*1
00: Frequency reference input method set by

frequency reference selection (b1-01).

01: Frequency reference (byte 2, 3) through

DeviceNet is enabled.
Drive control mode is set.*3
00: V/F control
01: Vector control
Drive speed is displayed.*2

Min. unit: [r/min/2
where SS: Speed scale: attribute 16

Frequency Reference is set/read

Min. unit: [r/min/2SS]
where SS: Speed scale: attribute 16

Drive output current is displayed:*2

Current Unit: [0.1A/2
where CS: Current scale: attribute 17

Drive output power is displayed:*2

Power Unit: [W/2
where PS: Power scale: attribute 1A

Drive input voltage is displayed:

Min. Unit: [V/2
where VS: Voltage scale: attribute 1B

Drive output voltage is displayed:

Min. Unit: [V/2
where VS: Voltage scale: attribute 1B

Acceleration time 1 is set/read.

Min. Unit: [ms/2
where TS: Time scale: attribute 1C

Deceleration time 1 is set/read.

Min. : Unit: [ms/2
where TS: Time scale: attribute 1C
Drive Frequency Reference lower limit value is

*2 *3

set/read.

Min. : Unit: [r/min/2SS]
where SS: Speed scale: attribute 16

VS

VS

SS

]

*2

CS

]

PS

]

]

]

TS

]

TS

]

Setting

Range

00,01 00

00,01 00

00,03 01

0- E1-04 000 0

655.35s

655.35s

100.0%

Initial
Va l ue
(Hex)

−

−

−

−

−

−

0-

0-

0-

0001

0000

0000

0000

0000

0000

0x2710
(10.0s)

0x2710
(10.0s)

0000

Read Write Size

o

o

oo

oo

o

oo

o

o

o

o

oo

oo

oo

Wor d

−

Byte

−

Byte

Byte

Wor d

−

Wor d

Wor d

−

Wor d

−

Wor d

−

Wor d

−

Wor d

Wor d

Wor d

54

Table 38: Object Content (continued)

Drive Frequency Reference upper limit value is

*2 *3

set/read.

Min. :Unit: [r/min/2SS]
where SS: Speed scale: attribute 16

Data unit coefficient regarding speed is set/read.

Min. Unit: 1 [r/min]×1/2
where SS: Speed scale setting value

Data Coefficient regarding current is set/read.

Current Unit: 0.1 [A]×1/2
where CS: Current scale setting value

Data Coefficient regarding power is set/read.

Power Unit: 1 [W]×1/2
where PS: Power scale setting value

Data unit coefficient regarding voltage is set/
read.

Voltage Unit: 1 [V]×1/2
where VS: Voltage scale setting value

Data unit coefficient regarding time is set and
read.

Time Unit: 1 [ms]×1/2
where TS: Time scale setting value

Drive frequency reference input selection status

is displayed
00: Frequency Reference input other than

01: Frequency Reference input from DeviceNet

*1

DeviceNet is enabled.

is enabled.

SS

CS

PS

VS

TS

100.0%

-15-15

(F1-0F)

-15-15

(F1-0F)

-15-15

(F1-0F)

-15-15

(F1-0F)

-15-15

(F1-0F)

00,01 00

01

15

16

17

1A

1B

1C

1D

High Speed Limit

Speed Scale

Current Scale

Power Scale

Voltage Scale

Time S cale

Ref From Net

Notes:

*1 A setting during drive operation cannot be changed.

*2 An application of speed command, speed monitor, speed lower limit value, and speed upper limit value must be set

as a motor pole value (2~39) to the drive parameter o1-03 (frequency reference set/display unit selection)

*3 Control mode, speed lower limit, and speed upper limit cannot be set during drive operation.

SS: Speed Scale (AC/DC Drive Object Attr. 22)

0x0708

0-

(1800r/

m)

00

00

00

00

00

oo

oo

oo

oo

oo

oo

o

Wor d

Byte

Byte

Byte

Byte

Byte

Byte

−

CS: Current Scale (AC/DC Drive Object Attr. 23)

PS: Power Scale (AC/DC Drive Object Attr. 26)

VS: Voltage Scale (AC/DC Drive Object Attr. 27)

TS: Time Scale (AC/DC Drive Object Attr. 28)

55

Drive Parameters Object Class 100 (64 Hex):

Modbus register 01 80 hex = Instance 01 hex and Attribute 80 hex

This DeviceNet Object Class can read and write all of the same parameters and monitors available via drive digital operator
keypad. This Object Class is designed specifically for Yaskawa drives.

