Yaskawa MECHATROLINK-III User Manual

YASKAWA AC Drive 1000-Series Option

MECHATROLINK-III

Installation Manual

Type: SI-ET3

To properly use the product, read this manual thoroughly and retain for easy reference, inspection, and maintenance. Ensure the end user receives this manual.

安川インバータ1000シリーズオプション

MECHATROLINK-III 通信

取扱説明書

形式

SI-ET3

製品を安全にお使い頂くために，本書を必ずお読みください。また，本書をお手元に保管していただくとともに，最終的に本製品をご使用になるユーザー様のお手元に確実に届けられるよう，お取り計らい願います。

MANUAL NO. TOBP C730600 62B

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

2 YASKAWA ELECTRIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual

1 PREFACE AND SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . .4

2 PRODUCT OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

3 RECEIVING. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10

4 OPTION COMPONENTS . . . . . . . . . . . . . . . . . . . . . . . . . .11

5 INSTALLATION PROCEDURE . . . . . . . . . . . . . . . . . . . . . 14

6 RELATED DRIVE PARAMETERS . . . . . . . . . . . . . . . . . . . 26

7 TROUBLESHOOTING . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

8 SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33

YAS KAWA ELE CTR IC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual 3

1 Preface and Safety

Yaskawa manufactures products used as components in a wide variety of industrial systems and equipment. The selection and application of Yaskawa products remain the responsibility of the equipment manufacturer 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 fail safely under all circumstances. All systems or equipment designed to incorporate a product manufactured by Yaskawa must be supplied to the end user with appropriate warnings and instructions as to the safe use and operation of that part. 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.

4 YASKAWA ELECTRIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual

◆ Applicable Documentation

The following manuals are available for the SI-ET3 option:

SI-ET3 Option

YASKAWA AC Drive 1000-Series Option SI-ET3 MECHATROLINK-III Installation Manual Manual No: TOBP C730600 62

(This book)

YASKAWA AC Drive 1000-Series Option SI-ET3 MECHATROLINK-III Technical Manual Manual No: SIEP C730600 62

Read this manual first. The installation manual is packaged with the option and contains information required to install the option and set up related drive parameters.

The technical manual contains detailed information about the option. Access the following sites to obtain the technical manual: U.S.: http://www.yaskawa.com Europe: http://www.yaskawa.eu.com Japan: http://www.e-mechatronics.com For questions, contact your local Yaskawa sales office or the nearest Yaskawa representative.

1 Preface and Safety

YASKAWA ELECT RIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual 5

1 Preface and Safety

Drive

The drive manuals cover basic installation,

YASKAWA AC Drive 1000-Series Quick Start Guide

YASKAWA AC Drive 1000-Series Technical Manual

wiring, operation procedures, functions, troubleshooting, and maintenance information. The manuals also include important information about parameter settings and drive tuning. Access these sites to obtain Yaskawa instruction manuals: U.S.: http://www.yaskawa.com Europe: http://www.yaskawa.eu.com Japan: http://www.e-mechatronics.com For questions, contact your local Yaskawa sales office or the nearest Yaskawa representative.

◆ Terms

Note: Indicates supplemental information that is not related to safety messages.

Drive: YASKAWA AC Drive 1000-Series

Option: YASKAWA AC Drive 1000-Series Option SI-ET3 MECHATROLINK-III

◆ Registered Trademarks

• MECHATROLINK-III is a trademark of the MECHATROLINK Members Association (MMA).

• All trademarks are the property of their respective owners.

6 YASKAWA ELECTRIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual

1 Preface and Safety

DANGER

W ARNING

CAUTION

NOTICE

◆ Supplemental Safety Information

Read and understand this manual before installing, operating, or servicing this option. The option must be installed according to this manual and local codes.

The following conventions are used to indicate safety messages in this manual. Failure to heed these messages could result in serious or possibly even fatal injury or damage to the products or to related equipment and systems.

Indicates a hazardous situation, which, if not avoided, will result in death or serious injury.

Indicates a hazardous situation, which, if not avoided, could result in death or serious injury.

Indicates a hazardous situation, which, if not avoided, could result in minor or moderate injury.

Indicates an equipment damage message.

YASKAWA ELECT RIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual 7

1 Preface and Safety

DANGER

NOTICE

■ General Safety

General Precautions

• The diagrams in this section may include options and drives without covers or safety shields to illustrate details. Be sure to reinstall covers or shields before operating any devices. The option should be used according to the instructions described in this manual.

• Any illustrations, photographs, or examples used in this manual are provided as examples only and may not apply to all products to which this manual is applicable.

• The products and specifications described in this manual or the content and presentation of the manual may be changed without notice to improve the product and/or the manual.

• When ordering new copies of the manual, contact a Yaskawa representative or the nearest Yaskawa sales office and provide the manual number shown on the front cover.

