Yaskawa CM05x User Manual

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DeviceNet™ Option (CM05x)

Technical Manual

Models: CIMR-F7*, CIMR-G7*, CIMR-P7* Document Number TM.AFD.14

Technical References:

Refer to the following publications for further information about the Drive and DeviceNet Option Board.

• Drive User Manual Publication: TM.F7.01, TM.G7.01, TM.P7.01

• DeviceNet Option Board Installation Guide Publication: TM.AFD.14

• ODVA DeviceNet Specification Volume I and Volume II

Technical Support

Technical Support CenterProvide telephone assistance related to installation, start-up, programming, and troubleshooting drives and communication products. For technical phone support call 1 – 800 – YASKAWA.

Contents

Chapter 1 .......................................................................................................................1

Introducing the DeviceNet™ Network ...................................................................1

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

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

Overview.................................................................................................... 4

The DeviceNet Network.............................................................................4

DeviceNet Option Board............................................................................6

Message Types on DeviceNet...................................................................7

Chapter 2 .......................................................................................................................1

DeviceNet Option Board........................................................................................1

Start-up Procedure................................................................................................1

Chapter 3 .......................................................................................................................1

Setup and Installation............................................................................................1

Option Board Hardware Components........................................................2

Option Board Setup...................................................................................3

Option Board Installation ...........................................................................6

Chapter 4 .......................................................................................................................1

DeviceNet Network Wiring.....................................................................................1

DeviceNet Network Topology....................................................................2

Cable Specifications..................................................................................4

Terminating Resistor Specifications ..........................................................5

DeviceNet Connector.................................................................................5

Chapter 5 .......................................................................................................................1

DeviceNet EDS Files.............................................................................................1

EDS Files in General.................................................................................2

EDS Files for the Drive..............................................................................2

Chapter 6 .......................................................................................................................1

Configuration of DeviceNet....................................................................................1

and Drive Parameters............................................................................................1

Polled Configuration ..................................................................................2

Motor Nameplate Configuration.................................................................5

Drive Application Parameters Configuration..............................................5

Chapter 7 .......................................................................................................................1

Drive Operation on DeviceNet...............................................................................1

Data Storage of the DeviceNet Option Board............................................2

ACCEPT Command...................................................................................4

ENTER Command.....................................................................................5

Run/Stop Selection....................................................................................6

Frequency Reference Selection ................................................................8

Run/Stop Control.....................................................................................10

Frequency Reference Control..................................................................11

Torque Reference Control.......................................................................11

Acceleration and Deceleration Times......................................................13

EF0 Fault Parameters..............................................................................13

Reset the Drive to Power-Up Conditions.................................................14

Reset the Drive to Factory Conditions.....................................................14

Chapter 8 .......................................................................................................................1

DeviceNet Profiles.................................................................................................1

DeviceNet Device Profiles.........................................................................2

AC Drive Profile.........................................................................................3

Chapter 9 .......................................................................................................................1

Diagnostics and Troubleshooting..........................................................................1

Network and Module Status LEDs at Power-Up........................................2

Network Status LED ..................................................................................2

Module Status LED....................................................................................3

DeviceNet Error Codes..............................................................................4

Drive Fault Codes......................................................................................5

Appendix A.................................................................................................................... 1

DeviceNet Object Paths ........................................................................................1

Identity Class.............................................................................................2

DeviceNet Class........................................................................................3

Assembly Class.........................................................................................4

Connection Class.......................................................................................5

Motor Class................................................................................................7

Control Supervisor Class...........................................................................8

AC Drive Class ........................................................................................10

Yaskawa Command Class.......................................................................12

Yaskawa Drive Status Class....................................................................14

Yaskawa DRIVE U Parameter Class.......................................................15

Appendix B.................................................................................................................... 1

Drive Assemblies...................................................................................................1

Output Assemblies – Polled Consuming Assembly...................................2

Input Assemblies – Polled Producing Assembly........................................5

Appendix C.................................................................................................................... 1

DeviceNet Object Services....................................................................................1

Identity Class.............................................................................................2

DeviceNet Class........................................................................................2

Assembly Class.........................................................................................2

Connection Class.......................................................................................3

Motor Class................................................................................................3

Control Supervisor Class...........................................................................3

AC Drive Class ..........................................................................................4

Yaskawa Drive Command Class ...............................................................4

Yaskawa Drive Status Class......................................................................5

Yaskawa Drive Monitor Class....................................................................5

Yaskawa Drive Parameter Class...............................................................5

Appendix D.................................................................................................................... 1

Product Specifications...........................................................................................1

Appendix E.................................................................................................................... 1

Spare Parts List.....................................................................................................1

Appendix F .................................................................................................................... 1

Drive Monitor and Parameter Object Paths...........................................................1

Yaskawa Drive Monitor Object Paths ........................................................2

Yaskawa Drive Parameter Object Paths ...................................................5

Chapter 1

Introducing the DeviceNet™ Network

 Warnings and Cautions  Introduction  Overview  The DeviceNet Network  The Drive on DeviceNet  Message Types on DeviceNet

Introducing the DeviceNet Network 1-1

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 servicing 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 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.

• 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 Drive rated voltage matches voltage of 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.

Introducing the DeviceNet Network 1-2

Introduction

This manual explains the specifications and handling of the Yaskawa DeviceNet™ CM05x Option for the Yaskawa model F7, G7 and P7 Drives. Check the EPROM label to verify that the DeviceNet™ Option (CM05x) card is the correct card for the drive.

Drive Kit # Option Board # EPROM Label Designation Qty.

F7U CM056 46S03318-002# VST80003# 1

G7U CM057 46S03318-003# VST80004# 1

P7U CM058 46S03318-004# VST80005# 1

DeviceNet™ Option (CM05x) Installation Guide (IG.AFD.14.DeviceNet) 1

The DeviceNet™ Option connects the Drive to a DeviceNet™ network and facilitates the exchange of data. In this document, the word “inverter”, “ac drive” and “drive” may be used interchangeably.

To ensure proper operation of this product, read and understand this manual. For details on installation and operation of the Drive, refer to the appropriate Drive technical manual. For details on specific parameters, refer to the appropriate Drive MODBUS technical manual. All technical manuals and support files can be found on the CD that accompanied the Drive and are available for download at www.drives.com

For information on DeviceNet™ contact the Open DeviceNet™ Vendor Association at

F7 document reference TM.F7.01 (F7 User Manual) or TM.F7.02 (F7 Programming Manual) G7 document reference TM.G7.01 (G7 User Manual) or TM.G7.02 (G7 Programming Manual) P7 document reference TM.P7.01 (P7 User Manual) or TM.P7.02 (P7 Programming Manual) F7 MODBUS Technical Manual document reference TM.F7.11

MODBUS 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.

is a registered trademark of Schneider Automation, Inc.

www.odva.org.

Introducing the DeviceNet Network 1-3

Overview

This manual describes the set-up and programming of the Yaskawa DeviceNet Option Board. The DeviceNet option board will allow communication between the DeviceNet Communication Network and the Yaskawa Drive.

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

• DeviceNet Option Board

Part Number: CM056, CM057, or CM058

• DeviceNet Technical Manual

Publication: TM.AFD.14

• DeviceNet EDS Files for the Drive model from www.drives.com

ROM: CD.AFD7.01

• Drive User Manual

Publication: TM.F7.01, TM.G7.01, or TM.P7.01

or Yaskawa Electronic Library CD-

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 1.1 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 with 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:

Terminating

Resistor

RS-232 Master

Interface Module

• A cost effective solution to low-level device networking

• Access to intelligence present in the devices

• Master/Slave and Peer-to-Peer capabilities (Peer-to-Peer capability is not supported by Yaskawa’s

DeviceNet)

PLC/Scanner

Figure 1.1 DeviceNet Network Example

Trunkline

Droplines

24Vdc

P7 G7

Terminating

Resistor

Introducing the DeviceNet Network 1-4

DeviceNet has two primary purposes:

• Transport of control-oriented information associated with the control/monitoring of devices

• Transport of configuration parameters which are indirectly related to system control

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 125 KBaud, 250 KBaud, and 500 KBaud

• 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 high-speed digital control for optimum performance. These benefits make DeviceNet especially suitable for the industrial automation environment.

Introducing the DeviceNet Network 1-5

DeviceNet Option Board

Yaskawa’s DeviceNet Option Board appears as one node on the network. The Option Board must be installed into each Drive that will be communicating on the DeviceNet network. The Option Board is powered from both the +24Vdc DeviceNet network power and the Drive.

When connected to the DeviceNet network, the Drive communicates on the network using a Master/Slave relationship. The Master is a device that gathers and distributes I/O data for the process controller. Slaves are devices from which the Master gathers I/O data and to which the Master distributes I/O data.

On a DeviceNet network, a Master device is said to “own” a Slave device. A Slave device can be “owned” by only one Master. A Slave device cannot initiate communication transactions unless it has been told to do so by its Master. A Master scans its Slave devices based on a scan list that it contains.

The Option Board acts as a DeviceNet Slave device. With respect to the network, the Option Board is considered to be a Group 2 Only

By definition, a Group 2 Only Server device is UCMM incapable. A Group 2 Only Server uses DeviceNet’s Predefined Master/Slave Connection Set to establish communications. A Group 2 Only Server can transmit and receive only those messages defined by the Predefined Master/Slave Connection Set. (Volume I of the DeviceNet Specification fully defines Group 2 Server Devices). Since the Drive acts a DeviceNet Slave device, it will respond to message commands issued by a DeviceNet Master device. With respect to the network, the Master is a Group 2 Client or a Group 2 Only Client.

Server.

Introducing the DeviceNet Network 1-6

Message Types on DeviceNet

The table below shows the message types that are defined by DeviceNet’s Predefined Master/Slave Connection Set, as well as which message types are supported by the Option Board. A definition of each message type follows the table.

Message

Type

Bit-Strobe NO Change-of-State/Cyclic NO Polled YES Explicit YES

The Bit-Strobe Command message is an I/O message that is transmitted by the Master. One Bit-Strobe Command message can be received by and acted upon by all Slave devices on the network. A Bit-Strobe Command message provides 1-bit of data to each Slave on the network. Bit-Strobe Command messages are transmitted by the Master at a set time interval. The Bit-Strobe Response Bit-Strobe Command message. A Bit-Strobe Response message can provide up to 8 bytes of data from a Slave device to a Master device. The Option Board does not support Bit-Strobe messaging.

The Change-of-State/Cyclic message is directed towards a single, specific node. An Acknowledge message may be returned in response to this message. The Option Board does not support Change-of-State/Cyclic messaging.

The Polled Command message is directed towards a single, specific Slave device. A Master must transmit a separate Polled Command Message for each Slave device that is to be polled. The Polled Command message can provide up to 256-bytes of data to a single Slave device. Polled Command messages are transmitted by the Master at a set time interval. The Polled Response Polled Command message. A Polled Response message can provide up to 256-bytes of data from a Slave device to a Master device. The Option Board uses Polled messaging to receive Run/Stop and Speed commands from the Master and to send Status and Output information to the Master.

The Explicit Request directed towards a single, specific Slave device. Explicit Command messages are used to perform services such as reading data from the Slave device, writing data to the Slave device, and resetting the Slave device. Explicit Request messages are transmitted by the Master whenever the desired service is required. The Explicit Response Request message. Explicit Response messages are used to return the results of the Explicit Request message service. The Option Board uses Explicit messaging to read Drive data (Drive parameters, Drive runtime status), to write data (Drive parameters, Drive control commands), to save data (the ENTER command), and to reset the Drive (power-up reset, out-of-box reset).

message is an I/O message that a Slave transmits back to the Master after receiving a

message is transmitted by either the Master or the Slave. A Change-of-State/Cyclic

message is an I/O message that is transmitted by the Master. A Polled Command

message is an I/O message that a Slave transmits back to the Master after receiving a

message is a message that is transmitted by the Master. An Explicit Request message is

message is a message that a Slave transmits back to the Master after receiving an Explicit

DeviceNet

Option Board

Introducing the DeviceNet Network 1-7

Notes:

DeviceNet Option Board Startup Procedure 2-1

Chapter 2

DeviceNet Option Board

Start-up Procedure

The following procedure outlines the steps that should be taken to start up the Drive with the DeviceNet Option Board.

1. Complete the Drive Start Up procedure detailed in the Drive User Manual. This includes connecting power to the Drive, running the Drive from the operator keypad, and verifying that the Drive functions properly.

2. 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.

3. Remove the operator keypad and the Drive cover(s).

4. Install the DeviceNet Option Board on the Drive. See Chapter 3 for details.

5. Set the network Baud Rate and MAC ID. See Chapter 3 for details.

6. Connect the Option Board to the DeviceNet Network. See Chapter 4 for details.

7. If using a DeviceNet Configuration Tool that supports EDS files, install the Drive EDS files that are provided with the DeviceNet Option Board. See Chapter 5 for general information on EDS files. The EDS file installation procedure will depend on the Configuration Tool being used.

8. Configure the Drive parameters. These parameters include: polled network configuration, motor nameplate data, and drive application constants. See Chapter 6 for details.

DeviceNet Option Board Startup Procedure 2-1

Notes:

DeviceNet Option Board Startup Procedure 2-2

Chapter 3

Setup and Installation

 Option Board Hardware Components  Option Board Setup  Option Board Installation

Setup and Installation 3-1

Option Board Hardware Components

CAUTION

The DeviceNet Option Board is an electrostatic sensitive device. Personnel

Hazardous voltage may cause severe injury or death. Ensure all power sources

feeding the Drive are locked in the “OFF” position before installing this option board.

Figure 3.1 shows the DeviceNet Option Board. J1 connector (on back of board) is used for connection to the 2CN connector on the Drive. DIP switches are used to set up the DeviceNet network Baud Rate and the DeviceNet MAC ID. The DeviceNet terminal is used for connection of the DeviceNet network wiring. Ground wire is the ground connection to the Drive terminal board. NS is the Network Status LED and MS is the Module Status LED.

must follow approved methods for handling this type of equipment.

WARNING

Ground wire DIP switches

MS LED

NS LED

DeviceNet Terminal

Figure 3.1 DeviceNet Option Board

Setup and Installation 3-2

Option Board Setup

The DeviceNet Option Board requires setup prior to operation. DIP switches must be set prior to the application of input AC power to the Drive. The states of these DIP switches are read only on power-up.

Option Board DIP Switch Settings

The DIP switches are used to setup DeviceNet network characteristics. The DIP switch functions are defined in the following table:

DIP Switch Number Function

1 Baud Rate, Bit 1 2 Baud Rate, Bit 0 3 Node Number, MSB 4 Node Number 5 Node Number 6 Node Number 7 Node Number 8 Node Number, LSB 9 Not Used

10 Master Idle Operation

DIP switches 1 and 2 are used to select the baud rate of the DeviceNet network. The baud rate setting of the Option Board must match the baud rate setting of the rest of the devices on the DeviceNet network. The available baud rates are defined in the following table. The cable distance between any two points in the cable system must not exceed the Maximum Cable Distance allowed for the baud rate selected. See Chapter 4 for information on calculating the Maximum Cable Distance.

DeviceNet Baud Rate

(KBaud) Switch 1 Switch 2

125 Off Off 250 Off On

500

DIP Switch Position

On Off On On

Setup and Installation 3-3

DIP switches 3 through 8 are used to setup the DeviceNet node number of the Option Board. A DeviceNet

fOffOffOffOff

fOffOffOff

fOffOff

fOff

fOf

fOffOff

fOff

fOffOffOff

fOffOff

fOff

fOffOff

fOff

fOffOffOffOff

fOffOffOff

fOffOff

fOff

fOffOff

fOff

fOffOffOff

fOffOff

fOff

fOffOff

fOff

network can have up to 64 nodes. The DeviceNet node number settings are defined in the following table.