A built-in Modbus protocol and addressing scheme is standard in all Yaskawa drives. The option converts the DeviceNet
message to Modbus for use internally in the drive.

Yaskawa Drive Parameter Object Class 100 is modeled after the drive's internal Modbus addressing scheme. The DeviceNet
path for each drive parameter is derived by converting the drive's Modbus register number to the DeviceNet path, Class/
Instance/Attribute. Reading or writing parameters to the drive via DeviceNet is simplified because the DeviceNet path closely
matches the drive's Modbus register numbers.

Table 40: Supported Service

Service Code No. (Hex) Service Name Description of Service

0E Get_Attribute_Single Designated attribute content is returned.

10 Set_Attribute_Single Designated attribute content is changed.

Table 41: Converting the Modbus Register Number to the DeviceNet Path

Modbus Register: 0180 Hex DeviceNet Path: 64/01/80 Hex

Example Data Example Data

- - Class 64 Hex

Byte 1 01 Hex

Byte 0 80 Hex → Attribute 80 Hex

→

Instance 01 Hex

• The DeviceNet Class for parameter access is always “64”.

• The DeviceNet Instance is always equal to Modbus register byte 1 or the MSB (most significant byte).

• The DeviceNet Instance is always equal to Modbus register byte 0 or the LSB (least significant byte).

• The data size for each Attribute is 2 bytes.

Refer to the drive User Manual for description on the parameters and Modbus Manual for Modbus registers.

Example 1:

Reading the Reference Source Parameter b1-01 Value by Explicit Messaging

To read parameter b1-01 (Modbus register 0180 Hex) Reference Source, first convert the Modbus register number to DeviceNet
Instance and Attribute.

Then, send an explicit message with Service Code 0E Hex (Get Attribute Single) to Class 64/Instance 1/Attribute 80 Hex. If the
returned value is 0001 Hex, then Reference Source is set to Parameter Setting 1, Terminals.

Note: The same Class/Instance/Attribute paths are used in the EDS file provided by Yaskawa.

56

Table 42: Reference Source Parameter b1-01 Settings

Modbus register 02 00 hex = Instance 02 hex and Attribute 00 hex

Class 100/
Instance/
Attribute (Hex)

64/1/80 180 b1-01 Reference

Example 2:

Setting the Accel Time 1 Parameter C1-01 Value by Explicit Messaging

To set parameter C1-01 (Modbus register 0200 Hex) Acceleration Time 1 to 3.5 seconds, first convert the Modbus register
number to DeviceNet Instance and Attribute.

Then, send an explicit message with Service Code 10 Hex (Set Attribute Single) to Class 64/Instance 2/Attribute 00 Hex, with
the data field as 23 Hex (35). The data field does not recognize decimal places, so the data must be written as a whole number.
Also, in reading and setting to parameters C1-01 to C1-09 Accel/Decel Time 1 to 4, be sure to check the setting of parameter
C1-10 Accel/Decel Time Setting Unit. For instance, in the above example, if C1-10 is set to value of 1 (0.01 – two decimal
places) instead of the default value (0.1 - one decimal place), the data field to set acceleration time to 3.50 seconds would be
15E Hex (350). Refer to the drive User Manual for further drive parameter descriptions.

Modbus
Register
(Hex)

Parameter Function Setting Description

0 Operator

Source

1 Terminals

2 Serial Communication

3 Option

4 Pulse Input

Table 43: Accel Time 1 Parameter C1-01 Settings

Class 100/
Instance/
Attribute (Hex)

64/2/00 200 C1-01 Acceleration

64/2/09 209 C1-10 Accel/Decel

Modbus
Register
(Hex)

Parameter Function Setting Description

Time 1

Time Setting
Unit

0.00 to 600.0 seconds or 0.0 to 6000.0 seconds

0 0.01 (two decimal places)

1 default 0.1 (one decimal place)