Heed the safety messages in this manual.

Failure to comply will result in death or serious injury.

The operator is responsible for injuries or equipment damage caused from failure to heed the warnings in the manual.

Do not modify the drive or option circuitry.

Failure to comply could result in damage to the drive or option and will void warranty.

Yaskawa is not responsible for any modification of the product made by the user. This product must not be modified.

Do not expose the drive or the option to halogen group disinfectants.

Failure to comply may cause damage to the electrical components in the option.

Do not pack the drive in wooden materials that have been fumigated or sterilized.

Do not sterilize the entire package after the product is packed.

8 YASKAWA ELECTRIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual

2 Product Overview

◆ About This Product

The option provides a communications connection between the drive and a MECHATROLINK-III network. The option connects the drive to a MECHATROLINK-III network and facilitates the exchange of data.

This manual explains the handling, installation and specifications of this product.

MECHATROLINK-III is a communications link to connect industrial devices (such as smart motor controllers, operator interfaces, and variable frequency drives) as well as control devices (such as programmable controllers and computers) to a network. MECHATROLINK-III 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.

By installing the option to a drive, it is possible to do the following from a MECHATROLINK-III master device:

• operate the drive

• monitor the operation status of the drive

• change parameter settings

◆ Applicable Models

The option can be used with the drive models in Table 1.

Table 1 Applicable Models

Drive Series Drive Model Number Software Version <1>

CIMR-A2A ≥1020

A1000

<1> See “PRG” on the drive nameplate for the software version number.

CIMR-A4A0002 to 4A0675 ≥1020

CIMR-A4A0930 and 4A1200 Under development

CIMR-A5A ≥1020

YASKAWA ELECT RIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual 9

3 Receiving

R/E

CON

LK1 LK2

3 Receiving

Please perform the following tasks upon receipt of the option:

• Inspect the option for damage. Contact the shipper immediately if the option appears damaged upon receipt.

• Verify receipt of the correct model by checking the model number printed on the name plate of the option package.

• Contact your supplier if you have received the wrong model or the option does not function properly.

◆ Option Package Components

Table 2 Option Package Contents

Description: Option

Ground

Wire

Screws

(M3)

LED Label Installation Manual

Quantity: 1131 1

◆ Tools Required for Installation

• A Phillips screwdriver (M3 metric/#1, #2 U.S. standard size<1>) is required to install the option and remove drive front covers.

• Diagonal cutting pliers. (required for some drive models)

• A small file or medium grit sandpaper. (required for certain drive models)

<1> Screw sizes vary by drive capacity. Select a screwdriver appropriate for the drive capacity.

Note: Tools required to prepare option networking cables for wiring are not listed in this manual.

10 YASKAWA ELECTRIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual

MANUAL

4 Option Components

A1000

◆ SI-ET3 Option

Figure 1

4 Option Components

A – Connector (CN5) B – Installation hole G – Ground terminal and installation hole <2> C–LED (CON)<1> H – Communication connector CN1 D–LED (R/E) E–LED (LK2)

<1> Refer to Option LED Display on page 13 for details on the LEDs <2> The ground wire provided in the option shipping package must be connected during installation

<1> I – Communication connector CN2

<1>

Figure 1 SI-EN3 Option Components

F–LED (LK1)

<1>

Underside

C D E F

YASKAWA ELECT RIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual 11

4 Option Components

2468 1357

CN2 CN1

◆ Connector

Table 3 Communication Connector

MECHATROLINK-III Connector Pin No.

Signal

Name

1 TXD_P I/O

2 TXD_N I/O

3 RXD_P I/O

4(NC) – –

5(NC) – –

6 RXD_N I/O

7(NC) – –

8(NC) – –

Shell SLD – Shield

I/O Function

Send data (+):

OUT

Send data (-):

OUT

Receive data (-):

12 YASKAWA ELECTRIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual

4 Option Components

◆ Option LED Display

The MECHATROLINK-III Option has four LEDs that indicate the option card or communication status.

■ Checking LED Operation

Name Display Operating Status Remarks

Lit in

Power supply on

green

Lit in

Error

red

R/E

Flashing

SI-ET3 error Error found during SI-ET3’s self-diagnostic check

in red

Unlit Power supply off

Lit in

Connection

green

CON

LK1

LK2

Unlit

Lit in green

Unlit

Lit in green

Unlit

established

Connection unestablished

Connector CN1 connected

Connector CN1 disconnected

Connector CN2 connected

Connector CN2 disconnected

Table 4 Option LED States

• SI-ET3 has been successfully powered up

• An internal, self-diagnostic check completed in the SI-ET3

• Error/alarm occured

• Command error occurred (parameter error, phase error, combination error)

• The drive has no power

• SI-ET3 is not properly connected to the drive, or SI-ET3 has no power

• An internal, self-diagnostic error occurred in the SI-ET3

Established connection

Connection with master device is not established

Connector CN1 is connected to other stations

Connector CN1 is not connected to other stations (cable not connected, cable disconnected, other stations not powered up)

Connector CN2 is connected to other stations

Connector CN2 is not connected to other stations (cable not connected, cable disconnected, other stations not powered up)

YASKAWA ELECT RIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual 13

5 Installation Procedure

W ARNING

5 Installation Procedure

◆ Section Safety

DANGER

Electrical Shock Hazard

Do not connect or disconnect wiring while the power is on.