Node Number Switch 3 Switch 4 Switch 5 Switch 6 Switch 7 Switch 8

0 Off Of 1 Off Of 2 Off Of 3 Off Of 4 Off Of 5 Off Of 6 Off Of 7 Off Of 8 Off Of

9 Off Of 10 Off Of 11 Off Of 12 Off Of 13 Off Of 14 Off Of 15 Off Of 16 Off On Of 17 Off On Of 18 Off On Of 19 Off On Of 20 Off On Of 21 Off On Of 22 Off On Of 23 Off On Of 24 Off On On Of 25 Off On On Of 26 Off On On Of 27 Off On On Of 28 Off On On On Of 29 Off On On On Of 30 Off On On On On Off 31 Off On On On On On 32 On Of 33 On Of 34 On Of 35 On Of 36 On Of 37 On Of 38 On Of 39 On Of 40 On Of 41 On Of 42 On Of 43 On Of 44 On Of 45 On Of 46 On Of 47 On Of 48 On On Of 49 On On Of 50 On On Of 51 On On Of 52 On On Of 53 On On Of 54 On On Of 55 On On Of 56 On On On Of 57 On On On Of 58 On On On Of 59 On On On Of 60 On On On On Of 61 On On On On Of 62 On On On On On Off 63 On On On On On On

On Of On Of On Of On Of On On Of On On Of On On On Off On On On On

On Of On Of On On Off On On On

On Off On On

On O On On

Setup and Installation 3-4

Some master devices can be placed in idle mode. During idle mode, some masters do not send or receive polled messages. DIP switch 10, allows the drive to continue to operate as normal or generate an “EF0” fault to indicate that no polled messages are being received from the master.

Master Idle DIP Switch Position

Operation Switch 10

“EF0” disabled Off

“EF0” enabled On

With DIP switch 10 in the “Off” position, the “EF0” fault is disabled. When the master is placed in idle mode, the drive will continue to operate as normal based on the last polled message that was received from the master.

With DIP switch 10 in the “On” position, the “EF0” fault is enabled. When the master is placed in idle mode, the drive will generate an “EF0” fault. The drive returns to normal operation after the master is no longer in idle mode, the run command is removed, and the RESET command is issued via DeviceNet, control terminals, or the Drive Digital Operator.

Setup and Installation 3-5

Option Board Installation

The DeviceNet Option Board installs directly on the Drive control board 2CN port.

4CN O

tion Card A

2CN O

tion Card C

Option Clip

3CN Option Card D (Not available when CM056/57/58 is used)

Grounding Terminal

Figure 3.2 DeviceNet Option Board Installation

Setup and Installation 3-6

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

2. Remove the Drive’s operator keypad by depressing the tab on the right side of the keypad and then pulling it out.

3. Remove the Drive’s front cover(s) until the entire control card is exposed. The number of cover(s) and the removal procedure varies by drive series and capacity. Consult the Drive’s technical manual for details. Remove the operator keypad by depressing the tab on the right side of the keypad and then pulling it out.

4. Remove the option board hold-down clip on the left side of the Drive case by carefully compressing the top and bottom until it becomes free of its holder and then pulling it out.

5. Align the J1 connector on the back of the DeviceNet Option Board with its mating 2CN connector on the front of the Drive control card. Align the three standoffs on the front of the Drive control board with the three holes on the right side of the DeviceNet Option. Press the DeviceNet option firmly onto the Drive 2CN connector and standoffs until the 2CN connector is fully seated and the Drive standoffs have locked into their appropriate holes.

6. Connect the option ground wire to ground terminal on the F7, G7, or P7 Drive terminal boards.

7. Connect the DeviceNet cable to the DeviceNet terminal on the Option Board according to the wire name on the DeviceNet Option Board.

8. The DIP switches (S1) located on the front of the DeviceNet Option Board should be properly configured. See “Option Board Setup” earlier in this chapter.

9. Replace the Drive front cover and Digital Operator.

10. Apply power to the Drive and verify that the diagnostic LEDs on the front of the DeviceNet Option Board

perform the following LED check and are in their correct state.

 MS LED ON Green for 0.25 seconds.  MS LED ON Red for 0.25 seconds.  MS LED ON Green for 0.25 seconds.  NS LED ON Green for 0.25 seconds.  NS LED ON Red for 0.25 seconds.

LED Display PWR MS NS WD Solid

Green

Solid

Green

Solid

Green

Flashing

Green

Content Cause

Normal Normal communication

Setup and Installation 3-7

Notes:

Setup and Installation 3-8

Chapter 4

DeviceNet Network Wiring

 DeviceNet Network Topology  Maximum Cable Distance  Cable Specifications  Terminating Resistor Specifications  DeviceNet Connector

DeviceNet Network Wiring 4-1

DeviceNet Network Topology

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. Figure 4.1 shows an example DeviceNet network. The thick lines in Figure 4.1 indicate a trunkline. The thin lines in Figure 4.1 indicate a dropline.

Terminating Resistor

Node

Zero Length

Dropline

Multiple Node

Branching

Dropline

Node

Multi-Port

Tap

Node

Tap

Multi-Port

Tap

Node

Figure 4.1 DeviceNet Topology

Tap

Terminating Resistor

Node

Multiple Node

Daisy Chain

Dropline

Node

Maximum Cable Distance

The total amount of trunkline allowable on the network depends upon the baud 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 baud 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

Maximum Cable Distance for

100% Thick Cable 125 KBaud 500 meters (1640 feet) 250 KBaud 250 meters (820 feet) 500 KBaud 100 meters (328 feet)

DeviceNet Network Wiring 4-2

Maximum Cable Distance for

100% Thin Cable

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 Figure 4-2.

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 baud rate. Refer to the following dropline budget when determining the number and length of droplines.

Length of Thin Cable (meters)

At 125 KBaud: At 250 KBaud: At 500 KBaud:

(where

Baud Rate

125 KBaud 156 meters (512 feet) 250 KBaud 78 meters (256 feet) 500 KBaud

100

80 60 40

500

KBaud

0 100 200 300 400 500

Length of Thick Cable (meters)

thick

250

KBaud

+ 5.0 x L + 2.5 x L

thick is the length of thick cable and Lthin is the length of thin cable – in meters.)

Figure 4.2 Maximum Cable Distance

Maximum Cumulative

6 meters (20 ft)

KBaud

+ L

thick

Drop Length

125

= 500 meters

thin

= 250 meters

thin

= 100 meters

thin

39 meters (128 feet)

DeviceNet Network Wiring 4-3

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:

Belden Wire & Cable Company

Part # Pair AWG Insulation Outer Jacket

3082A Data 18 Datalene Lt. Gray PVC

thick Power 15 PVC/Nylon

3084A Data 24 Datalene Lt. Gray PVC

thin Power 22 PVC/Nylon

3083A Data 18 Datalene Yellow CPE

thick Power 15 PVC/Nylon

3085A Data 24 Datalene Yellow CPE

Thin Power 22 PVC/Nylon

Berk-Tek

Part # Pair AWG Insulation Outer Jacket

210051 Data 18 FPE/HDPE Lt. Gray PVC

thick Power 15 PVC/Nylon

210144 Data 24 FPE/HDPE Lt. Gray PVC

thin Power 22 PVC/Nylon

DeviceNet Network Wiring 4-4

Terminating Resistor Specifications

DeviceNet requires a terminating resistor to be installed at each end of the trunk. The resistor requirements are:

• 121 ohm

• 1% Metal Film

• 1/4 Watt

IMPORTANT: Terminating resistors should not be installed at the end of a dropline, only at the two ends of the trunkline.

DeviceNet Connector

The DeviceNet Option Board uses an open style, pluggable, screw connector that conforms with the DeviceNet specification. The male connector is resident on the Option Board. One mating female connector is supplied with each DeviceNet Option Board. Figure 4.3 shows the pinout, orientation, and placement of the male connector on the DeviceNet Option Board.

The following table illustrates the pinouts and wire insulation colors for the DeviceNet Option Board.

Pin Label Definition Wire Color

1 V- Common Black 2 CL CAN Data Signal Low Blue 3 SH Shield/Drain Connection Bare 4 CH CAN Data Signal High White 5 V+ +24 VDC Red

V- CL SH CH V+

Figure 4.3 DeviceNet Connector

DeviceNet Network Wiring 4-5

Notes:

DeviceNet Network Wiring 4-6

Chapter 5

DeviceNet EDS Files

 EDS Files in General  EDS Files for the Drive

DeviceNet EDS Files 5-1

EDS Files in General

A CD-ROM (CD.AFD7.01) containing Electronic Data Sheet (EDS) files for the Drive is included with each DeviceNet Option Board. Alternatively, the EDS files can be downloaded from www.drives.com are used together with a DeviceNet Network Configuration tool, i.e. Rockwell Software RSNetWorx™.

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:

1. Vendor ID

2. Device Type

3. Product Code

4. Revision

5. 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

Note: References to EDS parameter numbers and respective functions could change with Drive firmware

changes.

match.

. The EDS files

EDS Files for the Drive

All DeviceNet Option Boards will have a Vendor ID equal to 37. All AC Drive products will have a Device Type equal to 2. The Drive Product Codes depend on the Drive model. The Product Codes for the Drive are given in the following table. The Revision can be found on the Option Board processor label of the EPROM, component U7.

DeviceNet EDS Files 5-2

Input

Voltage

3-Phase

208 - 230Vac

480Vac

CIMR-F7U,

CIMR-G7U,

CIMR-P7U

20P4 20P7 21P5 22P2 23P7 25P5 27P5 2011 2015 2018 2022 2030 2037 2045 2055 2075 2090 2110 40P4 40P7 41P5 42P2 43P7 44P0 45P5 47P5 4011 4015 4018 4022 4030 4037 4045 4055 4075 4090 4110 4132 4160 4185 4220 4300

Product Code

F7 / CM056

28084 (0x6DB4) 28087 (0x6DB7)

28185 (0x6E19)

28282 (0x6E7a) 28387 (0x6EE3) 28585 (0x6FA9)

28785 (0x7071) 28011 (0x6D6B) 28015 (0x6D6F) 28018 (0x6D72) 28022 (0x6D76) 28030 (0x6D7E) 28037 (0x6D85) 28045 (0x6D8D) 28055 (0x6D97) 28075 (0x6DAB) 28090 (0x6DBA)

28110 (0x6DCE)

30084 (0x7584)

30087 (0x7587)

30185 (0x75E9)

30282 (0x764A)

30387 (0x76B3)

30480 (0x7710)

30585 (0x7779)

30785 (0x7841)

30011 (0x753B)

30015 (0x753F)

30018 (0x7542)

30022 (0x7546)

30030 (0x754E)

30037 (0x7555) 30045 (0x755D)

30055 (0x7567)

30075 (0x7576)

30090 (0x758A)

30110 (0x759E)

30132 (0x75B4) 30160 (0x75D0)

30185 (0x75E9) 30220 (0x760C) 30300 (0x765C)

Product Code

G7 / CM057

Product Code

P7 / CM058

34084 (0x8524) 40084 (0x9C94) 34087 (0x8527) 40087 (0x9C97) 34185 (0x8589) 40185 (0x9CF9)

34282 (0x85EA) 40282 (0x9D5A)

34387 (0x8653) 40387 (0x9DC3)

34585 (0x8719) 40585 (0x9E89) 34785 (0x87E1) 40785 (0x9F51) 34011 (0x84DB) 40011 (0x9C46) 34015 (0x84DF) 40015 (0x9C4F) 34018 (0x84E2) 40018 (0x9C52) 34022 (0x84E6) 40022 (0x9C56) 34030 (0x84EE) 40030 (0x9C5E)

34037 (0x84F5) 40037 (0x9C65) 34045 (0x84FD) 40045 (0x9C6D)

34055 (0x8507) 40055 (0x9C77) 34075 (0x851B) 40075 (0x9C86) 34090 (0x852A) 40090 (0x9C9A) 34110 (0x853E) 40110 (0x9CAE) 36084 (0x8CF4) 42084 (0xA464) 36087 (0x8CF7) 42087 (0xA467) 36185 (0x8D59) 42185 (0xA4C9)

36282 (0x8DBA) 42282 (0xA52A)

36387 (0x8E23) 42387 (0xA593) 36480 (0x8E80) 42480 (0xA5F0) 36485 (0x8E85) 42585 (0xA659) 36785 (0x8FB1) 42785 (0xA721)

36011 (0x8CAB) 42011 (0xA41B) 36015 (0x8CAF) 42015 (0xA41F) 36018 (0x8CB2) 42018 (0xA422) 36022 (0x8CB6) 42022 (0xA426) 36030 (0x8CBE) 42030 (0xA42E) 36037 (0x8CC5) 42037 (0xA435) 36045 (0x8CCD) 42045 (0xA43D) 36055 (0x8CD7) 42055 (0xA447) 36075 (0x8CEB) 42075 (0xA45B) 36090 (0x8CFA) 42090 (0xA46A) 36110 (0x8D0E) 42110 (0xA47E)

36132 (0x8D24) 42132 (0xA494) 36160 (0x8D40) 42160 (0xA4B0) 36185 (0x8D59) 42185 (0xA4C9)

36220 (0x8D7C) 42220 (0xA4EC)

38300 (0x959C) 42300 (0xA53C)

DeviceNet EDS Files 5-3

The EDS files provided with the Drive DeviceNet Option Board allow the DeviceNet configuration tool to access various groups of parameters within the Drive. The following parameter groups are defined in the Drive DeviceNet EDS files:

• DN: Motor Data

• DN: Control Data

• DN: AC Drive Data

• DN: Polled Config

• A Parameters

• B Parameters

• C Parameters

• D Parameters

• E Parameters

• F Parameters

• H Parameters

• L Parameters

• N Parameters

• O Parameters

• T Parameters

• U1 Parameters

• U2 Parameters

• U3 Parameters

• Status

• ACCEPT/ENTER

• Serial Number

The DN: Motor Data

parameter group is used to configure the Drive for the motor that will be used with it. The parameters in this group include motor type, motor rated current, motor rated voltage, motor rated frequency, motor maximum speed, and motor base speed. These parameters must be set to the values shown on the motor nameplate. A list of DN: Motor Data can be found in Appendix A. See Chapter 6 for more information on how to configure this data.

The DN: Control Data

parameter group provides control information (running forward, running reverse, Drive fault,

network run/stop enable) from the Drive. A list of DN: Control Data can be found in Appendix A. The DN: AC Drive Data

parameter group provides Drive configuration and status parameters related to Drive mode, actual speed, actual current, current limit, input voltage, acceleration time, deceleration time, and network frequency enable. A list of DN: AC Drive Data can be found in Appendix A.

The DN: Polled Config

parameter group is used to configure the DeviceNet Polled Connection. The parameters in this group determine the content of the information that is passed to and from the Drive during polled operation. The information that is passed to the Drive from the Master device is setup with the Polled Consuming Assembly parameter. The information that is passed from the Drive to the Master device is setup with the Polled Producing Assembly parameter. A list of DeviceNet Polled Config data can be found in Appendix A. More information on setting up the DeviceNet Polled Connection can be found in Chapter 6.

DeviceNet EDS Files 5-4

The A

, B, C, D, E, F, H, L, N, O, and T, Parameter groups are used to access the Drive Application parameters. The Drive Application parameters are used to setup the programmable features of the Drive. These programmable features include initialization, sequencing, braking, speed search, PID control, acceleration/deceleration, torque control, V/F pattern, motor setup, digital and analog I/O, motor and drive protective features, etc. For a complete description of each of the Drive application parameters, see the Drive User Manual and Drive Programming Manual.

The U1

, U2, and U3 Monitor groups and the Status parameter group can be used to evaluate the runtime status of the DRIVE. The diagnostic data available includes Run/Stop status, Frequency Output, Current Output, Fault status, etc. All parameters in these groups are read-only. A list of Drive status parameters can be found in Appendix A.

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, the Drive will save the current values of the all Drive parameters (A1-00 through o2-14) 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, the Drive will save the current values of the all Drive parameters (A1-00 through o2-14) into EEPROM memory on the Drive. Values saved in EEPROM memory will be retained in case of power loss to the Drive. See Chapter 7 for more information on Drive memory and the ACCEPT and ENTER commands.

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, and

are automatically stored in EEPROM memory. The life of the EEPROM on the DeviceNet Option Board 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 DeviceNet Option Board to be replaced.

The Serial Number

parameter group is provided for information purposes only. Serial Number is read-only.