57

DeviceNet Fault Diagnostics
Drive Faults

Table 44: DeviceNet Fault Codes

DeviceNet

Fault Code No. (Hex)

0000
2120
2130

2200 OL2 Drive overload

2220 OL1 Motor overload

2221 OL3 Overtorque 1

2222 OL4 Overtorque 2

2300 OC Overcurrent

3130

3210 OV Main circuit overvoltage

3220 UV1 Main circuit low voltage

3222 UV3 Surge protection circuit fault

4200 OH Heat sink fin overheat

5110 UV2 Control power fault

5120 PUF Fuse open

5300 OPR Operator not connected

6320 ERR EEPROM write failure

7110 RR Braking transistor fault

7112 RH Braking resistor overheat

7301 PGO PG wire broken detection

7310

7500 BUS Option communication error

9000

Operator Fault

Display

-

GH

SC

PF Main circuit voltage fault

LF Output phase missing

OS Excessive speed

DEV Speed deviation excessive

EF3 External fault (Input terminal S3)

EF4 External fault (Input terminal S4)

EF5 External fault (Input terminal S5)

EF6 External fault (Input terminal S6)

EF7 External fault (Input terminal S7)

EF8 External fault (Input terminal S8)

EF0 Option external fault

Content

Drive normal

Ground fault

Load short

58

Fault Diagnostics

The following is a table of faults caused by the option that will be displayed on the Digital Operator, their causes, and possible
solutions. For any fault displayed on the operator that is not listed in the following table, please see the drive Users Manual.

Table 45: Drive Faults Caused by the Option

Fault

Display

BUS

EF0

CPF06

CPF21

CPF22

CPF23

Content Cause Solution

Option

Communication error

External Fault from

Option

Option Connection

Fault

Communication

Option Self-diagnostic

Fault

Communication

Option Model Code

No. Fault

Communication

Option Mutual

Diagnostic Fault

Communication is not
established between
DeviceNet master and the
drive.

External fault is active from
DeviceNet option.

The drive and communication
are not correctly connected.

Communication option is not
working.

Check DeviceNet communication LED display
and connection at DeviceNet terminal.
The network and/or 24VDC power supply may be
down.

Turn OFF external fault input.

Turn OFF the drive power supply. Check the
connection of the option and drive, and then, turn
ON the drive power supply. If the fault persists,
change the option.

Turn the drive power supply back ON. If the fault
persists, change the option.

59

DeviceNet Communication LED Faults and Operation

Table 46: DeviceNet Communication LED Faults and Operation

LED Display

PWR MS NS WD

Not Lit Not Lit Not Lit Not Lit Power OFF

Solid

Green

Solid

Green

Solid

Green

Solid

Green

Solid

Green

Solid

Green

Solid

Green

Solid

Green

Solid

Green

Not Lit Not Lit

FlashG
reen

Flash

Red

Solid

Red

Solid

Red

Solid

Green

SolidG

reen

Solid

Green

Solid

Green

Not Lit

Not Lit

Not Lit

Solid

Red

Flash

Red

Solid

Red

FlashG

reen

SolidG

reen

Solid

Red

FlashG
reen

Flash

Green

Flash

Green

Flash

Green

Flash

Green

Flash

Green

Flash

Green

Flash

Green

Content Cause Solution

CPU Fault

During Option

Unit

Preparation

Option Unit

Possible Fault

Option Unit

Unrecoverable

Fault

Baud Rate

Setting Fault

Communicatio

n Timeout

Communicatio

n

Error

Normal

(Communicati

on data: No)

Normal

(Communicati

on data: Yes)

The drive is not powered.

The option is not correctly
connected, thus, the power does not
supply to the option.

The option CPU is being initialized
or has a fault.

Initial setting status or the
communication is being initialized.

A wrong setting of a switch or a
recovery fault is occurring.

An Unrecoverable fault is
occurring to the option.

Baud rate settings (DIP switch,
DR1 and DR0) are both ON.

A master communication timeout
occurred.

Communication Unrecoverable
fault occurred.

Although the fault does not occur,
it is connected to the master
controller.

Drive is communicating normally.

Check the drive main circuit wiring,
and then turn ON the power.

Turn Off the drive power, check the
connection of the option and the drive,
and re-power the drive.