Failure to comply will result in death or serious injury.

Disconnect all power to the drive and wait at least the amount of time specified on the drive front cover safety label.

After all indicators are off, measure the DC bus voltage to confirm safe level, and check for unsafe voltages before servicing. The internal capacitor remains charged after the power supply is turned off.

Electrical Shock Hazard

Do not remove the front covers of the drive while the power is on.

Failure to comply could result in death or serious injury.

The diagrams in this section may include options and drives without covers or safety shields to show details. Be sure to reinstall covers or shields before operating any devices. The option should be used according to the instructions described in this manual.

Do not allow unqualified personnel to use equipment.

Failure to comply could result in death or serious injury.

Maintenance, inspection, and replacement of parts must be performed only by authorized personnel familiar with installation, adjustment, and maintenance of this product.

Do not touch circuit boards while the power to the drive is on.

Failure to comply could result in death or serious injury.

14 YASKAWA ELECTRIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual

5 Installation Procedure

NOTICE

W ARNING

Do not use damaged wires, place excessive stress on wiring, or damage the wire insulation.

Failure to comply could result in death or serious injury.

Fire Hazard

Tighten all terminal screws to the specified tightening torque.

Loose electrical connections could result in death or serious injury by fire due to overheating of electrical connections.

Damage to Equipment

Observe proper electrostatic discharge (ESD) procedures when handling the option, drive, and circuit boards.

Failure to comply may result in ESD damage to circuitry.

Never shut the power off while the drive is outputting voltage.

Failure to comply may cause the application to operate incorrectly or damage the drive.

Do not operate damaged equipment.

Failure to comply may cause further damage to the equipment.

Do not connect or operate any equipment with visible damage or missing parts.

Do not use unshielded cable for control wiring.

Failure to comply may cause electrical interference resulting in poor system performance.

Use shielded twisted-pair wires and ground the shield to the ground terminal of the drive.

YASKAWA ELECT RIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual 15

5 Installation Procedure

NOTICE

Properly connect all pins and connectors.

Failure to comply may prevent proper operation and possibly damage equipment.

Check wiring to ensure that all connections are correct after installing the option and connecting any other devices.

Failure to comply may result in damage to the option.

16 YASKAWA ELECTRIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual

5 Installation Procedure

R/E

CON

LK1 LK2

A1000

◆ Prior to Installing the Option

Prior to installing the option, wire the drive, make necessary connections to the drive terminals, and verify that the drive functions normally without the option installed. Refer to the instruction manual packaged with the drive for information on wiring and connecting the drive.

Figure 2 shows an exploded view of the drive with the option and related components for

reference.

Figure 2

A – Insertion point for CN5 connector I – Ground wire B – SI-ET3 option J – Option modular connector CN1 C – Drive front cover K – Option modular connector CN2 D – Digital operator L – Drive grounding terminal (FE) E – LED label M – Connector CN5-A F – Drive terminal cover N – Connector CN5-B G – Removable tabs for wire routing O – Connector CN5-C H – Included screws

Figure 2 Drive Components with Option

YASKAWA ELECT RIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual 17

5 Installation Procedure

A1000

◆ Installing the Option

Remove the front covers of the drive before installing the option. Refer to the drive instruction manual for directions on removing the front covers. Cover removal varies depending on drive size. This option can be inserted only into the CN5-A connector located on the drive control board.

DANGER! Electrical Shock Hazard. Do not connect or disconnect wiring while the power is on. Failure to comply could result in death or serious injury. Before installing the option, disconnect all power to the drive and wait at least the amount of time specified on the drive front cover safety label. After all indicators are off, measure the DC bus voltage to confirm safe level, and check for unsafe voltages before servicing. The internal capacitor remains charged after the power supply is turned off.

1. Shut off power to the drive, wait the appropriate amount of time for voltage to

dissipate, then remove the digital operator (D) and front covers (C, F). Cover removal varies depending on drive size.

NOTICE: Damage to Equipment. Observe proper electrostatic discharge procedures (ESD) when handling the option, drive, and circuit boards. Failure to comply may result in ESD damage to circuitry.