DeviceNet EDS Files 5-5

Notes:

DeviceNet EDS Files 5-6

Chapter 6

Configuration of DeviceNet

and Drive Parameters

 Polled Configuration  Motor Nameplate Configuration  Drive Application Parameters Configuration

Configuration of Drive DeviceNet Parameters 6-1

Polled Configuration

The Drive DeviceNet Polled connection must The two parameters that must be configured are:

• Polled Consuming Assembly

• Polled Producing Assembly

The PCA and PPA parameters can be accessed in various ways. If your configuration tool uses the EDS files for configuration, the PCA and PPA parameters can be accessed from the “DN: Polled Config” parameter group. If your configuration tool uses an alternate form of configuration, a DeviceNet path may be required. The following table shows both the EDS locations and the DeviceNet path for the PCA and PPA. Please refer to Appendix A for further details on DeviceNet path information.

Polled

Parameter Polled Consuming Assembly 28 Class5 / Instance2 / Attribute101 Polled Producing Assembly 29 Class5 / Instance2 / Attribute100

The PCA and PPA values may be changed at any time, whether the Drive is running or stopped. However, it is not recommended that these values be changed while the Drive is running.

The Drive should be stopped before changing PCA and PPA values.

Cycle the power to the Drive after changing the PCA and PPA values.

be configured before receiving commands from a Master device.

EDS

Param #

DeviceNet

Path

CAUTION

Configuration of Drive DeviceNet Parameters 6-2

The Polled Consuming Assembly

(PCA) parameter determines the format of the data that is transmitted from the Master device to the Drive. The PCA data is transmitted from the Master device to a Drive with a Poll Command message. The PCA data is used to control the operation of the Drive. One of the assemblies from the following table must be selected. See Appendix B for details of the assemblies.

Assembly

Number

Assembly Definition

# of Data

Bytes

Execution

Time

Basic Speed Command

20 *1

This assembly provides: run forward, fault reset, and speed

4 x msec reference in RPM. Extended Speed Command

This assembly provides: run forward, run reverse, fault reset, network control enable, network reference enable, and speed

4 x msec reference in RPM.

Basic Speed/Torque Command

This assembly provides: run forward, fault reset, speed

6 x msec reference in RPM, and torque reference in N-m. Extended Speed/Torque Command

This assembly provides: run forward, run reverse, fault reset, network control enable, network reference enable, speed

6 x msec reference in RPM, and torque reference in N-m.

120

Speed Command 1 Assembly provides: run forward, run reverse, multi-function inputs, external fault, fault reset, and speed reference in Hz.

4 x msec Torque Command 1

121 *2

This assembly provides: run forward, run reverse, multifunction inputs, external fault, fault reset, and torque reference

4 x msec in % of rated torque.

Speed Command 2 This assembly provides: run forward, run reverse, multi-

122 *2

function inputs, external fault, fault reset, speed reference in

6 x msec Hz, network reference selection, and network control selection. Torque Command 2 This assembly provides: run forward, run reverse, multi-

123 *2

function inputs, external fault, fault reset, torque reference in

6 x msec % of rated torque, network reference selection, and network control selection. Speed Command 3

124 *2

This assembly provides: run forward, run reverse, multifunction inputs, speed reference in Hz, and access to Drive

8 x msec parameters.

Torque Command 3

125 *2

This assembly provides: run forward, run reverse, multifunction inputs, and torque reference in % of rated torque, and

8 x msec access to Drive parameters.

Speed and Torque Command

126 *2

This assembly provides: run forward, run reverse, multifunction inputs, speed reference in Hz, torque reference in %

8 x msec of rated torque, and torque compensation in % of rated torque.

*1 Assembly 20 is the default Polled Consuming Assembly.

Yaskawa specific Polled Consuming Assembly.

Configuration of Drive DeviceNet Parameters 6-3

The Polled Producing Assembly

(PPA) parameter determines the format of the data that is transmitted from the Drive to the Master device. The PPA data is transmitted from the Drive to the Master device with a Polled Response message. The PPA data is used to return the status of the Drive to the Master device. One of the assemblies from the following table must be selected. See Appendix B details of the assemblies.

Assembly

Number

Assembly

Definition

# of Data

Bytes

Execution

Time

Basic Speed Status

70*1

This assembly provides: Drive fault, running forward, and output speed

4 x msec in RPM. Extended Speed Status

This assembly provides: Drive fault, Drive warning, running forward, running reverse, Drive ready, network control enabled, network

4 x msec reference enabled, at reference, Drive state, and output speed in RPM.

Basic Speed/Torque Status This assembly provides: Drive fault, running forward, output speed in RPM, and output torque in N-m.

6 x msec Extended Speed/Torque Status

This assembly provides: Drive fault, Drive warning, running forward,

running reverse, Drive ready, network control enabled, network

6 x msec reference enabled, at reference, Drive state, output speed in RPM, and output torque in N-m. Speed Status 1 This assembly provides: running, at zero speed, Drive reversing, fault

130 *2

reset, at speed, Drive ready, Drive alarm, Drive fault, during ride-thru,

4 x msec local/remote, motor selection, zero servo complete, and output speed in Hz. Current Status 1 This assembly provides: running, at zero speed, Drive reversing, fault

131 *2

reset, at speed, Drive ready, Drive alarm, Drive fault, during ride-thru,

4 x msec local/remote, motor selection, zero servo complete, and output current in Amps. Current & Speed Status This assembly provides: running, at zero speed, Drive reversing, fault

132 *2

reset, at speed, Drive ready, Drive alarm, Drive fault, during ride-thru,

6 x msec local/remote, motor selection, zero servo complete, output current in Amps, and output speed in Hz. Speed Status 2

134 *2

This assembly provides: running, at zero speed, Drive reversing, fault reset, at speed, Drive ready, Drive alarm, Drive fault, motor speed in

8 x msec Hz, and access to Drive parameters.

Torque Status 2

135 *2

Assembly provides: running, at zero speed, Drive reversing, fault reset, at speed, Drive ready, Drive alarm, Drive fault, output torque in %

8 x msec of rated torque, and access to Drive parameters.

Speed and Torque Status

136 *2

This assembly provides: running, at zero speed, Drive reversing, fault reset, at speed, Drive ready, Drive alarm, Drive fault, output torque in %

8 x msec of rated torque, motor speed in Hz, and frequency reference in Hz.

*1 Assembly 70 is the default Polled Producing Assembly.

Yaskawa specific Polled Producing Assembly.

Configuration of Drive DeviceNet Parameters 6-4

Motor Nameplate Configuration

The Drive Motor Data must be configured before receiving commands from a Master device. The Drive uses the Motor parameters to scale the speed commands from the Master device for the motor that is being used. The Motor parameters are in the EDS parameter group “DN: Motor Data”. The Motor parameters that must be configured are shown in the following table along with their respective EDS location and DeviceNet path.

Motor

Parameter Motor Type 1 Class40 / Instance1 / Attribute3 Motor Rated Current 2 Class40 / Instance1 / Attribute6 Motor Rated Voltage 3 Class40 / Instance1 / Attribute7 Motor Rated Frequency 4 Class40 / Instance1 / Attribute9 Motor Maximum Speed 5 Class40 / Instance1 / Attribute11 Motor Base Speed 6 Class40 / Instance1 / Attribute15

Usually, the required motor data can be found on the motor nameplate.

EDS

Param #

DeviceNet

Path

Drive Application Parameters Configuration

The specific application of the Drive will determine whether any of the remaining Drive application parameters (other than those mentioned in this chapter) need to be configured. These Drive parameters can be accessed via DeviceNet through the DeviceNet configuration tool, i.e. Rockwell Software RSNetWorx™, with the Drive’s EDS file. Details on the Drive EDS can be found in Chapter 5. See the Drive User Manual for details of Drive parameters.

Configuration of Drive DeviceNet Parameters 6-5

Notes:

Configuration of Drive DeviceNet Parameters 6-6

Chapter 7

Drive Operation on DeviceNet

This chapter will explain some additional requirements of the Drive on DeviceNet. This chapter will also provide information on the various methods that can be used to control the operation and speed of the Drive on DeviceNet.

 Data Storage of the DeviceNet Option Board  ACCEPT Command  ENTER Command  Run/Stop Selection  Frequency Reference Selection  Run/Stop Control  Frequency Reference Control  Torque Reference Control  Acceleration and Deceleration Times  EF0 Fault Parameters  Reset the Drive to Power-Up Conditions  Reset the Drive to Factory Conditions

Drive Operation on DeviceNet 7-1

Data Storage of the DeviceNet Option Board

The Drive with a DeviceNet Option Board 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 DeviceNet Option Board

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 Interface 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 the memory locations used for the data available over the DeviceNet network.

Data Type Memory Type

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 EEPROM

& Drive RAM Option Board

EEPROM

Drive Operation on DeviceNet 7-2

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 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 Parameters in Drive RAM memory are transferred into Drive EEPROM memory.

Drive EEPROM

Drive Application

Parameters

Some Parameter Data registers may be written to while the Drive is running. These parameters are called run operative parameters. For a list of these parameters, refer to 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.

ENTER

Power-Up

be activated or retained if a Drive power loss occurs. In order for

of the Drive Application

Drive Active

RAM

Drive Runtime

Commands

Drive Runtime

Status/Diagnostics

Drive Application

Parameters

ENTER

Drive Inactive

RAM

Drive Application

Parameters

Drive Operation on DeviceNet 7-3

ACCEPT Command

The ACCEPT Command needs to be issued to activate the new data. The ACCEPT Command can be accomplished in either of the following ways:

1. Perform a SET service on Accept Command The value ‘0’ should be SET to the ACCEPT Command attribute. CM056 (F7 Drive) – EDS Parameter 468 CM057 (G7 Drive) – EDS Parameter 452 CM058 (P7 Drive) – EDS Parameter 313

2. Perform a SET service on Yaskawa Class 100, Instance 1, Attribute 254 The value ‘0’ should be SET to the ACCEPT Command attribute.

The Basic Device Configuration mode can be used to perform an ACCEPT service with the following Yaskawa Drive Classes.

1. Perform an ACCEPT service (32h) with the Yaskawa Class 100, Instance 1

2. Perform an ACCEPT service (32h) with the Yaskawa Class 103, Instance 1

3. Perform an ACCEPT service (32h) with the Yaskawa Class 104, Instance 1

4. Perform an ACCEPT service (32h) with the Yaskawa Class 105, Instance 1

5. Perform an ACCEPT service (32h) with the Yaskawa Class 106, Instance 1

6. Perform an ACCEPT service (32h) with the Yaskawa Class 107, Instance 1

7. Perform an ACCEPT service (32h) with the Yaskawa Class 108, Instance 1

8. Perform an ACCEPT service (32h) with the Yaskawa Class 109, Instance 1

9. Perform an ACCEPT service (32h) with the Yaskawa Class 110, Instance 1

10. Perform an ACCEPT service (32h) with the Yaskawa Class 111, Instance 1

Drive Operation on DeviceNet 7-4

ENTER Command

The ENTER Command needs to be issued to save the new data to the EEPROM. The ENTER Command can be accomplished in either of the following ways:

1. Perform a SET service on Enter Command The value ‘0’ should be SET to the ACCEPT Command attribute. CM056 (F7 Drive) – EDS Parameter 469 CM057 (G7 Drive) – EDS Parameter 453 CM058 (P7 Drive) – EDS Parameter 314

2. Perform a SET service on Yaskawa Class 64 hex, Instance 1 hex, Attribute 255 hex The value ‘0’ should be SET to the ENTER Command attribute.

The Basic Device Configuration mode can be used to perform an ENTER service with the following Yaskawa Drive Classes.

1. Perform an ENTER service (32h) with the Yaskawa Class 100, Instance 1

2. Perform an ENTER service (32h) with the Yaskawa Class 103, Instance 1

3. Perform an ENTER service (32h) with the Yaskawa Class 104, Instance 1

4. Perform an ENTER service (32h) with the Yaskawa Class 105, Instance 1

5. Perform an ENTER service (32h) with the Yaskawa Class 106, Instance 1

6. Perform an ENTER service (32h) with the Yaskawa Class 107, Instance 1

7. Perform an ENTER service (32h) with the Yaskawa Class 108, Instance 1

8. Perform an ENTER service (32h) with the Yaskawa Class 109, Instance 1

9. Perform an ENTER service (32h) with the Yaskawa Class 110, Instance 1

10. Perform an ENTER service (32h) with the Yaskawa Class 111, Instance 1

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.

The DeviceNet Network parameters do not require the use of the ENTER Command, and

are automatically stored in EEPROM memory. The life of the EEPROM on the DeviceNet Interface 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 DeviceNet Option Board to be replaced.

CAUTION

Drive Operation on DeviceNet 7-5

Run/Stop Selection

The Drive can be configured to receive operation signals (Run, Stop, Forward, Reverse, and Multi-Function Inputs) from the DeviceNet network, the external Drive terminals, or the Digital Operator.

There are two settings that determine the method of Run/Stop Control:

• Drive Parameter b1-02 setting

• Network Run/Stop Control setting

• Default Network Control

Drive Parameter b1-02 Setting

The Drive Parameter b1-02 setting can be accessed in various ways:

1. Parameter b1-02 If this attribute equals ‘0’, run/stop control is from the Digital Operator If this attribute equals ‘1’, run/stop control is from the external terminals If this attribute equals ‘2’, run/stop control is from serial communications If this attribute equals ‘3’, run/stop control is from an option PC board (DeviceNet)

2. Yaskawa Class 104, Instance 1, Attribute 2 If this attribute equals ‘0’, run/stop control is from the Digital Operator If this attribute equals ‘1’, run/stop control is from the external terminals If this attribute equals ‘2’, run/stop control is from serial communications If this attribute equals ‘3’, run/stop control is from an option PC board (DeviceNet)

Network Run/Stop Control Setting

The Network Control setting can be ‘Enabled’ or ‘Disabled’. The power-up setting is determined by the setting of parameter b1-02. The setting can be changed any time after power-up via the DeviceNet network.

When Network Control command, and run/stop control is from the DeviceNet network. If Network Control is set to ‘0’, Drive parameter b1-02 is set to the contents of the Default Control setting, EDS Parameter 13, followed by an ACCEPT command.

While the Drive is running, if an attempt is made to change from network control, DeviceNet will give a “Dnet Error: Privilege Violation” error and will not allow write access to memory. The same happens if an attempt is made to change from non-network control to network control. The Drive must be stopped before control may be changed to or from network control.

is set to ‘1’, Drive parameter b1-02 is set to ‘3’ (option PC board) followed by an ACCEPT

Drive Operation on DeviceNet 7-6

The Network Control

1. Assembly Class 4, Instance 21, Attribute 3, Bit 5. If Bit 5 is a ‘1’, Network Run/Stop Control is enabled. If Bit 5 is a ‘0’, Network Run/Stop Control is disabled.

2. Assembly Class 4, Instance 23, Attribute 3, Bit 5. If Bit 5 is a ‘1’, Network Run/Stop Control is enabled. If Bit 5 is a ‘0’, Network Run/Stop Control is disabled.

3. Assembly Class 4, Instance 122, Byte 5 If byte 5 is a ‘0’, run/stop control is from the Digital Operator. If byte 5 is a ‘1’, run/stop control is from the external terminals. If byte 5 is a ‘2’, run/stop control is from serial communications. If byte 5 is a ‘3’, run/stop control is from an option PC board (DeviceNet).

4. Assembly Class 4, Instance 123, Byte 5 If byte 5 is a “0’, run/stop control is from the Digital Operator. If byte 5 is a ‘1‘, run/stop control is from the external terminals. If byte 5 is a ‘2’, run/stop control is from serial communications. If byte 5 is a ‘3’, run/stop control is from an option PC board (DeviceNet).

5. Control Supervisor Class 41, Instance 1, Attribute 5 If this attribute equals ‘1’, Network Run/Stop Control is enabled. If this attribute equals ‘0’, Network Run/Stop Control is disabled.

setting can be accessed in various ways:

Drive Operation on DeviceNet 7-7

Frequency Reference Selection

The Drive can be configured to receive frequency reference commands from the DeviceNet network, the external Drive terminals, or the Digital Operator.