Cycle drive power. If the fault persists,
change the option.

Cycle drive power. If the fault persists,
change the option.

Check baud rate setting (DIP switch,
DR1 and DR0), and then re-cycle the
power. If the fault persists, change the
option.

Cycle drive power. If the fault persists,
change the option.

Set the baud rate switches correctly,
and cycle the drive power.

Check if the end termination resistor is
correctly connected to the
communication bus.
Check if the communication device is
correctly connected per wiring
diagrams.
Check if the communication bus
wiring is separated from the main
circuit wiring.

Check if other device’s MAC ID is not
unique per the network.
Check if the master is correctly
configured.
Check if the end termination resistor is
correctly connected to the
communication bus.
Check if the communication device is
correctly connected per wiring
diagrams.
Check if the communication bus
wiring is separated from the main
circuit wiring.

Send explicit message or I/O message
from the master as necessary.

−

60

Explicit Message Communication Error

If a requested message has an error response from the master when performing Explicit message communication, the
communication option sends a response message which the following error code shown in the table, is attached as data, as well
as the service code “94”.

Table 47: Explicit Message Communication Error Codes

Error Code Content Cause Solution

08FF

09FF

0CFF

0EFF

13FF

14FF

15FF

16FF

1FFF

20FF

Service not requested Wrong service code. Correct service code.

Invalid attribute value detection Wrong attribute value. Correct attribute value.

Executing requested service is
impossible

Setting prohibit attribute Cannot write to Attribute. Correct service code and attribute value.

Not enough data Data size is not matched. Correct data size.

Unauthorized Attribute

Excessive data Data size is not matched. Correct data size.

Object does not exist Object is not defined in the option. Correct class and option value.

Manufacturer specific error

Parameter fault

A non run-operative drive parameter
is being attempted to be set during
drive operation.

Unauthorized service was attempted
to operate on the attribute.

An unsettable drive setting was
attempted to be written to during
drive operation.
A drive setting is attempted to be
written outside the setting range.

A data write is attempted that is
outside of the setting range.

Stop drive operation.

Correct service code and attribute value.

Stop the drive.
Correct the data within the setting range.

Correct the data within the setting range.

61

I/O Message Communication Modbus I/O Instance Errors

Table 48: Modbus I/O Instance Errors and Their Causes

Error
Code

01 Hex Function code error Function code from the master was other than 00 Hex, 03 Hex, and 10 Hex.

02 Hex Register No. error

21 Hex Data setting error

22 Hex Write mode error

23 Hex Write during UV

24 Hex

Content Causes

A register # was not found.
Enter command (0900 Hex) registered for write started to read.
Parameter setting error occurred by a parameter write.
Upper and lower byte values were out of alignment, swapped.

A parameter was attempted to write from the master during run.
Enter command was attempted write from the master during UV.
A parameter was attempted to write from the master during UV.
Enter command was attempted to write from the master during UV.
A parameter was attempted to write from the master during data store.
Data for read only was attempted to write from the master.

Attempted to write a parameter from the master while UV was occurring.
Attempted to write an enter command from the master while UV was occurring.

Write during

parameter processing

Attempted to write a parameter from the master while data was being stored.

62

Appendix A

Product Specifications

This chapter describes the product specifications of a DeviceNet network system.

DeviceNet Product Specification ....................................................... 64

63

Product Specifications

Item Specifications

I/O Message 4 types of I/O instance are supported:

1) Basic I/O instance (Input 4 bytes, output 4 bytes)

2) Expansion I/O instance (Input 4 bytes, output 4 bytes)

3) Modbus I/O instance (Input 5 bytes, output 5 bytes)

4) Standard drive control I/O instance (Input 8 bytes, output 8 bytes)

Explicit Message Suitable for DeviceNet AC/DC Drive Profile.

Data communication Max. 32 byte

Communication Power Supply DC 11V~25V (20mA or less)

Operation Power Supply DC 4.75V~5.25V (Supplied from the drive)

Ambient Temperature -10°C ~ +45°C

Humidity 95%RH or less (Non-condensing)

Storage Temperature -20°C ~ +60°C

Location Indoor (Protected from corrosive gas and dust)

Altitude 1000m or less

Voltage 11~25 Vdc

Current 100mA

64

Appendix B

Cable Specifications

This chapter describes the cable specifications for a DeviceNet network system.