Figure 3

Figure 3 Remove the Front Covers and Digital Operator

18 YASKAWA ELECTRIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual

5 Installation Procedure

R/E LK1 CON LK2

A1000

2. With the front covers and digital operator removed, apply the LED label (E) in the

Figure 4

appropriate position on the drive top front cover (C).

Figure 4 Apply the LED Label

3. Insert the option (B) into the CN5-A connector (M) located on the drive and fasten it

Figure 5

using one of the included screws (H).

YASKAWA ELECT RIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual 19

Figure 5 Insert the Option

5 Installation Procedure

A1000

4. Connect the ground wire (I) to the ground terminal (L) using one of the remaining

provided screws (H). Connect the other end of the ground wire (I) to the remaining ground terminal and installation hole on the option (B) using the last remaining

Figure 6

provided screw (H) and tighten both screws to 0.5 to 0.6 Nxm (4.4 to 5.3 in lbs).

Figure 6 Connect the Ground Wire

Note: There are two screw holes on the drive for use as ground terminals (L). When connecting three

options, two ground wires will need to share the same drive ground terminal.

20 YASKAWA ELECTRIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual

5 Installation Procedure

5. Route the option wiring.

Depending on the drive model, some drives may require routing the wiring through the side of the front cover to the outside to provide adequate space for the wiring. Refer to the Peripheral Devices & Options section of the drive Quick Start Guide or instruction manual for more information on wire routing of specific models. Route the wiring through the side of the front cover to the outside. In these cases, using diagonal cutting pliers, cut out the perforated openings on the left side of the drive front cover as shown in Figure 7-A. Sharp edges along the cut out should be smoothed down with a file or sand paper to prevent any damage to the wires. Route the wiring inside the enclosure as shown in Figure 7-B for drives that do not require routing through the front cover.

Note: Separate communication cables from main circuit wiring and other electrical lines.

Figure 7

A – Route wires through the openings

provided on the left side of the front cover.

<1> The drive will not meet NEMA Type 1 requirements if wiring is exposed outside the enclosure.

YASKAWA ELECT RIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual 21

<1>

Figure 7 Wire Routing Examples

B – Use the open space provided

inside the drive to route option wiring.

5 Installation Procedure

A1000

6. Connect the MECHATROLINK-III communication cable to option communication

connector CN1 or CN2. Refer to Communication Cable Wiring on page 23 for details. Install MECHATROLINK-III communications cables apart from main-circuit wiring and other electrical and power lines. Ensure the cable end is firmly connected (see

Figure 7).

Note: Maximum transmission distance is 100 m (3937.0 in.). Minimum wiring distance between

stations is 0.2 m (7.9 in.).

Connection Diagram

MECHATROLINK-III Master

TXD_P

TXD_N

RXD_P

RXD_N

MECHATROLINK-III

Communication Cable

TXD_P

TXD_N

RXD_P

RXD_N

TXD_P

TXD_N

RXD_P

RXD_N

CN2

CN1

SI-ET3

<1>

Drive

control circuit terminal

<1> Use connector CN1 or CN2 to connect with the MECHATROLINK-III master. Refer to Communication Cable

Wiring on page 23 for details.

Figure 8 Option Connection Diagram

22 YASKAWA ELECTRIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual

5 Installation Procedure

A1000

Communication Cable Wiring

The dual communication cable ports on the option board act as a switch to allow for flexibility in cabling topology. For example, a traditional star network topology may be employed by using a single port on the option board. Alternatively, a daisychained approach may be employed by using both communication cable ports. This second approach reduces the requirements of MECHATROLINK-III hub module ports.

Figure 8

PLC

MECHATROLINK-III Hub Module

PLC

1000 A1000 A1000

Figure 9 Topology Options

A1000 A1000 A1000

YASKAWA ELECT RIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual 23

5 Installation Procedure

Table 5 MECHATROLINK-III Communication Cable

Connection Type Cable Specification Length (L) Model

0.2 m (7.9 in.) JEPMC-W6012-A2-E

0.5 m (19.7 in.) JEPMC-W6012-A5-E

1 m (39.4 in.) JEPMC-W6012-01-E

2 m (78.7 in.) JEPMC-W6012-02-E

MECHATROLINK-III

connection without

ferrite core

MECHATROLINK-III connection with ferrite

core

MECHATROLINK-III

connection with loose

wires at one end

Wind the cable one turn around the ferrite core.