There are two settings that determine the method of Frequency Reference Control:

• Drive Parameter b1-01 setting

• Network Frequency Reference setting

• Default Network Reference

Drive Parameter b1-01 Setting

The Drive Parameter b1-01 setting can be accessed in various ways:

1. Parameter b1-01 If this attribute equals ‘0’, frequency reference control is from the Digital Operator If this attribute equals ‘1’, frequency reference control is from the external terminals If this attribute equals ‘2’, frequency reference control is from serial communications If this attribute equals ‘3’, frequency reference control is from an option PC board (DeviceNet)

2. Yaskawa Class 104, Instance 1, Attribute 1 If this attribute equals ‘0’, frequency reference control is from the Digital Operator If this attribute equals ‘1’, frequency reference control is from the external terminals If this attribute equals ‘2’, frequency reference control is from serial communications If this attribute equals ‘3’, frequency reference control is from an option PC board (DeviceNet)

Network Frequency Reference Setting

The Network Reference setting can be ‘Enabled’ or ‘Disabled’. The power-up setting is determined by the setting of parameter b1-01. The setting can be changed any time after power-up via the DeviceNet network.

When Network Reference ACCEPT command, and run/stop control is from the DeviceNet network. If Network Reference is set to ‘0’, Drive parameter b1-01 is set to the contents of the Default Reference setting, EDS Parameter 26, followed by an ACCEPT command.

While the Drive is running, if an attempt is made to change from network reference, DeviceNet will give a “Dnet Error: Privilege Violation” error and will not allow write access to memory. The same happens if an attempt is made to change from non-network reference to network reference. The Drive must be stopped before control may be changed to or from network reference.

is set to ‘1’, Drive parameter b1-01 is set to ‘3’ (option PC board) followed by an

Drive Operation on DeviceNet 7-8

The Network Reference

1. Assembly Class 4, Instance 21, Attribute 3, Bit 6. If Bit 6 is a ‘1’, Network Run/Stop Control is enabled. If Bit 6 is a ‘0’, Network Run/Stop Control is disabled.

2. Assembly Class 4, Instance 23, Attribute 3, Bit 6. If Bit 6 is a ‘1’, Network Run/Stop Control is enabled. If Bit 6 is a ‘0’, Network Run/Stop Control is disabled.

3. Assembly Class 4, Instance 122, Byte 4 If byte 4 equals ‘0’, frequency reference control is from the Digital Operator. If byte 4 equals ‘1’, frequency reference control is from the external terminals. If byte 4 equals ‘2’, frequency reference control is from serial communications. If byte 4 equals ‘3’, frequency reference control is from an option PC board.

4. Assembly Class 4, Instance 123, Byte 4 If byte 4 equals ‘0’, frequency reference control is from the Digital Operator. If byte 4 equals ‘1’, frequency reference control is from the external terminals. If byte 4 equals ‘2’, frequency reference control is from serial communications. If byte 4 equals ‘3’, frequency reference control is from an option PC board.

5. AC Drive Class 42, Instance 1, Attribute 4 If this attribute equals ‘1’, Network Frequency Control is enabled. If this attribute equals ‘0’, Network Frequency Control is disabled.

setting can be accessed in various ways:

Drive Operation on DeviceNet 7-9

Run/Stop Control

When controlling the operation of the Drive from the DeviceNet network, operational commands (Run, Stop, Forward, Reverse, and Multi-Function Inputs) can be accessed in various ways:

1. Assembly 20 (Class 4, Instance 20, Attribute 3) Byte 0 of this assembly provides Run Forward and Fault Reset control. See Appendix B.

2. Assembly 21 (Class 4, Instance 21, Attribute 3) Byte 0 of this assembly provides Run Forward, Run Reverse, and Fault Reset control. See Appendix B.

3. Assembly 22 (Class 4, Instance 22, Attribute 3) Byte 0 of this assembly provides Run Forward and Fault Reset control. See Appendix B.

4. Assembly 23 (Class 4, Instance 23, Attribute 3) Byte 0 of this assembly provides Run Forward, Run Reverse, and Fault Reset control. See Appendix B.

5. Assembly 120 (Class 4, Instance 120, Attribute 3) Byte 0 of this assembly provides Run Forward, Run Reverse, and Multi-function Input control. See Appendix B.

6. Assembly 121 (Class 4, Instance 121, Attribute 3) Byte 0 of this assembly provides Run Forward, Run Reverse, and Multi-function Input control. See Appendix B.

7. Assembly 122 (Class 4, Instance 122, Attribute 3) Byte 0 of this assembly provides Run Forward, Run Reverse, and Multi-function Input control. Byte 1 of this assembly provides External Fault and Fault Reset control. See Appendix B.

8. Assembly 123 (Class 4, Instance 123, Attribute 3) Byte 0 of this assembly provides Run Forward, Run Reverse, and Multi-function Input control. Byte 1 of this assembly provides External Fault and Fault Reset control. See Appendix B.

9. Assembly 124 (Class 4, Instance 124, Attribute 3) Byte 0 of this assembly provides Run Forward, Run Reverse, and Multi-function Input control. See Appendix B.

10. Assembly 125 (Class 4, Instance 125, Attribute 3) Byte 0 of this assembly provides Run Forward, Run Reverse, and Multi-function Input control. See Appendix B.

11. Assembly 126 (Class 4, Instance 126, Attribute 3) Byte 0 of this assembly provides Run Forward, Run Reverse, and Multi-function Input control. See Appendix B.

12. Control Supervisor Class 41, Instance 1, Attribute 3 This attribute provides Run Forward control. See Appendix A.

13. Control Supervisor Class 41, Instance 1, Attribute 4 This attribute provides Run Reverse control. See Appendix A.

14. Control Supervisor Class 41, Instance 1, Attribute 12 This attribute provides Fault Reset control. See Appendix A.

15. Yaskawa Command Class 100, Instance 1, Attribute 1 This attribute provides Run Forward, Run Reverse, Multi-Function Input control, External Fault and Fault Reset control. See Appendix A.

If the Drive operation is being controlled with Polled I/O messages, then Assembly 20, 21, 22, 23, 121, 122, 123, 124, 125 or 126 are the only methods available from the list above.

Methods 1, 2, 3, 4, 11, 12 and 13 conform to the DeviceNet AC Drive Device Profile. See Chapter 8 for more information.

Drive Operation on DeviceNet 7-10

Frequency Reference Control

When controlling the speed of the Drive from the DeviceNet network, frequency reference can be accessed in various ways:

1. Assembly 20 (Class 4, Instance 20, Attribute 3) Bytes 2 and 3 of this assembly provide speed control in RPM. See Appendix B.

2. Assembly 21 (Class 4, Instance 21, Attribute 3) Bytes 2 and 3 of this assembly provide speed control in RPM. See Appendix B.

3. Assembly 22 (Class 4, Instance 22, Attribute 3) Bytes 2 and 3 of this assembly provide speed control in RPM. See Appendix B.

4. Assembly 23 (Class 4, Instance 23, Attribute 3) Bytes 2 and 3 of this assembly provide speed control in RPM. See Appendix B.

5. Assembly 120 (Class 4, Instance 120, Attribute 3) Bytes 2 and 3 of this assembly provide speed control in Hz. See Appendix B.

6. Assembly 122 (Class 4, Instance 122, Attribute 3) Bytes 2 and 3 of this assembly provide speed control in Hz. See Appendix B.

7. Assembly 124 (Class 4, Instance 124, Attribute 3) Bytes 2 and 3 of this assembly provide speed control in Hz. See Appendix B.

8. Assembly 126 (Class 4, Instance 126, Attribute 3) Bytes 2 and 3 of this assembly provide speed control in Hz. See Appendix B.

9. AC Drive Class 42, Instance 1, Attribute 8 This attribute provides speed control in RPM. See Appendix A.

10. Yaskawa Command Class 100, Instance 1, Attribute 2 This attribute provides speed control in Hz. See Appendix A.

If the Drive speed is being controlled with Polled I/O messages, then Assembly 20, 21, 22, 23, 120, 122, 124 or 126 are the only methods available from the list above.

Methods 1, 2, 3, 4 and 8 conform to the DeviceNet AC Drive Device Profile. See Chapter 8 for more information.

Torque Reference Control

In the F7 and G7 Drive, Flux Vector Control mode (A1-02=3) allows the Drive to be in Torque Control. When the reference source is controlled from the DeviceNet Option Board (b1-01=3), the torque reference to the Drive may be set via DeviceNet. When controlling the torque of the Drive from the DeviceNet network, torque reference can be accessed in various ways:

torque_scale

). See Appendix A.

). See Appendix B. ). See Appendix B.

1. Assembly 22 (Class 4, Instance 22, Attribute 3) Bytes 4 and 5 of this assembly provide torque control in N-m*(2

2. Assembly 23 (Class 4, Instance 23, Attribute 3) Bytes 4 and 5 of this assembly provide torque control in N-m*(2

3. Assembly 121 (Class 4, Instance 121, Attribute 3) Bytes 2 and 3 of this assembly provide torque control in % of rated. See Appendix B.

4. Assembly 122 (Class 4, Instance 122, Attribute 3) Bytes 2 and 3 of this assembly provide torque control in % of rated. See Appendix B.

5. Assembly 125 (Class 4, Instance 125, Attribute 3) Bytes 4 and 5 of this assembly provide torque control in % of rated. See Appendix B.

6. Assembly 126 (Class 4, Instance 126, Attribute 3) Bytes 4 and 5 of this assembly provide torque control in % of rated. See Appendix B.

7. AC Drive Class 42, Instance 1, Attribute 12 This attribute provides torque control in N-m*(2

8. Yaskawa Command Class 100, Instance 1, Attribute 3 This attribute provides torque control in % of rated. See Appendix A.

Drive Operation on DeviceNet 7-11

The default torque_scale value is 0, which means the units are in N-m*(2

) or N-m. If Torque Reference or Actual Torque values are scaled too small to obtain an accurate reading, adjust the torque_scale to obtain a readable value.

The torque_scale can be accessed in various ways:

1. EDS Parameter 25 The range is -9 to 0. The value is a unit less integer.

2. AC Drive Class 42, Instance 1, Attribute 24 The range is -9 to 0. The value is a unit less integer, but must be entered as a one byte hex number. Example: -9 must be entered as F7h

If the Drive speed is being controlled with Polled I/O messages, then Assembly 22, 23, 121, 122, 124, or 126 are the only methods available from the list above.

Methods 1, 2, and 6 conform to the DeviceNet AC Drive Device Profile. See Chapter 8 for more information.

Drive Operation on DeviceNet 7-12

Speed Control Versus Torque Control

In the F7 and G7 Drives, Flux Vector Control Mode (A1-02 = 3) allows parameter d5-01 to determine whether the Drive is controlled by speed or by torque. In this case, some attributes take on a dual purpose.

The Drive Parameter d5-01 setting can be accessed in various ways:

1. Parameter d5-01 If this attribute equals ‘0’, the Drive is speed controlled by: Yaskawa Command Class 100, Instance 1, Attribute 2 provides Speed Reference. Yaskawa Command Class 100, Instance 1, Attribute 3 provides Torque Limit. If this attribute equals ‘1’, the Drive is torque controlled by: Yaskawa Command Class 100, Instance 1, Attribute 2 provides Speed Limit. Yaskawa Command Class 100, Instance 1, Attribute 3 provides Torque Reference.

2. Yaskawa Class 106, Instance 1, Attribute 27 If this attribute equals ‘0’, the Drive is speed controlled by: Yaskawa Command Class 100, Instance 1, Attribute 2 provides Speed Reference. Yaskawa Command Class 100, Instance 1, Attribute 3 provides Torque Limit. If this attribute equals ‘1’, the Drive is torque controlled by: Yaskawa Command Class 100, Instance 1, Attribute 2 provides Speed Limit. Yaskawa Command Class 100, Instance 1, Attribute 3 provides Torque Reference.

If reoccurring Overspeed (OS), PG Open (PGO), and Speed Deviation (DEV) faults are experienced, re-adjust speed and torque command settings to ensure these values are appropriate for the application and within Drive parameter limits. Refer to Drive User Manual for detailed instruction on operating the Drive in torque control mode.

Acceleration and Deceleration Times

The Drive Acceleration Time 1 (C1-01) and Deceleration Time 1 (C1-02) parameters and can be accessed in various ways:

1. Parameters C1-01 and C1-02 The units for entry are seconds.

2. EDS Parameters 23 and 24 The units for entry are msec/16 ( 625 msec/16 = 10.0 seconds )

3. AC Drive Class 42, Instance 1, Attributes 18 and 19 The units for entry are msec/16 ( 625 msec/16 = 10.0 seconds )

4. Yaskawa Class 105, Instance 1, Attributes 1 and 2 The units for entry are seconds.

Methods 2 and 3 conform to the DeviceNet AC Drive Device Profile. See Chapter 8 for more information.

EF0 Fault Parameters

An “EF0” fault enunciates DeviceNet network communication failures (see Chapter 9 for an explanation of these failures). The following parameters are used to determine conditions necessary to generate an “EF0” and the Drive action upon occurrence of an “EF0” fault. For “EF0” to be enabled, Drive parameter b1-02 must be set to option PC board control, setting ‘3’.

The “EF0” Detection Selection, parameter F6-02, determines the Drive state in which detection will occur and can be accessed in various ways:

Drive Operation on DeviceNet 7-13

Parameters F6-02 If this attribute equals ‘0’, an “EF0” is always detected If this attribute equals ‘1’, an “EF0” is detected while the Drive is running

The “EF0” Fault Action, parameter F9-03, determines the Drive action upon occurrence of the fault and can be accessed in various ways:

Parameters F6-03 If this attribute equals ‘0’, the Drive ramps to a stop when an “EF0” is detected If this attribute equals ‘1’, the Drive coasts to a stop when an “EF0” is detected If this attribute equals ‘2’, the Drive performs a fast-stop when an “EF0” is detected If this attribute equals ‘3’, the Drive alarms when an “EF0” is detected

Reset the Drive to Power-Up Conditions

The Drive can be reset to power-up conditions over the DeviceNet network. A power-up reset will reset the Drive and the DeviceNet interface to power-up conditions. A Drive Power-Up Reset can be performed in any of the following ways:

1. Perform a RESET service (05h) with the Control Supervisor Class 41, Instance 1. service does not require any additional argument data.

2. Perform a RESET service (05h) with the Identity Class 1, Instance 1. This RESET service requires an additional 1-byte argument. This argument should be set to a value of ‘0’ for a power-up reset.

With the DeviceNet Manager software, the Basic Device Configuration mode can be used to perform a RESET service.

CAUTION

The Drive should be stopped before performing the Power-Up RESET service.

This RESET

Reset the Drive to Factory Conditions

The Drive can be reset to factory conditions over the DeviceNet network. A factory reset will perform a 2-wire reset on the Drive and return the DeviceNet Network parameters to their default values. A Drive Factory Reset can be performed in the following way:

• Perform a RESET service (05h) with the Identity Class 1, Instance 1 This RESET service requires an additional 1-byte argument. This argument should be set to a value of ‘1’ for a factory reset.

With the DeviceNet Manager software, the Basic Device Configuration mode can be used to perform a RESET service.

CAUTION

The Drive should be stopped before performing the Factory RESET service.

Drive Operation on DeviceNet 7-14

Chapter 8

DeviceNet Profiles

 DeviceNet Device Profiles  AC Drive Profile  Yaskawa Drive and the AC Drive Profile

DeviceNet Profiles 8-1

DeviceNet Device Profiles

A DeviceNet Device Profile provides the specification for the way in which a particular type of device communicates on the DeviceNet network. The goal of device profiles is to provide interoperability and interchangeability of like devices from different vendors.

To provide interoperability and promote interchangeability by like devices, there must be a core standard for each device type. Like devices must:

• Exhibit the same behavior

• Produce and/or consume the same basic set of I/O data

• Contain the same set of configurable parameters

• Access the configurable parameters in the same manner from the network

A device profile contains:

• The format of the I/O data for the device

• Definitions of the configurable parameters for the device

• Definitions of how configurable parameters affect the device’s behavior

• A specification of how the network accesses configurable parameters

Device profiles are published in Volume II of the DeviceNet Specification.