DeviceNet Cable Specifications......................................................... 66

DeviceNet Cable Vendor Table........................................................... 66

DeviceNet Network Topology............................................................. 67

DeviceNet Maximum Cable Distance................................................. 67

65

Cable Specifications

Thick Cable

This cable consists of two shielded pairs twisted on a common axis with a drain wire in the center covered with an overall braid
shield and is commonly used as trunkline when length is important.

The thick cable specified for DeviceNet network connections consists of:

· One twisted signal pair (#18): blue/white

· One twisted power pair (#15): black/red

· Separate aluminized mylar shields around power pair and signal pair

· Overall foil/braid shield with drain wire (#18): bare

Thin Cable

Thin Cable is smaller and more flexible than Thick Cable. It is commonly used for droplines, but can also be used, for shorter
distances, as trunkline.

The thin cable specified for DeviceNet network connections consists of:

·One twisted signal pair (#24): blue/white

·One twisted power pair (#22): black/red

·Separate aluminized mylar shields around power pair and signal pair

·Overall foil/braid shield with drain wire (#22): bare

Cable Vendors

DeviceNet cables are available from various vendors. Two sources are listed below:

Table 49: DeviceNet Cable Sources

Belden Wire & Cable Company

Part # Thick/Thin Pair AWG Insulation Outer Jacket

3082A Thick

3084A Thin

3083A Thick

3085A Thin

Part # Thick/Thin Pair AWG Insulation Outer Jacket

210051 Thick

210144 Thin

Data 18 Datalene

Power 15 PVC/Nylon

Data 24 Datalene

Power 22 PVC/Nylon

Data 18 Datalene

Power 15 PVC/Nylon

Data 24 Datalene

Power 22 PVC/Nylon

Berk-Tek

Data 18 FPE/HDPE

Power 15 PVC/Nylon

Data 24 FPE/HDPE

Power 22 PVC/Nylon

Lt. Gray PVC

Lt. Gray PVC

Yellow CPE

Yellow CPE

Lt. Gray PVC

Lt. Gray PVC

66

DeviceNet Network Topology

Drop Line

N

N

N

pTap

Multi-Port

p

N

N

N

Multi-Port

p

Terminating
Resistor

Terminating
Resistor

Multiple Node

Daisy Chain

Drop Line

Multiple Node

Branching
Drop Line

Fig. 8 DeviceNet Topology

Dropline

Dropline

Dropline

The DeviceNet media has a linear bus topology. Terminating resistors are required on each end of the trunkline. Droplines as
long as 6 meters (20 feet) each are permitted, allowing one or more nodes to be attached. DeviceNet allows branching structures
only on the dropline. The figure below shows an example of a DeviceNet network. The thick lines indicate a trunkline, whereas
the thin lines indicate a dropline.

Tap

ode

ode

ode

ode

Node

Node

Node

Zero Length

Node

Ta

Ta

Node

Ta

ode

ode

Maximum Cable Distance

The total amount of trunkline allowable on the network depends upon the data rate and the type of cable (thick or thin) used.
The cable distance between any two points in the cable system must not exceed the Maximum Cable Distance allowed for the
baud rate. For trunklines constructed of only one type of cable, refer to the following table to determine the Maximum Cable
Distance based on the data rate and the type of cable used. Cable distance between two points includes both trunkline cable and
dropline cable length that exists between the two points.

Baud Rate

125 kbaud 500 meters (1640 feet)

500 kbaud 100 meters (328 feet)

DeviceNet allows the use of either thick or thin cable to be used to construct trunklines. DeviceNet also allows a combination
of both types of cable to be used on the same network. To determine the maximum cable distance with a mix of both thick and
thin cable, use the following figure.

Table 50: Maximum Cable Distance Allowed per Baud Rate

Maximum Cable Distance

for 100% Thick Cable

67

Maximum Cable Distance

for 100% Thin Cable

100 meters (328 feet)250 kbaud 250 meters (820 feet)

0

80

10

0

125

kbaud

250

kbaud

500

kbaud

Length of
Thin Cable
(meters)

Length of Thick Cable (meters)

At 125 kbaud: L

thick

+ (5.0 x L

thin

) = 500

At 250 kbaud: L

thick

+ (2.5 x L

thin

) = 250

At 500 kbaud: L

thick

+ L

thin

= 100

(where L

thick

is the length of thick cable and L

thin

is the length of thin cable.)