3 m (118.1 in.) JEPMC-W6012-03-E

4 m (157.5 in.) JEPMC-W6012-04-E

5 m (196.9 in.) JEPMC-W6012-05-E

10 m (393.7 in.) JEPMC-W6012-10-E

20 m (787.4 in.) JEPMC-W6012-20-E

30 m (1181.1 in.) JEPMC-W6012-30-E

50 m (1968.5 in.) JEPMC-W6012-50-E

10 m (393.7 in.) JEPMC-W6013-10-E

20 m (787.4 in.) JEPMC-W6013-20-E

30 m (1181.1 in.) JEPMC-W6013-30-E

50 m (1968.5 in.) JEPMC-W6013-50-E

75 m (2952.8 in.) JEPMC-W6013-75-E

100 m (3937.0 in.) JEPMC-W6013-100-E

0.5 m (19.7 in.) JEPMC-W6014-A5-E

1 m (39.4 in.) JEPMC-W6014-01-E

3 m (118.1 in.) JEPMC-W6014-03-E

5 m (196.9 in.) JEPMC-W6014-05-E

10 m (393.7 in.) JEPMC-W6014-10-E

30 m (1181.1 in.) JEPMC-W6014-30-E

50 m (1968.5 in.) JEPMC-W6014-50-E

24 YASKAWA ELECTRIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual

5 Installation Procedure

A1000

7. Replace and secure the front covers of the drive (C, F) and replace the digital

Figure 9

operator (D).

Figure 10 Replace the Front Covers and Digital Operator

Note: Take proper precautions when wiring the option so that the front covers will easily fit back onto

the drive. Make sure no cables are pinched between the front covers and the drive when replacing the covers.

8. Set drive parameters in Table 6 for proper option performance.

YASKAWA ELECT RIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual 25

6 Related Drive Parameters

The following parameters are used to set up the drive for operation with the option. Parameter setting instructions can be found in the drive Quick Start Guide or instruction manual.

Confirm proper setting of the all parameters in Table 6 using the digital operator before starting network communications.

Table 6 Related Parameter Settings

No.

(Addr.

Hex)

b1-01 (180)

<1>

b1-02 (181)

<1>

F6-01 (3A2)

F6-02 (3A3)

F6-03 (3A4)

F6-06 (3A7)

<3>

F6-07 (3A8)

Name Description Va lues

Selects the frequency reference input source.

Frequency Reference Selection

Run Command Selection

Operation Selection after Communications Error

External Fault Detection Conditions (EF0)

Stopping Method for External Fault from the Communication Option

Torque Reference/Torque Limit Selection from the Communication Option

NetRef/ComRef Selection Function

0: Operator - Digital preset speed d1-01 to d1-17 1: Terminals - Analog input terminal A1 or A2 2: MEMOBUS/Modbus communications 3: Option 4: Pulse Input (Terminal RP)

Selects the run command input source. 0: Digital Operator - RUN and STOP keys 1: Digital input terminals S1 to S8 2: MEMOBUS/Modbus communications 3: Option

Determines drive response when a bUS error is detected during communications with the option. 0: Ramp to Stop 1: Coast to Stop 2: Fast-Stop 3: Alarm Only

Sets the condition for external fault detection (EF0). 0: Always detected 1: Detected only during operation

Determines drive response for external fault input (EF0) detection during option communications. 0: Ramp to Stop 1: Coast to Stop 2: Fast-Stop 3: Alarm Only

0: Torque Reference/Torque Limit via network communications are disabled. 1: Torque Reference/Torque Limit via network communications are enabled.

0: Multi-step speed reference disabled (F7 functionality) 1: Multi-step speed reference allowed (V7 functionality)

<2>

<4>

Default: 1 Range: 0 to 4 (Set to 3)

Default: 1 Range: 0 to 3 (Set to 3)

Default: 1 Range: 0 to 3

Default: 0 Range: 0, 1

Default: 1 Range: 0 to 3

Default: 0 Range: 0, 1

26 YASKAWA ELECTRIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual

6 Related Drive Parameters

No.

(Addr.

Hex)

F6-08 (36A)

F6-20

<5> <6>

F6-21

<5>

F6-23

<5> <7>

F6-24

<5> <8>

F6-25

Name Description Va lues

Determines if communication-related parameters F6-

Reset Communication Related Parameters

MECHATROLINK Station Address

MECHATROLINK Frame Size

MECHATROLINK Monitor Selection (Code 0EH)

MECHATROLINK Monitor Selection (Code 0FH)

Operation Selection at Watchdog Error (E5)

and F7- are set back to original default values when the drive is initialized using parameter A1-03. 0: Do not reset parameters 1: Reset parameters

Sets the station number.

Sets the frame size. 0: 64 byte 1: 32 byte

Set MEMOBUS/Modbus register to monitor SEL_MON of INV_CTL and INV_CTL.

0: Ramp to stop. Decelerate to stop using the deceleration time in C1-02. 1: Coast to stop. 2: Fast Stop. Decelerate to stop using the deceleration time in C1-09.

Default: 0 Range: 0, 1

Default: 21H Range: 20 to 3FH

Default: 0 Range: 0, 1

Default: 0H Range: 0 to FFFFH

Default: 1 Range: 0 to 3

3: Alarm only.