DeviceNet Profiles 8-2

AC Drive Profile

The AC Drive Profile uses assemblies to transfer I/O data. The AC Drive Profile defines the following list of Assemblies:

Assembly

20 Required Basic Speed Command 21 Optional Extended Speed Command 22 Optional Basic Speed and Torque Command 23 Optional 24 Optional Basic Process Control Command 25 Optional 70 Required Basic Speed Status 71 Optional Extended Speed Status 72 Optional Basic Speed and Torque Status 73 Optional Extended Speed and Torque Status 74 Optional Basic Process Control Status 75 Optional

The data format of each of the assemblies listed above is defined in the AC Drive Profile. The drive behavior relevant to each of the assemblies is defined in the AC Drive Profile. Notice that some of the assemblies are required and some are optional.

The AC Drive Profile dictates that an AC Drive device must support the following DeviceNet Object Classes:

• Motor Class This class defines motor data for the motor that is connected to the drive. Instance 1, Attributes 3, 6, and 7 are required. All other attributes are optional.

• Control Supervisor Class This class manages drive functions, operational states and control. Instance 1, Attributes 3, 7, 10, and 12 are required. All other attributes are optional.

• AC Drive Class This class provides access to drive configuration parameters. Instance 1, Attributes 4, 6, 7, and 8 are required. All other attributes are optional.

If an application uses only the required assemblies and attributes from the AC Drive Profile, interchangeability between devices, which comply with the AC Drive Profile is guaranteed.

The Yaskawa Drive DeviceNet Option Board conforms to the AC Drive Profile. A listing of the attributes of the Motor Class, Control Supervisor Class, and AC Drive Class can be found in Appendix A. A listing of the Common Services provided by each of these classes can be found in Appendix C. For a description of the behavior elicited by each of these classes, please consult the DeviceNet Specification, Volume II.

Required or

Optional

I/O Type✹

Output

(Output from the

Master/PLC)

Input

(Input to the

Master/PLC)

Name

Extended Speed and Torque Command Extended Process Control Command

Extended Process Control Status

DeviceNet Profiles 8-3

Notes:

DeviceNet Profiles 8-4

Chapter 9

Diagnostics and Troubleshooting

 Network and Module Status LEDs at Power-Up  Network Status LED  Module Status LED  DeviceNet Error Codes  Drive Fault Codes

Diagnostics and Troubleshooting 9-1

Network and Module Status LEDs at Power-Up

An LED test is performed at power-up. The following sequence should be observed:

• Module Status LED on GREEN for 0.25 seconds.

• Module Status LED on RED for 0.25 seconds.

• Module Status LED on GREEN for 0.25 seconds.

• Network Status LED on GREEN for 0.25 seconds.

• Network Status LED on RED for 0.25 seconds.

Network Status LED

The Network Status LED is located along the left edge of the Drive DeviceNet Option Board. The Network Status LED is labeled “NS”. This bi-color (green/red) LED indicates the status of the communication link. The following table defines the Network Status LED states.

LED state Device State Description

OFF

Flashing

GREEN

Solid

GREEN

Flashing

RED

Solid RED

Note: The flash rate for the LED is approximately 1 flash per second. The LED is ON for

approximately 0.5 seconds and OFF for approximately 0.5 seconds.

Not powered / Not On-line Device is not on-line:

• The device has not completed the duplicate MAC ID (node address) check

• The device may not be powered, look at the Module Status LED.

On-line and not Connected Device is on-line, but has no connections in the

established state:

• The device has passed the duplicate MAC ID (node address) check, but has no established connections to other nodes.

• For a Group 2 Only device (such as the Drive), it means that this device is not Master device.

• For a UCMM capable device, it means that the device has no established connections.

On-line and Connected Device is on-line and has connections in the

established state:

• For a Group 2 Only (such as the Drive), device it means that the device is

• For a UCMM capable device, it means that the device has 1 or more established connections.

Connection Time-Out One or more of the I/O Connections are in the

Timed-Out state. In the case of the Drive DeviceNet Option Board, the Master device has probably stopped polling the Drive Option Board.

Critical Link Failure Failed communication device. The device has

detected an error that has rendered it incapable of communicating on the network:

•

A duplicate MAC ID (node address) error was detected.

• A bus-off condition exists.

allocated to a

allocated to a Master

Diagnostics and Troubleshooting 9-2

Module Status LED

The Module Status LED is located along the left edge of the Drive DeviceNet Option Board. The Module Status LED is labeled “MS”. This bi-color (green/red) LED indicates whether or not the device has power and is operating properly. The following table defines the Module Status LED states.

LED state Device State Description

OFF

Flashing

GREEN

Solid

GREEN

Flashing

RED Solid RED

Note: The flash rate for the LED is approximately 1 flash per second. The LED is ON for

approximately 0.5 seconds and OFF for approximately 0.5 seconds.

No Power There is no power applied to the device. Device is in Standby The device needs commissioning due to missing,

incomplete, or incorrect configuration parameters.

Device Operational The device is operating in a normal condition. Minor Fault The device has a recoverable fault active. Unrecoverable Fault The device has an unrecoverable fault active.

Diagnostics and Troubleshooting 9-3

DeviceNet Error Codes

The following table lists the DeviceNet Error Codes that can be transmitted across the network by any device.

Error Code

(in hex)

00h - 01h Reserved Reserved by DeviceNet.

02h Resources Unavailable Resources needed for the object to perform the

03h - 07h Reserved Reserved by DeviceNet.

08h Service Not Supported The requested service was not implemented or 09h Invalid Attribute Value Attribute data value was invalid or out-of-range.

0Ah Reserved Reserved by DeviceNet. 0Bh Already in Mode/State The object is already in the mode / state being

0Ch Object State Conflict The object cannot perform the requested service in 0Dh Reserved Reserved by DeviceNet.

0Eh Attribute Not Settable A request to modify a non-modifiable attribute was 0Fh Privilege Violation A permission / Privilege check has failed.

10h Device State Conflict The device’s current mode / state prohibits the 11h Reply Data Too Large The data transmitted in the response message is 12h Reserved Reserved by DeviceNet.

13h Not Enough Data The service did not supply enough data to perform 14h Attribute Not Supported The attribute specified in the request is not 15h Too Much Data The service supplied more data than was 16h Object Does Not Exist The object specified does not exist in the device.

17h Reserved Reserved by DeviceNet. 18h No Stored Attribute Data The attribute data of this object was not saved prior

19h Store Operation Failure The attribute data of this object was not saved due

1Ah - 1Eh Reserved Reserved by DeviceNet.

1Fh Vendor Specific Error A vendor specific error has been encountered.

20h Invalid Parameter A parameter associated with the request was

21h - CFh Future Reserved by DeviceNet. D0h - FFh Reserved Reserved by DeviceNet.

Error Name Description

requested service were unavailable.

was not defined for the Object/Class/Attribute.

requested by the service. its current mode / state.

received.

execution of the requested service. larger than was expected.

the specified operation. supported. expected.

to the requested service. to a failure during the attempt.

-illegal data value has been written to a parameter

-write to non-run operative parameter while running

-board timed out while waiting for drive response invalid.

Diagnostics and Troubleshooting 9-4

Drive Fault Codes

The Drive can have a drive failure, such as undervoltage, overload, external fault, etc. When a Drive fault occurs, it can be classified as an alarm, a minor fault, or a major fault. The Drive reacts differently with each type of failure. An alarm displays a warning indication; however, operation continues. Minor faults allow continued operation, and a contact will close only if one of the multi-function outputs is set up as a minor fault contact. The major faults cause the motor to coast-to-stop and activate the fault contact output at terminals MA, MB, MC.

The Drive monitors U2-01 (current fault), U2-02 (last fault), and U3-01 through U3-04 (four most recent faults) display a fault code representing the drive failure. The following table indicates the abbreviation displayed on the digital operator and the hexadecimal code viewed in drive parameters: U2-01, U2-02, and U3-01 when a specific drive failure occurs. The table also indicates whether the drive failure is an A=alarm, m=minor fault, or M=major fault.

Drive Failure Digital Operator Display

DC Bus Fuse Open FU 1 M

DC Bus Undervoltage UV1 2 A

Control Power Supply Undervoltage UV2 3 A

MC Answerback UV3 4 A

Short Circuit SC 5 M

Ground Fault GF 6 M

Overcurrent oC 7 M Overvoltage oV 8 M

Heatsink Overtemperature oH 9 M

Drive Overheat oH1 A M

Motor Overload oL1 B M

Drive Overload oL2 C M

Overtorque 1 oL3 D M Overtorque 2 oL4 E M

Dynamic Braking Transistor RR F M

Dynamic Braking Resistor RH 10 M

External Fault 3 EF3 11 M External Fault 4 EF4 12 m External Fault 5 EF5 13 m External Fault 6 EF6 14 m External Fault 7 EF7 15 m External Fault 8 EF8 16 m

Reserved - 17 -

Overspeed oS 18 M

Speed Deviation DEV 19 m

PG Open (F7 and G7 only) PGo 1A M

Input Phase Loss PF 1B M

Output Phase Loss LF 1C M

DCCT Fault CF 1D M

Operator Disconnected OPR 1E m

EEPROM R/W Error ERR 1F m

Reserved - 20 -

Modbus Com Error CE 21 M

Option Com Error BUS 22 m

Control Fault CF 25 M

Zero Servo Fault (F7 and G7 only) SVE 26 M

Option External Fault EF0 27 M

Reserved - 28 - 82 -

Baseblock Circuit Fault CPF02 83 M

EEPROM Fault CPF03 84 M

Internal A/D Fault CPF04 85 M

External A/D Fault CPF05 86 M

Option Error CPF06 87 M

Reserved - 88 - 90 -

Code

(in hex)

Alarm, minor

fault, or Major

Diagnostics and Troubleshooting 9-5

Drive Failure Digital Operator Display

A/D Converter Fault CPF20 91 M

Option CPU Error CPF21 92 M Option Type Error CPF22 93 M

DP-RAM Error CPF23 94 M

Note: Further detail on Drive failures can be found in Drive User Manual.

Code

(in hex)

Alarm, minor

fault, or Major

“EF0” Fault

An “EF0” fault annunciates network communication failures. There are four conditions in which an “EF0” fault occurs.

The DeviceNet Option Board requires +24 Vdc network power. If the DeviceNet option board loses the +24 Vdc power connection, an “EF0” fault will be generated.

After a polled connection has been established between the master and the drive, the master transmits polled command messages at a set time interval. The DeviceNet Option Board also has a set time interval, in which to receive polled messages from the master. If the Option Board does not receive a polled message from the master within that specified time interval, a timeout will occur and an “EF0” fault will be generated.

Some master devices can be placed in idle mode. In idle mode, some masters do not send or receive polled messages. Setting S1 switch 10 to the ‘on’ position (see Chapter 3) enables Master Idle Operation. If the master is then placed in idle mode, an “EF0” will be generated.

An “EF0” will be generated if manually activated by the user in either of the following ways:

1. Assembly 120 (Class 4, Instance 120, Attribute 3) Byte 1 of this assembly provides External Fault and Fault Reset control. See Appendix B.

2. Assembly 121 (Class 4, Instance 121, Attribute 3) Byte 1 of this assembly provides External Fault and Fault Reset control. See Appendix B.

3. Assembly 122 (Class 4, Instance 122, Attribute 3) Byte 1 of this assembly provides External Fault and Fault Reset control. See Appendix B.

4. Assembly 123 (Class 4, Instance 123, Attribute 3) Byte 1 of this assembly provides External Fault and Fault Reset control. See Appendix B.

5. Assembly 126 (Class 4, Instance 123, Attribute 3) Byte 1 of this assembly provides External Fault and Fault Reset control. See Appendix B.

Diagnostics and Troubleshooting 9-6

Appendix A

DeviceNet Object Paths

• Identity Class

• DeviceNet Class

• Assembly Class

• Connection Class

• Motor Class

• Control Supervisor Class

• AC Drive Class

• Drive Command Class

• Drive Status Class

• Drive U Parameters Class

DeviceNet Object Paths A-1

Identity Class

DeviceNet

Path 1 / 0 / 1 GET uint 2 Identity Object Revision The DeviceNet specification revision of the Identity Object. 1 / 0 / 6 - uint 2 Max Class Attribute Number The number of the last Class Attribute Implemented. 1 / 0 / 7 - uint 2 Max Instance Attribute Number The number of the last Instance Attribute Implemented. 1 / 1 / 1 GET uint 2 Vendor ID Number The Yaskawa (formerly Magnetek) vendor ID is 37. 1 / 1 / 2 GET uint 2 Device Type The AC Drive device type is 2. 1 / 1 / 3 GET uint 2 Product Code The Drive product code depends on the Drive model.

1 / 1 / 4 GET structure 1 Vendor Product Revision The Option Board software major and minor revision. 1 / 1 / 5 GET word 2 Device Status Bit 0 Owned by a master

Bit 1 Reserved Bit 2 Configured Bit 8 Minor/recoverable fault Bit 9 Minor/unrecoverable fault Bit 10 Major/recoverable fault

Bit 11 Major/unrecoverable fault 1 / 1 / 6 GET udint 4 Serial Number Serial number of the Drive. 1 / 1 / 7 GET string - Product Name This string will consist of the Drive model number. See

1 / 1 / 8 GET usint 1 State 0 Non-existent

1 Device Self Teseting

2 Standby

3 Operational

4 Major Recoverable Fault

5 Major Unrecoverable Fault

1 / 1 / 100 GET/SET dword 4 Serial Number Password Access limited to Yaskawa factory use.

DeviceNet

Services

DeviceNet Data Type

# of

Bytes

Description Notes

See Chapter 5 for a list of product codes by Drive model.

Chapter 5.

 The DeviceNet Path is given in the format: Class ID / Instance ID / Attribute ID.  Attributes shown in GREY are not supported by the DeviceNet Option Board.

DeviceNet Object Paths A-2

DeviceNet Class

DeviceNet

Path 3 / 0 / 1 GET uint 2 DeviceNet Object Revision The DeviceNet specification revision of the DeviceNet Object. 3 / 1 / 5 GET word 2 Allocation Choice Byte This byte indicates which master/slave connections are active.

BIT 0 Explicit BIT 1 Polled BIT 2 Bit-Strobe BIT 3 Reserved BIT 4 Change-of-State BIT 5 Cyclic BIT 6 Acknowledge Suppression BIT 7 Reserved

 The DeviceNet Path is given in the format: Class ID / Instance ID / Attribute ID.  Attributes shown in GREY are not supported by the DeviceNet Option Board.

DeviceNet

Services

DeviceNet Data Type

# of

Bytes

Description Notes

DeviceNet Object Paths A-3

Assembly Class

DeviceNet

Path 4 / 0 / 1 GET uint 2 Assembly Object Revision The DeviceNet specification revision of the Assembly Object. 4 / 0 / 2 GET uint 2 Max Instance in this Class 135 4 / 0 / 6 - uint 2 Max Class Attribute Number The number of the last Class Attribute Implemented. 4 / 0 / 7 - uint 2 Max Instance Attribute Number The number of the last Instance Attribute Implemented.