Fig. 9 Maximum Cable Distance

60
40
20

100 200 300 400 500

Dropline length is the longest cable distance measured from the tap on the trunkline to each of the transceivers of the nodes on
the dropline. The total amount of dropline allowable on the network depends upon the data rate. Refer to the following dropline
budget when determining the number and length of droplines.

Baud Rate

125 kbaud

250 kbaud 78 meters (256 feet)

500 kbaud 39 meters (128 feet)

Maximum Cumulative

6 meters (20 ft)

Drop Length

156 meters (512 feet)

68

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69

DeviceNet™ CM059 (SI-N1) Option

YASKAWA ELECTRIC AMERICA, INC.

Chicago-Corporate Headquarters
2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone: (800) YASKAWA (800-927-5292) Fax: [phone]
Internet: http://www.yaskawa.com

MOTOMAN INC.

805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone: [phone] Fax: [phone]
Internet: http://www.motoman.com

YASKAWA ELECTRIC CORPORATION

New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo, 105-0022, Japan
Phone: [phone] Fax: [phone]
Internet: http://www.yaskawa.co.jp

YASKAWA ELETRICO DO BRASIL COMERCIO LTDA.

Avenida Fagundes Filho, 620 Bairro Saude Sao Paolo-SP, Brasil CEP: 04304-000
Phone: [phone] Fax: [phone]
Internet: http://www.yaskawa.com.br

YASKAWA ELECTRIC EUROPE GmbH

Am Kronberger Hang 2, 65824 Schwalbach, Germany
Phone: [phone] Fax: [phone]

MOTOMAN ROBOTICS AB

Box 504 S38525, Torsas, Sweden
Phone: [phone] Fax: [phone]

MOTOMAN ROBOTEC GmbH

Kammerfeldstrabe 1, 85391 Allershausen, Germany
Phone: [phone] Fax: [phone]

YASKAWA ELECTRIC UK LTD.

1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, Scotland, United Kingdom

Phone: [phone] Fax: [phone]

YASKAWA ELECTRIC KOREA CORPORATION

Paik Nam Bldg. 901 188-3, 1-Ga Euljiro, Joong-Gu, Seoul, Korea
Phone: [phone] Fax: [phone]

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.

Head Office: 151 Lorong Chuan, #04-01, New Tech Park Singapore 556741,
Singapore
Phone: [phone] Fax: [phone]

TAIPEI OFFICE (AND YATEC ENGINEERING CORPORATION)

10F 146 Sung Chiang Road, Taipei, Taiwan
Phone: [phone] Fax: [phone]

YASKAWA JASON (HK) COMPANY LIMITED

Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong
Phone: [phone] Fax: [phone]

BEIJING OFFICE

Room No. 301 Office Building of Beijing International Club,
21 Jianguomanwai Avenue, Beijing 100020, China
Phone: [phone] Fax: [phone]

SHANGHAI OFFICE

27 Hui He Road Shanghai 200437 China
Phone: [phone] Fax: [phone]

SHANGHAI YASKAWA-TONJI M & E CO., LTD.

27 Hui He Road Shanghai 200437 China
Phone: [phone] Fax: [phone]

BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO., LTD.

30 Xue Yuan Road, Haidian, Beijing 100083 China
Phone: [phone] Fax: [phone]

SHOUGANG MOTOMAN ROBOT CO., LTD.

7, Yongchang-North Street, Beijing Economic & Technological Development Area,
Beijing 100076 China
Phone: [phone] Fax: [phone]

YEA Document Number: TM.AFD.13 9/30/2009 Rev: 09-09

Data subject to change without notice. Yaskawa Electric America, Inc.

YEA, TAICHUNG OFFICE IN TAIWAIN

B1, 6F, No.51, Section 2, Kung-Yi Road, Taichung City, Taiwan, R.O.C.
Phone: [phone] Fax:[phone]