MECHATROLINK bUS

F6-26

Errors Detected

<1> To start and stop the drive with the MECHATROLINK-III master device using serial communications, set b1-02

to 3. To control the frequency reference of the drive via the master device, set b1-01 to 3.

<2> If set to 3, then the drive will continue to operate when a fault is detected. Take proper measures such as installing

an emergency stop switch.

<3> Enabled in CLV, AOLV/PM, and CLV/PM control modes (A1-02 = 3, 6, or 7). When enabled, d5-01 determines

whether the value is read as the Torque Limit value (d5-01 = 0) or read as the Torque Reference value (d5-01 = 1). In CLV/PM, this value is read as the Torque Limit.

<4> The setting specifies that the Torque Reference or Torque Limit is to be provided via network communications

(F6-06 = 1). The motor may rotate if no torque reference or Torque Limit is supplied from the PLC. <5> Power must be cycled in order for any setting changes to take affect. <6> All station addresses must be unique. If set to 20 or 3F, a Station Address Error (AEr) will occur and the ERR light

will turn on. <7> Setting byte 10 of INV_CTL to 0EH enables the register set by F6-23. Byte 11 and 12 of the response data enable

the register content set by F6-23. Refer to the drive instruction manual for details on the register that can be set. <8> Setting byte 10 of INV_CTL to 0FH enables the register set by F6-24. Byte 11 and 12 of the response data enable

the register content set by F6-24. Refer to the drive instruction manual for details on the register that can be set.

Sets the number of option communication errors (bUS).

Default: 2 Range: 2 to 10

YASKAWA ELECT RIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual 27

7 Troubleshooting

◆ Drive-Side Error Codes

Drive-side error codes appear on the drive digital operator. Causes of the errors and corrective actions are listed in Ta bl e 7. For additional error codes that may appear on the drive digital operator, refer to the drive Technical Manual.

■ Faults

Both bUS (option communication error) and EF0 (External fault input from the option) can appear as an alarm or as a fault. When a fault occurs, the digital operator ALM LED remains lit. When an alarm occurs, the ALM LED flashes.

If communication stops while the drive is running, use the following questions as a guide to help remedy the fault:

• Is the option properly installed?

• Is the communication line properly connected to the option? Is it loose?

• Is the controller program working? Has the controller/PLC CPU stopped?

• Did a momentary power loss interrupt communications?

Table 7 Fault Display and Possible Solutions

LED Operator Display Fault Name

Option Communication Error

bUS

Cause Possible Solution

Master controller (PLC) has stopped communicating

Communication cable is not connected properly

A data error occurred due to electric interference

Option is damaged

Connection Time-out

• After establishing initial communication, the connection was lost

• Only detected when the run command or frequency reference is assigned to the option (b1-01 = 3 or b1-02 = 3)

• Check that power is supplied to the PLC

• Check that PLC is not in program mode

• Check for faulty wiring

• Correct any wiring problems

• Inspect items that can minimize the effects of electrical noise

• Counteract noise in the control circuit, main circuit, and ground wiring

• If a magnetic contactor is identified as a source of noise, install a surge absorber to the contactor coil

• Make sure the cable used meets the MECHATROLINK-III requirements

• Make sure the option ground wire is connected between option FE terminal and the drive ground terminal connected to earth ground

If there are no problems with the wiring and the error continues to occur, replace the option.

• The option Requested Packet Interval (RPI) timer timed out

• Make sure that RPI time is set properly

28 YASKAWA ELECTRIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual

7 Troubleshooting

Duplicate Station Address

LED Operator Display Fault Name

Cause Possible Solution

Data has not been received from the PLC, triggering the watchdog timer.

LED Operator Display Fault Name

EF0

Cause Corrective Action

An external fault is being sent from the upper controller (PLC)

Problem with the PLC program Check the program used by the PLC and make the appropriate corrections.

PLC is in the Idle Mode.

LED Operator Display Fault Name

oFA00

Cause Possible Solution

Non-compatible option connected to the drive

Check if the option shares Station Address with at least one other node. Check the setting values of F6-20.

MECHATROLINK Watchdog Timer Error

The watchdog has timed out.

⇒ Execute DISCONNECT or ALM_CLR, then issue a CONNECT command or SYNC_SET command and proceed to phase 3.

Option Card External Fault

The alarm function for an external device has been triggered.

• Remove the cause of the external fault

• Reset the external fault input from the PLC device

• Set the PLC to the Run Mode

• Set the drive parameter F6-54 to 0 (Enabled) not to detect errors while the PLC is in the Idle Mode

Option Card Connection Error (CN5-A)

Option is not properly connected.

Connect an option that is compatible with the drive.