4 / 20 / 3 SET structure 4 Basic Speed Command See Appendix B. 4 / 21 / 3 SET structure 4 Extended Speed Command See Appendix B. 4 / 22 / 3 SET structure 6 Basic Speed and Torque Command (F7 and G7 only). See Appendix B. 4 / 23 / 3 SET structure 6 Extended Speed and Torque

4 / 24 / 3 - structure 6 Basic Process Control Command 4 / 25 / 3 - structure 6 Extended Process Control Command 4 / 70 / 3 GET structure 4 Basic Speed Status See Appendix B. 4 / 71 / 3 GET structure 4 Extended Speed Status See Appendix B. 4 / 72 / 3 GET structure 6 Basic Speed and Torque Status (F7 and G7 only). See Appendix B. 4 / 73 / 3 GET structure 6 Extended Speed and Torque Status (F7 and G7 only). See Appendix B. 4 / 74 / 3 - structure 6 Basic Process Control Status -

4 / 75 / 3 - structure 6 Extended Process Control Status 4 / 120 / 3 SET structure 4 Yaskawa Speed Command 1 See Appendix B. 4 / 121 / 3 SET structure 4 Yaskawa Torque Command 1 (F7 and G7 only). See Appendix B. 4 / 122 / 3 SET structure 6 Yaskawa Speed Command 2 See Appendix B. 4 / 123 / 3 SET structure 6 Yaskawa Torque Command 2 (F7 and G7 only). See Appendix B. 4 / 124 / 3 SET structure 8 Yaskawa Speed Command 3 See Appendix B. 4 / 125 / 3 SET structure 8 Yaskawa Torque Command 3 (F7 and G7 only). See Appendix B. 4 / 126 / 3 SET structure 8 Yaskawa Speed and Torque

4 / 130 / 3 GET structure 4 Yaskawa Speed Status 1 See Appendix B. 4 / 131 / 3 GET structure 4 Yaskawa Current Status 1 See Appendix B. 4 / 132 / 3 GET structure 6 Yaskawa Current & Speed Status 1 See Appendix B. 4 / 134 / 3 GET structure 8 Yaskawa Speed Status 2 See Appendix B. 4 / 135 / 3 GET structure 8 Yaskawa Current Status 2 See Appendix B. 4 / 136 / 3 GET structure 8 Yaskawa Speed and Torque Status 1 (F7 and G7 only). See Appendix B.

DeviceNet

Services

DeviceNet Data Type

# of

Bytes

Description Notes

(F7 and G7 only). See Appendix B.

Command

See Appendix B.

Command 1

 Assemblies 20, 21, 22, 23, 24, 25, 70, 71, 72, 73, 74 and 75 are compliant with the AC Drive Profile. Assemblies 20 and 70 are required.  The DeviceNet Path is given in the format: Class ID / Instance ID / Attribute ID.  Attributes shown in GREY are not supported by the Drive Option Board.

DeviceNet Object Paths A-4

Connection Class

DeviceNet

Path

5 / 0 / 1 GET uint 2 Connection Object Revision The DeviceNet specification revision of the Connection 5 / 1 / 1 GET usint 1 State 0 Non-existent

1 Configuring 2 Waiting for Connection ID 3 Established

4 Timed Out 5 / 1 / 2 GET usint 1 Instance Type 0 = Explicit Message Connection. 5 / 1 / 3 GET usint 1 Transport Class Trigger See DeviceNet Specification. 5 / 1 / 4 GET uint 2 Produced Connection ID See DeviceNet Specification. 5 / 1 / 5 GET uint 2 Consumed Connection ID See DeviceNet Specification. 5 / 1 / 6 GET usint 1 Initial Communication Characteristics See DeviceNet Specification. 5 / 1 / 7 GET uint 2 Produced Connection Size See DeviceNet Specification. 5 / 1 / 8 GET uint 2 Consumed Connection Size See DeviceNet Specification. 5 / 1 / 9 GET/SET uint 2 Expected Packet Rate See DeviceNet Specification.

5 / 1 / 10 - - - - Not Defined. 5 / 1 / 11 - - - - Not Defined. 5 / 1 / 12 GET usint 1 Timeout Action See DeviceNet Specification. 5 / 1 / 13 GET uint 2 Produced Connection Path Length See DeviceNet Specification. 5 / 1 / 14 GET array 6 Produced Connection Path See DeviceNet Specification. 5 / 1 / 15 GET uint 2 Consumed Connection Path Length See DeviceNet Specification. 5 / 1 / 16 GET array 6 Consumed Connection Path See DeviceNet Specification. 5 / 1 / 17 GET uint 2 Production Inhibit Time See DeviceNet Specification.

 The DeviceNet Path is given in the format: Class ID / Instance ID / Attribute ID.  Attributes shown in GREY are not supported by the Drive DeviceNet Option Board.

DeviceNet

Services

DeviceNet Data Type

# of

Bytes

Description Notes

Object.

DeviceNet Object Paths A-5

Connection Class (continued)

DeviceNet

Path

5 / 2 / 1 GET usint 1 State 0 Non-existent

1 Configuring

2 Waiting for Connection ID

3 Established

4 Timed Out 5 / 2 / 2 GET usint 1 Instance Type 1 = Polled I/O Message Connection. 5 / 2 / 3 GET usint 1 Transport Class Trigger See DeviceNet Specification. 5 / 2 / 4 GET uint 2 Produced Connection ID See DeviceNet Specification. 5 / 2 / 5 GET uint 2 Consumed Connection ID See DeviceNet Specification. 5 / 2 / 6 GET usint 1 Initial Communication Characteristics See DeviceNet Specification. 5 / 2 / 7 GET uint 2 Produced Connection Size See DeviceNet Specification. 5 / 2 / 8 GET uint 2 Consumed Connection Size See DeviceNet Specification. 5 / 2 / 9 GET/SET uint 2 Expected Packet Rate See DeviceNet Specification.

5 / 2 / 10 - - - - Not Defined. 5 / 2 / 11 - - - - Not Defined. 5 / 2 / 12 GET usint 1 Timeout Action See DeviceNet Specification. 5 / 2 / 13 GET uint 2 Produced Connection Path Length See DeviceNet Specification. 5 / 2 / 14 GET structure 6 Produced Connection Path See DeviceNet Specification. 5 / 2 / 15 GET uint 2 Consumed Connection Path Length See DeviceNet Specification. 5 / 2 / 16 GET structure 6 Consumed Connection Path See DeviceNet Specification. 5 / 2 / 17 GET uint 2 Production Inhibit Time See DeviceNet Specification.

5 / 2 / 100 GET/SET usint 1 Produced Connection Path 20, 21, 23, 120, 121,123, 124, 125, 126 5 / 2 / 101 GET/SET usint 1 Consumed Connection Path 70, 71, 72, 73, 130,131, 132, 134, 135, 136

DeviceNet

Services

DeviceNet Data Type

# of

Bytes

Description Notes

See Chapter 7 (70 default). See Chapter 7 (20 default).

 The DeviceNet Path is given in the format: Class ID / Instance ID / Attribute ID.  Attributes shown in GREY are not supported by the Drive DeviceNet Option Board.

DeviceNet Object Paths A-6

Motor Class

DeviceNet

Path 40 / 0 / 1 GET uint 2 Motor Object Revision The DeviceNet specification revision of the Motor Object. 40 / 0 / 6 - uint 2 Max Class Attribute Number The number of the last Class Attribute Implemented. 40 / 0 / 7 - uint 2 Max Instance Attribute Number The number of the last Instance Attribute Implemented. 40 / 1 / 1 GET usint 1 Number of Motor Attributes Supported 7 40 / 1 / 2 - array - Motor Attribute List 40 / 1 / 3 GET/SET usint 1 Motor Type 0 Non-standard motor

1 PM DC Motor 2 FC DC Motor 3 PM Synchronous Motor 4 FC synchronous Motor 5 Switched Reluctance Motor 6 Wound Rotor Induction Motor (default) 7 Squirrel Cage Induction Motor 8 Stepper Motor 9 Sinusoidal PM BL Motor

10 Trapezoidal PM BL Motor 40 / 1 / 4 - string - Motor Catalog Number Motor Manufacturer’s Catalog Number. 40 / 1 / 5 - string - Motor Manufacturer Motor Manufacturer’s Name. 40 / 1 / 6 GET/SET uint 2 Motor Rated Current Units: 0.1 Amps NOTE: This setting is not the same as

40 / 1 / 7 GET/SET uint 2 Motor Rated Voltage Units: Volts (230 or 460 Volts default) 40 / 1 / 8 - udint 4 Motor Rated Power Units: Watts 40 / 1 / 9 GET/SET uint 2 Motor Rated Frequency Units: Hz (60 Hz default)

40 / 1 / 10 - uint 2 Motor Rated Temperature Units: degrees C 40 / 1 / 11 GET/SET uint 2 Motor Maximum Speed Units: RPM (1800 RPM default) 40 / 1 / 12 - uint 2 Motor Pole Count Number of poles of the motor 40 / 1 / 13 - udint 4 Motor Torque Constant Units: 0.001 X Nm/A 40 / 1 / 14 - udint 4 Motor Rotor Inertia Units: 10-6 X kgm2 40 / 1 / 15 GET/SET uint 2 Motor Base Speed Units: RPM (1750 RPM default) 40 / 1 / 19 - usint 1 Service Factor Units: %

DeviceNet

Services

DeviceNet Data Type

# of

Bytes

Description Notes

Drive parameter E2-01 (Path 107 / 1 / 15). The setting of 40 / 1 / 6 does not effect Drive operation (Drive model dependent default).

 The Motor Class is required for compliance with the AC Drive Profile. Instance 1, Attributes 3, 6 and 7 are required. All other attributes are optional.

 The DeviceNet Path is given in the format: Class ID / Instance ID / Attribute ID.  Attributes shown in GREY are not supported by the Drive DeviceNet Option Board.

DeviceNet Object Paths A-7

Control Supervisor Class

DeviceNet Object Paths A-8

DeviceNet

Path

DeviceNet

Services

DeviceNet Data Type

# of

Bytes

Description Notes

41 / 0 / 1 GET uint 2 Control Supervisor Object Revision The DeviceNet specification revision of this Object. 41 / 0 / 6 - uint 2 Max Class Attribute Number The number of the last Class Attribute Implemented. 41 / 0 / 7 - uint 2 Max Instance Attribute Number The number of the last Instance Attribute Implemented. 41 / 1 / 1 GET usint 1 Number of Control Attributes Supported 13 41 / 1 / 2 - array - Control Supervisor Attribute List 41 / 1 / 3 GET/SET bool 1 Run 1 1 Run forward command 41 / 1 / 4 GET/SET bool 1 Run 2 1 Run reverse command 41 / 1 / 5 GET/SET bool 1 Network Control Enable 0 Control from Local Option Board

1 Control from DeviceNet

41 / 1 / 6 GET usint 1 State 0 Vendor Specific

1 Startup 2 Not Ready 3 Ready 4 Enabled 5 Stopping 6 Fault Stop

7 Faulted 41 / 1 / 7 GET bool 1 Running 1 1 Drive is running in the forward direction 41 / 1 / 8 GET bool 1 Running 2 1 Drive is running in the reverse direction 41 / 1 / 9 GET bool 1 Ready 1 Drive is ready for operation

41/ 1 / 10 GET bool 1 Faulted 1 Drive fault is active 41 / 1 / 11 GET bool 1 Warning 1 Drive warning is active 41 / 1 / 12 GET/SET bool 1 Fault Reset 1 Fault reset command 41 / 1 / 13 - uint 2 Fault Code See DeviceNet Specification. 41 / 1 / 14 - uint 2 Warning Code See DeviceNet Specification. 41 / 1 / 15 GET bool 1 Network Control Enable Status 0 Control from Local Option Board

1 Control from DeviceNet 41 / 1 / 16 - usint 1 DeviceNet Fault Mode See DeviceNet Specification. 41 / 1 / 17 - bool 1 Forced Fault See DeviceNet Specification. 41 / 1 / 18 - bool 1 Forced Fault Status See DeviceNet Specification.

41 / 1 / 100 GET/SET uint 2 Default Network Control (b1-02) 0 Digital Operator

1 Terminals (default)

2 Modbus Serial Communication

3 Option Board (DeviceNet)

 The Control Supervisor Class is required for compliance with the AC Drive Profile. Instance 1, Attributes 3, 7, 10 and 12 are required.  The DeviceNet Path is given in the format: Class ID / Instance ID / Attribute ID.  Attributes shown in GREY are not supported by the Drive DeviceNet Option Board.

DeviceNet Object Paths A-9

AC Drive Class

DeviceNet

Path 42 / 0 / 1 GET uint 2 AC Drive Object Revision The DeviceNet specification revision of the AC Drive Object. 42 / 0 / 2 GET uint 2 Max Instance in this Class 1 42 / 0 / 6 - uint 2 Max Class Attribute Number The number of the last Class Attribute Implemented. 42 / 0 / 7 - uint 2 Max Instance Attribute Number The number of the last Instance Attribute Implemented. 42 / 1 / 1 GET usint 1 # of AC Drive Attributes Supported 23 42 / 1 / 2 - structure - AC Drive Attribute List 42 / 1 / 3 GET bool 1 At Reference Drive is at set frequency. 42 / 1 / 4 GET/SET bool 1 Network Speed Reference Enable 0 Speed Reference from Local Option Board

1 Speed Reference from DeviceNet

42 / 1 / 5 - bool 1 Network Process Reference Enable 0 Process Reference not from DeviceNet

1 Process Reference from DeviceNet

42 / 1 / 6 GET usint 1 Drive Mode 0 Vendor Specific

1 Open Loop Speed (F7 and G7 only).

2 Closed Loop Speed (F7 and G7 only). 42 / 1 / 7 GET int 2 Drive Actual Speed 42 / 1 / 8 GET/SET int 2 Drive Speed Reference 42 / 1 / 9 GET int 2 Drive Actual Current

42 / 1 / 10 GET int 2 Drive Current Limit 42 / 1 / 11 GET int 2 Drive Actual Torque 42 / 1 / 12 GET/SET int 2 Drive Torque Reference 42 / 1 / 13 - int 2 Drive Actual Process Control Value 42 / 1 / 14 - int 2 Drive Process Control Setpoint 42 / 1 / 15 GET int 2 Drive Actual Power

42 / 1 / 16 GET int 2 Drive Input Voltage

 The AC Drive Class is required for compliance with the AC Drive Profile. Instance 1, Attributes 4, 6, 7 and 8 are required. All other attributes are optional.

 The DeviceNet Path is given in the format: Class ID / Instance ID / Attribute ID.  Attributes shown in GREY are not supported by the DRIVE DeviceNet Option Board.

DeviceNet

Services

DeviceNet Data Type

# of

Bytes

Description Notes

Units: RPM / 2 Units: RPM / 2 Units: 0.1 Amps / 2 Units: 0.1 Amps / 2 Units: Nm / 2 Units: Nm / 2 Units: % / 2 Units: % / 2 Units: Watts / 2

Speed _Scale Speed _Scale

Current_Scale

Current_Scale Torque_Scale Torque_Scale

Process_Scale Process_Scale

Power_Scale

(F7 and G7 only). (F7 and G7 only).

For the Drive, Power_Scale is fixed at 4. Therefore, the units for power are Watts/16 Watts/16

you must divide by 16. For example:

. To convert from Watts to

80.0 Watts = 5 Watts/16. Units: Volts / 2

Voltage_Scale

DeviceNet Object Paths A-10

AC Drive Class (continued)

DeviceNet

Path 42 / 1 / 17 GET int 2 Drive Output Voltage 42 / 1 / 18 GET uint 2 Drive Acceleration Time

42 / 1 / 19 GET uint 2 Drive Deceleration Time

42 / 1 / 20 uint 2 Drive Minimum Speed Limit 42 / 1 / 21 uint 2 Drive Maximum Speed Limit

42 / 1 / 22 GET sint 1 Speed Scale Factor 0 42 / 1 / 23 GET sint 1 Current Scale Factor 0 42 / 1 / 24 GET/SET sint 1 Torque Scale Factor 0 (F7 and G7 only). 42 / 1 / 25 sint 1 Process Scale Factor 0 42 / 1 / 26 GET sint 1 Power Scale Factor 4 42 / 1 / 27 GET sint 1 Voltage Scale Factor 0 42 / 1 / 28 GET sint 1 Time Scale Factor 4 42 / 1 / 29 GET bool 1 Network Reference Enable Status 0 Speed Reference from Local Option Board

1 Speed Reference from DeviceNet

42 / 1 / 30 bool 1 Network Process Reference Enable 0 Process Reference not from DeviceNet

Status 1 Process Reference from DeviceNet

42 / 1 / 100 GET/SET bool 1 Reference Source (b1-01) 0 Digital Operator

1 Terminals (default) 2 Modbus Serial Communication 3 Option Board (DeviceNet)

DeviceNet

Services

DeviceNet Data Type

# of

Bytes

Description Notes

Units: Volts / 2 Units: msec / 2

Voltage_Scale

Time_Scale

For the Drive, Time_Scale is fixed at 4. Therefore, the units for acceleration are msec/16

to msec/16 you must divide by 16. For example:

10.0 sec = 10000 msec = 625 msec/16 Units: msec / 2

Time_Scale

For the Drive, Time_Scale is fixed at 4. Therefore, the units for acceleration are msec/16

to msec/16 you must divide by 16. For example:

10.0 sec = 10000 msec = 625 msec/16 Units: RPM / 2 Units: RPM / 2

Speed _Scale Speed _Scale

. To convert from msec

 The AC Drive Class is required for compliance with the AC Drive Profile. Instance 1, Attributes 4, 6, 7 and 8 are required. All other attributes are optional.

 The DeviceNet Path is given in the format: Class ID / Instance ID / Attribute ID.  Attributes shown in GREY are not supported by the Drive DeviceNet Option Board.

DeviceNet Object Paths A-11

Yaskawa Command Class

DeviceNet

Path 100 / 0 / 1 GET uint 2 Yaskawa Object Revision The DeviceNet specification revision of the Yaskawa Object. 100 / 0 / 2 GET uint 2 Max Instance in this Class 1 100 / 0 / 6 uint 2 Max Class Attribute Number The number of the last Class Attribute Implemented 100 / 0 / 7 uint 2 Max Instance Attribute Number The number of the last Instance Attribute Implemented 100 / 1 / 1 GET/SET uint 2 Operation Command Bit 0 Forward Run/Stop

Bit 1 Reverse Run/Stop Bit 2 Terminal S3 Function Bit 3 Terminal S4 Function Bit 4 Terminal S5 Function Bit 5 Terminal S6 Function Bit 6 Terminal S7 Function Bit 7 Terminal S8 Function (F7 and G7 only) Bit 8 External Fault

Bit 9 Fault Reset 100 / 1 / 2 GET/SET uint 2 Frequency Reference 0.01 Hz 100 / 1 / 3 GET/SET uint 2 Torque Reference 0.1 % Flux Vector mode only (F7 and G7 only) 100 / 1 / 4 GET/SET uint 2 Torque Compensation 0.1 % Flux Vector mode only (F7 and G7 only) 100 / 1 / 5 Reserved for Future Use 100 / 1 / 6 GET/SET uint 2 Analog Output FM Setting Terminal FM -10V/-660 ~ +10V/+660 100 / 1 / 7 GET/SET uint 2 Analog Output AM Setting Terminal AM -10V/-660 ~ +10V/+660 100 / 1 / 8 GET/SET uint 2 Digital Output Setting Bit 0 Close Multi-function Output Terminal M1-M2

Bit 1 Close Multi-function Output Terminal M3-M4

Bit 2 Close Multi-function Output Terminal M5-M6

Bit 3 Not Used

Bit 4 Not Used

Bit 5 Not Used

Bit 6 Enable Fault Contact

Bit 7 Close Fault Contact (effective only when bit 6 = 1)

 The DeviceNet Path is given in the format: Class ID / Instance ID / Attribute ID.  Attributes shown in GREY are not supported by the DRIVE DeviceNet Option Board.  Drive products may provide additional inputs and outputs than are supported through DeviceNet.

Example: G7 models have 12 digital inputs and 8 digital inputs are supported through DeviceNet.

DeviceNet

Services

DeviceNet Data Type

# of

Bytes

Description Notes

(F7 and G7 only)

DeviceNet Object Paths A-12

Yaskawa Command Class (continued)

DeviceNet

Path

100 / 1 / 9 Reserved for Future Use

100 / 1 / 10 Reserved for Future Use 100 / 1 / 11 Reserved for Future Use 100 / 1 / 12 Reserved for Future Use 100 / 1 / 13 Reserved for Future Use 100 / 1 / 14 Reserved for Future Use 100 / 1 / 15 Reserved for Future Use 100 / 1 / 16 Reserved for Future Use

100 / 1 / 17 GET/SET uint 2 Run/Stop Command Access through Modbus Block Transfer. 100 / 1 / 251 GET/SET uint 2 Explicit Retry Time 100 / 1 / 252 GET/SET uint 2 Explicit Modbus Timeout 100 / 1 / 253 GET/SET uint 2 Polled Modbus Timeout 100 / 1 / 254 GET/SET uint 2 ACCEPT Command Writing this parameter to the Drive will save the current values

100 / 1 / 255 GET/SET uint 2 ENTER Command Writing this parameter to the Drive will save the current values

DeviceNet

Services

DeviceNet Data Type

# of

Bytes

Description Notes

of all Drive parameters (A1-00 through o3-02) to RAM memory on the Drive. Values saved in RAM memory will not be retained in case of power loss to the Drive.

of all Drive parameters (A1-00 through o3-02) to the EEPROM memory on the Drive. Values saved in EEPROM memory will be retained in case of power loss to the Drive.

 The DeviceNet Path is given in the format: Class ID / Instance ID / Attribute ID.  Attributes shown in GREY are not supported by the DRIVE DeviceNet Option Board.

DeviceNet Object Paths A-13

Yaskawa Drive Status Class

DeviceNet

Path 101 / 0 / 1 GET uint 2 Yaskawa Object Revision The DeviceNet specification revision of the Yaskawa Object. 101 / 0 / 2 GET uint 2 Max Instance in this Class 1 101 / 0 / 6 - uint 2 Max Class Attribute Number The number of the last Class Attribute Implemented. 101 / 0 / 7 - uint 2 Max Instance Attribute Number The number of the last Instance Attribute Implemented. 101 / 1 / 1 GET uint 2 Inverter Status 101 / 1 / 2 GET uint 2 Motor Speed Monitor U1-05 (F7 and G7 only). 101 / 1 / 3 GET uint 2 Torque Reference Monitor U1-09 (F7 and G7 only). 101 / 1 / 4 GET uint 2 PG Count (F7 and G7 only). 101 / 1 / 5 GET uint 2 Speed Reference Monitor U1-01. 101 / 1 / 6 GET uint 2 Output Frequency Monitor U1-02. 101 / 1 / 7 GET uint 2 Output Current Monitor U1-03. 101 / 1 / 8 GET uint 2 Analog Input Terminal A2 Input Level Monitor U1-16. 101 / 1 / 9 GET uint 2 DC Bus Voltage Monitor U1-07.

101 / 1 / 10 GET uint 2 Fault Content 1 101 / 1 / 11 GET uint 2 Fault Content 2 101 / 1 / 12 GET uint 2 Fault Content 3 101 / 1 / 13 GET uint 2 Analog Input Terminal A3 Input Level Monitor U1-17. 101 / 1 / 14 GET uint 2 DI - Input Terminal Status Monitor U1-10. 101 / 1 / 15 GET uint 2 Analog Input Terminal A1 Input Level Monitor U1-15. 101 / 1 / 16 GET uint 2 PG Count Channel 2 (F7 and G7 only). 101 / 1 / 17 GET uint 2 Operator Status 101 / 1 / 18 GET uint 2 OPE# 101 / 1 / 19 GET uint 2 CPF Content 1 101 / 1 / 20 GET uint 2 CPF Content 2 101 / 1 / 21 GET uint 2 Minor Fault Content 1 101 / 1 / 22 GET uint 2 Minor Fault Content 2

DeviceNet

Services

DeviceNet Data Type

# of

Bytes

Description Notes

 The DeviceNet Path is given in the format: Class ID / Instance ID / Attribute ID.  Attributes shown in GREY are not supported by the DRIVE DeviceNet Option Board.

DeviceNet Object Paths A-14

Yaskawa DRIVE U Parameter Class

DeviceNet

Path 102 / 0 / 1 GET uint 2 Yaskawa Object Revision The DeviceNet specification revision of the Yaskawa Object. 102 / 0 / 2 GET uint 2 Max Instance in this Class 1 102 / 0 / 6 - uint 2 Max Class Attribute Number The number of the last Class Attribute Implemented. 102 / 0 / 7 - uint 2 Max Instance Attribute Number The number of the last Instance Attribute Implemented. 102 / 1 / 1 GET uint 2 Frequency Reference U1-01 Speed Reference in Hz X 100 (6000 = 60.0 Hz). 102 / 1 / 2 GET uint 2 Output Frequency U1-02 See Drive Users Manual. 102 / 1 / 3 GET uint 2 Output Current U1-03 See Drive Users Manual. 102 / 1 / 4 GET uint 2 Control Method U1-04 See Drive Users Manual. 102 / 1 / 5 GET uint 2 Motor Speed U1-05 See Drive Users Manual (F7 and G7 only). 102 / 1 / 6 GET uint 2 Output Voltage U1-06 See Drive Users Manual. 102 / 1 / 7 GET uint 2 DC Bus Voltage U1-07 See Drive Users Manual. 102 / 1 / 8 GET uint 2 Output Power U1-08 See Drive Users Manual. 102 / 1 / 9 GET uint 2 Torque Reference U1-09 See Drive Users Manual (F7 and G7 only).

102 / 1 / 10 GET uint 2 Input Terminal Status U1-10 See Drive Users Manual. 102 / 1 / 11 GET uint 2 Output Terminal Status U1-11 See Drive Users Manual. 102 / 1 / 12 GET uint 2 Operation Status U1-12 See Drive Users Manual. 102 / 1 / 13 GET uint 2 Elapsed Time U1-13 See Drive Users Manual. 102 / 1 / 14 GET uint 2 Software No. (FLASH ID No.) U1-14 See Drive Users Manual. 102 / 1 / 15 GET uint 2 102 / 1 / 16 GET uint 2 102 / 1 / 17 GET uint 2 102 / 1 / 18 GET uint 2 Motor Secondary Current (Iq) U1-18 See Drive Users Manual. 102 / 1 / 19 GET uint 2 Motor Excitation Current (Id) U1-19 See Drive Users Manual (F7 and G7 only). 102 / 1 / 20 GET uint 2 Output Frequency after Soft-start U1-20 See Drive Users Manual. 102 / 1 / 21 GET uint 2 102 / 1 / 22 GET uint 2 102 / 1 / 23 GET uint 2 Speed Deviation Regulator Input U1-23 See Drive Users Manual (F7 and G7 only). 102 / 1 / 24 GET uint 2 PID Feedback Amount U1-24 See Drive Users Manual. 102 / 1 / 25 GET uint 2 DI-16H2 Input Status U1-25 See Drive Users Manual (F7 and G7 only). 102 / 1 / 26 GET uint 2 Output Voltage Reference Vq U1-26 See Drive Users Manual (F7 and G7 only). 102 / 1 / 27 GET uint 2 Output Voltage Reference Vd U1-27 See Drive Users Manual (F7 and G7 only). 102 / 1 / 28 GET uint 2 Software No. CPU U1-28 See Drive Users Manual.

DeviceNet

Services

DeviceNet Data Type

# of

Bytes

Description Notes

Control Circuit Terminal A1 Input Level Control Circuit Terminal A2 Input Level Control Circuit Terminal A3 Input Level

Automatic Speed Regulator (ASR) Input Automatic Speed Regulator (ASR) Output

U1-15 See Drive Users Manual. U1-16 See Drive Users Manual. U1-17 See Drive Users Manual (F7 and G7 only).

U1-21 See Drive Users Manual (F7 and G7 only). U1-22 See Drive Users Manual (F7 and G7 only).

 The DeviceNet Path is given in the format: Class ID / Instance ID / Attribute ID.  Attributes shown in GREY are not supported by the DRIVE DeviceNet Option Board.

DeviceNet Object Paths A-15

Yaskawa DRIVE U Parameter Class (continued)

DeviceNet

Path

102 / 1 / 28 GET uint 2 KWh Lower 4 Digits U1-29 See Drive Users Manual. 102 / 1 / 29 GET uint 2 KWh Upper 5 Digits U1-30 See Drive Users Manual. 102 / 1 / 30 GET uint 2 ACR(q) Output U1-32 See Drive Users Manual (F7 and G7 only). 102 / 1 / 31 GET uint 2 ACR(d) Output U1-33 See Drive Users Manual (F7 and G7 only). 102 / 1 / 32 GET uint 2 OPE Fault U1-34 See Drive Users Manual. 102 / 1 / 33 GET uint 2 Zero Servo Pulse Count U1-35 See Drive Users Manual (F7 and G7 only). 102 / 1 / 34 GET uint 2 PID Input U1-36 See Drive Users Manual. 102 / 1 / 35 GET uint 2 PID Output U1-37 See Drive Users Manual. 102 / 1 / 36 GET uint 2 PID Setpoint U1-38 See Drive Users Manual. 102 / 1 / 37 GET uint 2 Modbus Communication Error Code U1-39 See Drive Users Manual. 102 / 1 / 38 GET uint 2 Heatsink Fan Operation Time U1-40 See Drive Users Manual. 102 / 1 / 39 GET uint 2 ASR Output without Filter U1-44 See Drive Users Manual (F7 and G7 only). 102 / 1 / 40 GET uint 2 Feed Forward Control Output U1-45 See Drive Users Manual (F7 and G7 only). 102 / 1 / 41 GET uint 2 Current Fault U2-01 See Drive Users Manual. 102 / 1 / 42 GET uint 2 Last Fault U2-02 See Drive Users Manual. 102 / 1 / 43 GET uint 2 Frequency Ref. at Fault U2-03 See Drive Users Manual. 102 / 1 / 44 GET uint 2 Output Frequency at Fault U2-04 See Drive Users Manual. 102 / 1 / 45 GET uint 2 Output Current at Fault U2-05 See Drive Users Manual. 102 / 1 / 46 GET uint 2 Motor Speed at Fault U2-06 See Drive Users Manual. 102 / 1 / 47 GET uint 2 Output Voltage at Fault U2-07 See Drive Users Manual. 102 / 1 / 48 GET uint 2 DC Bus Voltage at Fault U2-08 See Drive Users Manual. 102 / 1 / 49 GET uint 2 Output kWatts at Fault U2-09 See Drive Users Manual. 102 / 1 / 50 GET uint 2 Torque Reference at Fault U2-10 See Drive Users Manual. (F7 and G7 only). 102 / 1 / 51 GET uint 2 Input Terminal Status at Fault U2-11 See Drive Users Manual. 102 / 1 / 52 GET uint 2 Output Terminal Status at Fault U2-12 See Drive Users Manual. 102 / 1 / 53 GET uint 2 Drive Status at Fault U2-13 See Drive Users Manual. 102 / 1 / 54 GET uint 2 Elapsed Time at Fault U2-14 See Drive Users Manual.

DeviceNet

Services

DeviceNet Data Type

# of

Bytes

Description Notes

 The DeviceNet Path is given in the format: Class ID / Instance ID / Attribute ID.  Attributes shown in GREY are not supported by the DRIVE DeviceNet Option Board.

DeviceNet Object Paths A-16

Yaskawa DRIVE U Parameter Class (continued)

DeviceNet

Path

102 / 1 / 55 GET uint 2 Last Fault U3-01 See Drive Users Manual. 102 / 1 / 56 GET uint 2 Fault Message 2 U3-02 See Drive Users Manual. 102 / 1 / 57 GET uint 2 Fault Message 3 U3-03 See Drive Users Manual. 102 / 1 / 58 GET uint 2 Fault Message 4 U3-04 See Drive Users Manual. 102 / 1 / 59 GET uint 2 Elapsed Time 1 U3-05 See Drive Users Manual. 102 / 1 / 60 GET uint 2 Elapsed Time 2 U3-06 See Drive Users Manual. 102 / 1 / 61 GET uint 2 Elapsed Time 3 U3-07 See Drive Users Manual. 102 / 1 / 62 GET uint 2 Elapsed Time 4 U3-08 See Drive Users Manual. 102 / 1 / 63 GET uint 2 Fault Message 5 U3-09 See Drive Users Manual. 102 / 1 / 64 GET uint 2 Fault Message 6 U3-10 See Drive Users Manual. 102 / 1 / 65 GET uint 2 Fault Message 7 U3-11 See Drive Users Manual. 102 / 1 / 66 GET uint 2 Fault Message 8 U3-12 See Drive Users Manual. 102 / 1 / 67 GET uint 2 Fault Message 9 U3-13 See Drive Users Manual. 102 / 1 / 68 GET uint 2 Fault Message 10 U3-14 See Drive Users Manual. 102 / 1 / 69 GET uint 2 Elapsed Time 5 U3-15 See Drive Users Manual. 102 / 1 / 70 GET uint 2 Elapsed Time 6 U3-16 See Drive Users Manual. 102 / 1 / 71 GET uint 2 Elapsed Time 7 U3-17 See Drive Users Manual. 102 / 1 / 72 GET uint 2 Elapsed Time 8 U3-18 See Drive Users Manual. 102 / 1 / 73 GET uint 2 Elapsed Time 9 U3-19 See Drive Users Manual. 102 / 1 / 74 GET uint 2 Elapsed Time 10 U3-20 See Drive Users Manual.