LED Operator Display Fault Name

oFA01

Cause Possible Solution

Problem with the connectors between the drive and option

YASKAWA ELECT RIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual 29

Option Card Fault (CN5-A)

Option is not properly connected.

Turn the power off and check the connectors between the drive and option.

7 Troubleshooting

LED Operator Display Fault Name

Option hardware fault Replace the option.

LED Operator Display Fault Name

Non-compatible option connected to the drive.

LED Operator Display Fault Name

Options AI-A3 or DI-A3 are connected to the CN5-B port with an option connected to CN5-A.

oFA30 to oFA43

Cause Possible Solution

oFb00

Cause Possible Solution

oFb02

Cause Possible Solution

Option Card Connection Error (CN5-A)

Communication ID error.

Option Fault (CN5-B)

Non-compatible option is connected.

Connect the correct option to CN5-A.

Option Fault (CN5-B)

Two identical options are connected at the same time.

• Only one type of AI-A3, DI-A3 or SI- option can be connected to the

drive

• The SI-ET3 option can only be connected to CN5-A

LED Operator Display Fault Name

oFC00

Cause Possible Solution

Non-compatible option connected to the drive.

LED Operator Display Fault Name

oFC02

Cause Possible Solution

Options AI-A3 or DI-A3 are connected to the CN5-B port while an option connected to CN5-A.

30 YASKAWA ELECTRIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual

Option Fault (CN5-C)

Non-compatible option is connected.

Connect the correct option to CN5-A.

Option Fault

Option Flash write mode.

• Only one type of AI-A3, DI-A3 or SI- option can be connected to the

drive

• The SI-ET3 option can only be connected to CN5-A

■ Minor Faults and Alarms

LED Operator Display Minor Fault Name

CALL

Cause Possible Solution

Communication wiring is faulty, there is a short circuit, or improper connection.

side.

Communication circuitry is damaged.

LED Operator Display Minor Fault Name

CYC

Cause Possible Solution

Transmission cycle of the option set in the master controller (PLC) was out of range.

Serial communication transmission error

Communication is not established.

Check for wiring errors:

• Correct the wiring

• Remove ground shorts and reconnect loose wires

Check communications at start-up and correct programming errors.

• Perform a self-diagnostics check

• Replace the drive if the fault continues to occur

Transmission Cycle Setting Error

Transmission cycle from the master controller (PLC) was out of range.

Set the transmission cycle of the master controller in the range of 250 μs, 500 μs, 750 μs, and 1 to 32 ms (0.5 ms increment). Make sure to set the communication cycle to 32 ms or less.

7 Troubleshooting

Minor Fault

(H2- = 10)

YESProgramming error on the master

Minor Fault

(H2- = 10)

YES

YASKAWA ELECT RIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual 31

7 Troubleshooting

◆ Prior to Installing the Option

Prior to installing the option, wire the drive, make the necessary connections to the drive terminals, and verify that the drive functions normally. Refer to the Table 8 for information on wiring and connecting the drive.

Table 8 below lists the number of option cards that can be connected to the drive and the

drive connectors for connecting those option cards.

Table 8 Option Card Installation

Option Card

PG-B3, PG-X3 CN5-C 2

PG-RT3 <2> <3>, PG-F3 <2> <3> CN5-C 1

DO-A3, AO-A3 CN5-A, B, C 1

SI-C3, SI-N3, SI-P3, SI-S3, SI-T3, SI-ET3, AI-A3, DI-A3, SI-ES3, SI-B3, SI-M3, SI-W3, SI-EM3, SI-EN3, SI-EP3

<1> If two PG option cards are connected, use both CN5-B and CN5-C. If only one PG option card is connected to the

drive, use the CN5-C connector.

<2> These option cards are not available for the application with Motor 2 Selection. <3> These option cards are not available with models CIMR-A4A0930 and 4A1200. <4> When AI-A3 and DI-A3 are to be used as monitors, the card can be connected to any of CN5-A, CN5-B or

CN5-C. The input status of AI-A3 can then be viewed using U1-21, U1-22, and U1-23, and the input status of DI-A3 can then be viewed using U1-17.

<4>

Connector Number of Cards Possible

<1>

CN5-A 1

32 YASKAWA ELECTRIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual

8 Specifications

◆ Specifications

Table 9 Option Specifications

Item

Model SI-ET3

Access mode Start-stop synchronization, master/slave method

Communication speed 100 Mbps

Minimum transmission cycle

Maximum transmission cycle

Transmission cycle granularity

Minimum wiring distance between stations

Maximum wiring distance between stations

Data length 32-byte data transmission or 64-byte data transmission

Event driven communication

Profile Compliant with standard inverter profile

Maximum number of stations

Ambient temperature -10°C to +50°C (14°F to 122°F)

Humidity 95% RH or lower with no condensation

Storage temperature -20°C to +60°C (-4°F to 140°F) allowed for short-term transport of the product

Area of use Indoor (free of corrosive gas, airborne particles, etc.)

Altitude 1000 m (3280 ft.) or lower

<1> The maximum number of connectable stations changes depending on the types and settings of the host controller,

baud rate, or communications cycle. For details, refer to the controller manual.

250 μs

8 ms

03H

0.2 m (7.9 in.)

100 m (3937.0 in.)

Va li d

62 <1>

Specification

YASKAWA ELECT RIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual 33

8 Specifications

MANUAL NO.ޓTOBP C730600 62B

Published in Japan August 2013 13-4

Date of publication

Date of original publication

Revision number

A1000

◆ Revision History

Revision dates and manual numbers appear on the bottom of the back cover.

Date of

Publication

August 2013 All Revision: Manual number

April 2013 −−First edition

34 YASKAWA ELECTRIC TOBP C730600 62B 1000-Series Option SI-ET3 Installation Manual

Revision

Number

Section Revised Content

YASKAWA AC Drive 1000-Series Option

MECHATROLINK-III

Installation Manual

DRIVE CENTER (INVERTER PLANT)

2-13-1, Nishimiyaichi, Yukuhashi, Fukuoka, 824-8511, Japan Phone: 81-930-25-3844 Fax: 81-930-25-4369 http://www.yaskawa.co.jp

YASKAWA ELECTRIC CORPORATION

New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo, 105-6891, Japan Phone: 81-3-5402-4502 Fax: 81-3-5402-4580 http://www.yaskawa.co.jp

YASKAWA AMERICA, INC.

2121 Norman Drive South, Waukegan, IL 60085, U.S.A. Phone: 1-800-YASKAWA (927-5292) or 1-847-887-7000 Fax: 1-847-887-7310 http://www.yaskawa.com

YASKAWA ELÉTRICO DO BRASIL LTDA.

Avenida Piraporinha 777, Diadema, São Paulo, 09950-000, Brasil Phone: 55-11-3585-1100 http://www.yaskawa.com.br

YASKAWA EUROPE GmbH

Hauptstrasse 185, 65760 Eschborn, Germany Phone: 49-6196-569-300 Fax: 49-6196-569-398 http://www.yaskawa.eu.com

YASKAWA ELECTRIC KOREA CORPORATION

9F, Kyobo Securities Bldg., 26-4, Yeouido-dong, Yeongdeungpo-gu, Seoul, 150-737, Korea Phone: 82-2-784-7844 http://www.yaskawa.co.kr

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.

151 Lorong Chuan, #04-02A, New Tech Park, 556741, Singapore Phone: 65-6282-3003 http://www.yaskawa.com.sg

YASKAWA ELECTRIC (CHINA) CO., LTD.

12F, Carlton Bld., No.21 HuangHe Road, HuangPu Distr ict, Shanghai 200003, China Phone: 86-21-5385-2200 http://www.yaskawa.com.cn

YASKAWA ELECTRIC (CHINA) CO., LTD. BEIJING OFFICE

Room 1011, Tower W3 Oriental Plaza, No. 1 East Chang An Ave., Dong Cheng District, Beijing, 100738, China Phone: 86-10-8518-4086

YASKAWA ELECTRIC TAIWAN CORPORATION

9F, 16, Nanking E. Rd., Sec. 3, Taipei, 104, Taiwan Phone: 886-2-2502-5003

YASKAWA INDIA PRIVATE LIMITED

#17/A Electronics City, Hosur Road Bangalore 560 100 (Karnataka), India Phone: 91-80-4244-1900 http://www.yaskawaindia.in

Fax: 55-11-3585-1187

Fax: 82-2-784-8495

Fax: 65-6289-3003

Fax: 86-21-5385-3299

Fax: 86-10-8518-4082

Fax: 886-2-2505-1280

Fax: 91-80-4244-1901

YASKAWA ELECTRIC CORPORATION

In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.

Specifications are subject to change without notice for ongoing product modifications and improvements.

MANUAL NO. TOBP C730600 62B

Published in Japan August 2013 13-4 13-7-11

1 -0

Yaskawa MECHATROLINK-III User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of Contents

1 Preface and Safety

◆ Applicable Documentation

◆ Terms

◆ Registered Trademarks

◆ Supplemental Safety Information

2 Product Overview

◆ About This Product

◆ Applicable Models

3 Receiving

◆ Option Package Components

◆ Tools Required for Installation

◆ SI-ET3 Option

4 Option Components

◆ Connector

◆ Option LED Display

5 Installation Procedure

◆ Section Safety

◆ Prior to Installing the Option

◆ Installing the Option

6 Related Drive Parameters

7 Troubleshooting

◆ Drive-Side Error Codes

◆ Prior to Installing the Option

8 Specifications

◆ Specifications

◆ Revision History