DeviceNet

Services

DeviceNet Data Type

# of

Bytes

Description Notes

 The DeviceNet Path is given in the format: Class ID / Instance ID / Attribute ID.  Attributes shown in GREY are not supported by the DRIVE DeviceNet Option Board.

DeviceNet Object Paths A-17

Appendix B

Drive Assemblies

 Output Assemblies – Polled Consuming Assembly  Input Assemblies – Polled Producing Assembly

F7/G7/P7 Assemblies B-1

Output Assemblies – Polled Consuming Assembly

Assembly # of Bytes Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

20 4 bytes

Basic 1 - - - - - - - -

Speed 2 Speed Reference in RPM (Low Byte)

Command 3 Speed Reference in RPM (High Byte)

21 4 bytes

Extended 1 - - - - - - - -

Speed 2 Speed Reference in RPM (Low Byte)

Command 3 Speed Reference in RPM (High Byte)

22 6 bytes

Basic 1 - - - - - - - Speed/ 2 Speed Reference in RPM (Low Byte) Torque 3 Speed Reference in RPM (High Byte)

Command 4

23 6 bytes

Extended 1 - - - - - - - -

Speed/ 2 Speed Reference in RPM (Low Byte) Torque 3 Speed Reference in RPM (High Byte)

Command 4

0 - - - - -

0 -

0 - - - - -

0 -

Network

Reference

Network

Reference

Network

Control

Torque Reference in N-m*(2^torque_scale) (Low Byte) *3

Torque Reference in N-m*(2^torque_scale) (High Byte) *3

Network

Control

Torque Reference in N-m*(2^torque_scale) (Low Byte) *3

Torque Reference in N-m*(2^torque_scale) (High Byte) *3

Fault

Reset

- -

Fault

Reset

Fault

Reset

Fault

Reset

Run

Reverse

Run

Reverse

Run

Forward

Run

Forward

Run

Forward

Run

Forward

F7/G7/P7 Assemblies B-2

Output Assemblies – Polled Consuming Assembly (continued)

Assembly # of Bytes Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Terminal S8

120 *4 4 bytes

1 - - - - - -

Function

Speed 2

Command 1 3

Terminal S8

121 *4 4 bytes

1 - - - - - -

Function

Torque 2

Command 1 3

Terminal S8

122 *4 6 bytes

1 - - - - - -

Function

Speed 2

Command 2 3

4 Network Reference (b1-01) 5 Network Control (b1-02)

Terminal S8

123 *4 6 bytes

1 - - - - - -

Function

Torque 2

Command 2 3

4 Network Reference (b1-01) 5 Network Control (b1-02)

Terminal S7

Function

Terminal S6

Function

Terminal S5

Function

Terminal S4

Function

Terminal S3

Function

Speed Reference in Hz X 100 (Low Byte) *2 Speed Reference in Hz X 100 (High Byte) *2

Terminal S6

Function

Terminal S5

Function

Terminal S4

Function

Terminal S3

Function

Torque Reference % of rated X 10 (Low Byte) *3

Torque Reference % of rated X 10 (High Byte) *3

Terminal S6

Function

Terminal S5

Function

Terminal S4

Function

Terminal S3

Function

Speed Reference in Hz X 100 (Low Byte) *2 Speed Reference in Hz X 100 (High Byte) *2

Terminal S6

Function

Terminal S5

Function

Terminal S4

Function

Terminal S3

Function

Torque Reference % of rated X 10 (Low Byte) *3

Torque Reference % of rated X 10 (High Byte) *3

Run

Reverse

Fault

Reset

Run

Reverse

Fault

Reset

Run

Reverse

Fault

Reset

Run

Reverse

Fault

Reset

Run

Forward

External

Fault

Run

Forward

External

Fault

Run

Forward

External

Fault

Run

Forward

External

Fault

F7/G7/P7 Assemblies B-3

Output Assemblies – Polled Consuming Assembly (continued)

Assembly # of Bytes Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Terminal S8

124 *4 8 bytes

Function

1 Service Code (Read, Write)

Speed 2 Class Number to Read/Write

Command 3 3 Attribute Number to Read/Write

4 Data (Low Byte) 5 Data (High Byte) 6

Terminal S8

125 *4 8 bytes

Function

1 Service Code (Read, Write)

Torque 2 Class Number to Read/Write

Command 3 3 Attribute Number to Read/Write

4 Data (Low Byte) 5 Data (High Byte) 6

Terminal S8

126 *4 8 bytes

1 - - - - - -

Function

Speed and 2

Torque 3

Command 1 4

5 6 Torque Compensation % of rated X 10 (Low Byte)

7 Torque Compensation % of rated X 10 (High Byte)

Terminal S7

Function

Terminal S6

Function

Terminal S5

Function

Terminal S4

Function

Terminal S3

Function

Speed Reference in Hz X 100 (Low Byte) *2 Speed Reference in Hz X 100 (High Byte) *2

Terminal S6

Function

Terminal S5

Function

Terminal S4

Function

Terminal S3

Function

Torque Reference % of rated X 10 (Low Byte) *3

Torque Reference % of rated X 10 (High Byte) *3

Terminal S6

Function

Terminal S5

Function

Terminal S4

Function

Terminal S3

Function

Speed Reference in Hz X 100 (Low Byte) *2 Speed Reference in Hz X 100 (High Byte) *2

Torque Reference % of rated X 10 (Low Byte) *3

Torque Reference % of rated X 10 (High Byte) *3

Run

Reverse

Run

Reverse

Run

Reverse

Fault

Reset

Run

Forward

Run

Forward

Run

Forward

External

Fault

F7/G7/P7 Assemblies B-4

Input Assemblies – Polled Producing Assembly

Assembly # of Bytes Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

70 4 bytes

Basic 1 Speed 2 Output Speed in RPM (Low Byte) Status 3 Output Speed in RPM (High Byte)

71 4 bytes

Extended 1 Drive State

Speed 2 Output Speed in RPM (Low Byte) Status 3 Output Speed in RPM (High Byte)

72 6 bytes

Basic 1

Speed/ 2 Output Speed in RPM (Low Byte) Torque 3 Output Speed in RPM (High Byte)

Status 4

73 6 bytes

Extended 1 Drive State

Speed/ 2 Output Speed in RPM (Low Byte) Torque 3 Output Speed in RPM (High Byte)

Status 4

0 - - - - -

Reference

- - - - - - -

Reference from DNet

- - - - - - -

Reference from DNet

Control

from DNet

Output Torque N-m x (2^torque_scale) (Low Byte) *3

Output Torque N-m x (2^torque_scale) (High Byte) *3

Control

from DNet

Output Torque N-m x (2^torque_scale) (Low Byte) *3

Output Torque N-m x (2^torque_scale) (High Byte) *3

Drive

Ready

Drive

Ready

Running Reverse

Running Forward

Drive

Alarm

Drive

Alarm

Drive Fault

F7/G7/P7 Assemblies B-5

Input Assemblies – Polled Producing Assembly (continued)

Assembly # of Bytes Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

130 *4 4 bytes

Speed 2

Status 1 3

131 *4 4 bytes

Current 2

Status 1 3

132 *4 6 bytes

Current 2

and 3

Speed 4

Status 1 5

134 *4 8 bytes

1 Service Code (Read, Written)

Speed 2 Class Number to Read/Written

Status 2 3 Attribute Number to Read/Written

4 Data (Low Byte) 5 Data (High Byte) 6

Drive Fault

Zero Servo

Complete

Zero Servo

Complete

Zero Servo

Complete

Drive Fault

Selection

Drive

Alarm

Motor

Drive

Alarm

Motor

Drive

Alarm

Motor

Drive

Alarm

Term M5-M6

Output *3

Term M5-M6

Output *3

Term M5-M6

Output *3

Drive

Ready

Output Speed in Hz x 100 (Low Byte) *2

Output Speed in Hz x 100 (High Byte) *2

Drive

Ready

Output Current in Amps x 100 (Low Byte) *1

Output Current in Amps x 100 (High Byte) *1

Drive

Ready

Output Current in Amps x 100 (Low Byte) *1

Output Current in Amps x 100 (High Byte)

Output Speed in Hz x 100 (Low Byte) *2

Output Speed in Hz x 100 (High Byte) *2

Drive

Ready

Output Speed in Hz x 100 (Low Byte) *2

Output Speed in Hz x 100 (High Byte) *2

Speed

Term M3-M4

Output

Speed

Term M3-M4

Output

Speed

Term M3-M4

Output

Speed

Fault Reset

Active

Term M1-M2

Output

Fault Reset

Active

Term M1-M2

Output

Fault Reset

Active

Term M1-M2

Output

Fault Reset

Active

Drive

Reversing

Local/

Remote

Drive

Reversing

Local/

Remote

Drive

Reversing

Local/

Remote

Drive

Reversing

At Zero

Speed During

Ride-Thru

At Zero

Speed During

Ride-Thru

At Zero

Speed During

Ride-Thru

At Zero

Speed

Running

F7/G7/P7 Assemblies B-6

Input Assemblies – Polled Producing Assembly (continued)

Assembly # of Bytes Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

135 *4 8 bytes

1 Service Code (Read, Written)

Current 2 Class Number to Read/Written

Status 2 3 Attribute Number to Read/Written

4 Data (Low Byte) 5 Data (High Byte) 6

136 *4 8 bytes

Torque 2 Output Torque % x 10 (Low Byte)

and Speed 3 Output Torque % x 10 (High Byte)

Status 4 Motor Speed in Hz x 100 (Low Byte)

5 Motor Speed in Hz x 100 (High Byte) 6 Speed Reference in Hz x 100 (Low Byte) 7 Speed Reference in Hz x 100 (High Byte)

1 Zero Servo

0 Drive

Fault

0 Drive

Fault

Complete

Notes:

*1 Output Current is given in Amps X 100 (For example 1000 = 10.00 Amps) for models F7U/G7U/P7U -20P4 to -27P5 and -40P4 to -47P5. Output Current is given in Amps X 10 (For example 100 = 10.0 Amps) for models F7U/G7U/P7U -2011 to -2110 and -4011 to -4300. This value is based on the drive capacity model.

*2 Speed Reference and Output Speed are given in Hz X 100 (For example 2000 = 20.00 Hz) *3 F7 and G7 Drives only. *4 Yaskawa specific Polled Consuming or Polled Producing Assembly.

Selection

Drive

Alarm

Drive

Alarm

Motor

Term M5-M6

Output *3

Drive

Ready

Output Current in Amps x 100 (Low Byte) *1

Output Current in Amps x 100 (High Byte)

Drive

Ready

Speed

Term M3-M4

Output

Fault Reset

Active

Fault Reset

Active

Term M1-M2

Output

Drive

Reversing

Drive

Reversing

Local/

Remote

At Zero

Speed

At Zero

Speed During

Ride-Thru

Running

F7/G7/P7 Assemblies B-7

Notes:

F7/G7/P7 Assemblies B-8

Appendix C

DeviceNet Object Services

 Identity Class  DeviceNet Class  Assembly Class  Connection Class  Motor Class  Control Supervisor Class  AC Drive Class  Yaskawa Drive Command Class  Yaskawa Drive Status Class  Yaskawa Drive Monitor Class  Yaskawa Drive Parameter Class

DeviceNet Object Services C-1

Identity Class

Service

Code

(in hex) Class Instance

05h no yes Reset The Reset Service has one parameter of type

0 This type of reset will emulate 1 This type of reset will reset the

0Eh yes yes Get Attribute Single Returns the contents of an attribute. 10h no yes Set Attribute Single Modifies an attribute value.

Implemented Service Name Description

USINT. The type of Reset that is performed depends on the value of this parameter. The possible values are:

cycling power to the Drive. Drive to out-of-the-box factory

conditions. The Drive will be initialized for 2-wire control.

DeviceNet Class

Service

Code

(in hex) Class Instance

Assembly Class

Service

Code

(in hex) Class Instance

Implemented Service Name Description

0Eh yes yes Get Attribute Single Returns the contents of an attribute.

Implemented Service Name Description

0Eh yes yes Get Attribute Single Returns the contents of an attribute. 10h no yes Set Attribute Single Modifies an attribute value.

DeviceNet Object Services C-2

Connection Class

Service

Code

(in hex) Class Instance

0Eh yes yes Get Attribute Single Returns the contents of an attribute. 10h no yes Set Attribute Single Modifies an attribute value.

Motor Class

Service

Code

(in hex) Class Instance

0Eh yes yes Get Attribute Single Returns the contents of an attribute. 10h no yes Set Attribute Single Modifies an attribute value.

Implemented Service Name Description

Control Supervisor Class

Service

Code

(in hex) Class Instance

05h no yes Reset This type of reset will emulate cycling power 0Eh yes yes Get Attribute Single Returns the contents of an attribute.

10h no yes Set Attribute Single Modifies an attribute value.

Implemented Service Name Description

to the Drive.

DeviceNet Object Services C-3

AC Drive Class

Service

Code

(in hex) Class Instance

0Eh yes yes Get Attribute Single Returns the contents of an attribute 10h no yes Set Attribute Single Modifies an attribute value.

Implemented Service Name Description

Yaskawa Drive Command Class

`Service

Code

(in hex) Class Instance

0Eh yes yes Get Attribute Single Returns the contents of an attribute. 10h no yes Set Attribute Single Modifies an attribute value. 32h no yes ENTER Command The ENTER Command service will save the

33h yes yes ACCEPT Command The ACCEPT Command service will save the

Implemented Service Name Description

current values of all Drive parameters (A1-00 through o3-02) to the EEPROM memory on the Drive. Values saved in EEPROM memory will be retained in case of power loss to the Drive. This is a Vendor Specific service.

current values of all Drive parameters (A1-00 through o3-02) to the Active RAM memory on the Drive. Values saved in Active RAM memory will not be retained in case of power loss to the Drive. This is a Vendor Specific service.

DeviceNet Object Services C-4

Yaskawa Drive Status Class

Service

Code

(in hex) Class Instance

0Eh yes yes Get Attribute Single Returns the contents of an attribute

Implemented Service Name Description

Yaskawa Drive Monitor Class

Service

Code

(in hex) Class Instance

0Eh yes yes Get Attribute Single Returns the contents of an attribute

Implemented Service Name Description

Yaskawa Drive Parameter Class

Service

Code

(in hex) Class Instance

0Eh yes yes Get Attribute Single Returns the contents of an attribute 10h no yes Set Attribute Single Modifies an attribute value. 32h no yes ENTER Command The ENTER Command service will save the

33h yes yes ACCEPT Command The ACCEPT Command service will save the

Implemented Service Name Description

DeviceNet Object Services C-5

Notes:

DeviceNet Object Services C-6

Appendix D

Product Specifications

DeviceNet Option Board Ambient Temperature –10 to +45 degrees C (+14 to +113 degrees F) Storage Temperature –20 to +60 degrees C (–4 to +140 degrees F) Relative Humidity 90% non-condensing Altitude 3300 feet Vibration 1G at less than 20 Hz, 0.2 G at 20-50 Hz Input Power Voltage: 11 - 25 Vdc

Current: 40 mA maximum

Product Specifications D-1

Notes:

Product Specifications D-2

Appendix E

Spare Parts List

Description Source Part Number

DeviceNet Option Board Yaskawa CM056, CM057, CM058

DeviceNet Mating Connector

DeviceNet Installation Guide Yaskawa IG.AFD.14

DeviceNet Technical Manual Yaskawa TM.AFD.14

Yaskawa Electronic Library CD-ROM Yaskawa CD.AFD7.01

Yaskawa 05P00060-0474

Beau 860505

Spare Parts List E-1

Notes:

Spare Parts List E-2

Yaskawa CM05x User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual