Yaskawa SI-EN3D User Manual

YASKAWA AC Drive 1000-Series Option

EtherNet/IP

Technical Manual

Type: SI-EN3D

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

MANUAL NO. SIEP YAICOM 16A

ダミー

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.

Table of Contents

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

2 PRODUCT OVERVIEW............................................................................................7

3 RECEIVING..............................................................................................................8

4 OPTION COMPONENTS..........................................................................................9

5 INSTALLATION PROCEDURE..............................................................................11

6 RELATED DRIVE PARAMETERS.........................................................................17

7 CONFIGURING MESSAGING................................................................................20

8 OUTPUT ASSEMBLIES (DRIVE CONSUMES).....................................................21

9 INPUT ASSEMBLIES (DRIVE PRODUCES).........................................................29

10 GENERAL CLASS OBJECTS...............................................................................40

11 VENDOR-SPECIFIC (YASKAWA) CLASS OBJECTS..........................................50

12 WEB INTERFACE..................................................................................................52

13 TROUBLESHOOTING............................................................................................59

14 SPECIFICATIONS..................................................................................................63

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

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.

Applicable Documentation

The following manuals are available for the SI-EN3D option:

Yaskawa AC Drive 1000-Series Option SI-EN3D Dual-Port EtherNet/IP Installation Manual (TOEPYAICOM16)

The Installation Manual contains information required to install the option and set up related drive parameters.

Yaskawa AC Drive 1000-Series Option SI-EN3D Dual-Port EtherNet/IP Technical Manual (SIEPYAICOM16)

The Technical Manual contains detailed information about the option. In the U.S., access http://www.yaskawa.com to obtain the Technical Manual. Customers in other areas should contact a Yaskawa representative.

1000-Series AC Drive Safety Precautions

Read this manual first. This manual contains essential safety information and simplified information for the drive. This document also provides basic instructions on mechanical installation, a connection diagram, main circuit and control circuit connections, switch and jumper configuration, basic troubleshooting, standards compliance and fusing, drive specifications, and an abbreviated parameter list.

1000-Series AC Drive Quick Start Guide

This guide contains basic information required to install and wire the drive. It also gives an overview of fault diagnostics, maintenance, and parameter settings. The purpose of this guide is to prepare the drive for a trial run with an application and for basic operation. This manual is available for download on our documentation website, www.yaskawa.com.

1000-Series AC Drive Technical Manual

This manual provides detailed information on parameter settings, drive functions, and MEMOBUS/Modbus specifications. Use this manual to expand drive functionality and to take advantage of higher performance features. This manual is available for download on our documentation website, www.yaskawa.com.

Terms

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

Drive: Yaskawa 1000-Series AC Drive

Option: Yaskawa AC Drive 1000-Series SI-EN3D Dual-Port EtherNet/IP Option

Registered Trademarks

• EtherNet/IP is a trademark of the ODVA.

• All trademarks are the property of their respective owners.

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.

DANGER

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

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

1 Preface and Safety

WARNING

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

WARNING! may also be indicated by a bold key word embedded in the text followed by an italicized safety message.

CAUTION

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

CAUTION! may also be indicated by a bold key word embedded in the text followed by an italicized safety message.

NOTICE

Indicates a property damage message.

NOTICE: may also be indicated by a bold key word embedded in the text followed by an italicized safety message.

General Safety

General Precautions

• The diagrams in this manual may be indicated without covers or safety shields to show details. Replace the covers or shields before operating the drive and run the drive 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 a new copy of the manual due to damage or loss, contact your Yaskawa representative or the nearest Yaskawa sales office and provide the manual number shown on the front cover.

• If nameplate becomes worn or damaged, order a replacement from your Yaskawa representative or the nearest Yaskawa sales office.

DANGER

Heed the safety messages in this manual.

Failure to comply will result in death or serious injury. The operating company is responsible for any injuries or equipment damage resulting from failure to heed the warnings in

this manual.

Electrical Shock Hazard

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

Failure to comply will result in death or serious injury. Failure to comply will result in death or serious injury. Before servicing, disconnect all power to the equipment. The internal

capacitor remains charged even after the power supply is turned off. The charge indicator LED will extinguish when the DC bus voltage is below 50 Vdc. To prevent electric shock, wait for at least the time specified on the warning label once all indicators are OFF, and then measure the DC bus voltage level to confirm it has reached a safe level.

NOTICE

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

Failure to comply may result in ESD damage to the drive circuitry.

Do not perform a withstand voltage test on any part of the drive.

Failure to comply could result in damage to the sensitive devices within the drive.

Do not operate damaged equipment.

Failure to comply could result in further damage to the equipment. Do not connect or operate any equipment with visible damage or missing parts.

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

1 Preface and Safety

NOTICE

Do not expose the drive to halogen group disinfectants.

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

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

2 Product Overview

About this Product

The option provides a communications connection between the drive and an ODVA EtherNet/IP network. The option connects the drive to an EtherNet/IP network and facilitates the exchange of data.

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

EtherNet/IP 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. EtherNet/ IP 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.

EtherNet/IP is an open device network standard.

By installing the option to a drive, it is possible to do the following from an EtherNet/IP master device:

• Operate the drive

• Monitor drive status

• Change drive 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

CIMR-Ao2Aoooo

A1000

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

CIMR-Ao4A0002o to 4A0675o CIMR-Ao4A0930 and 4A1200 301o CIMR-Ao5Aoooo 504o; 1017 and later

Software Version

1010 and later

<1>

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

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MANUAL

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 Contents

Description Option Ground Wire Screws (M3) LED Label Installation Manual

–

Quantity 1 1 3 1 1

Tools Required for Installation

• A Phillips screwdriver (M3 metric or #1, #2 U.S. standard) is required to install the option and remove drive front covers. Screw sizes vary by drive capacity. Select a screwdriver appropriate for the drive capacity.

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

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

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

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

4 Option Components

K L

Underside

Latch release

1 2 3 4 5 6 7 8

SI-EN3D Dual-Port EtherNet/IP Option

4 Option Components

A – Ground terminal and installation

<1>

hole

B –

Port 2 LED (10/100)

<2>

C – Port 2 D –

Port 2 LED (LINK/ACT)

E –

Port 1 LED (10/100)

<2>

H – EtherNet/IP cable connector I – Option connector J – Installation hole K –

LED (MS)

L –

LED (NS)

<2>

M – EtherNet/IP PCB

F – Port 1 G –

Port 1 LED (LINK/ACT)

<2>

Figure 1 Option Components

<1> The ground wire is packaged loose in the option shipping package. Connect this ground wire during installation. <2> Refer to Option LED Display on page 10 for details on the LEDs.

Communication Connector CN1

The communication connector on the option is a modular RJ45 female connector designated CN1.

CN1 is the connection point for a customer-supplied male Ethernet network communication cable.

Table 2 Male, 8-Way Ethernet Modular Connector (Customer-Supplied)

Male Ethernet 8-Way Modular Connector

<1> Not used for 10 Mbps and 100 Mbps networks.

Pin Description

1 (Pair 2) Transmit data (TXD) +

2 (Pair 2) Transmit data (TXD) -

3 (Pair 3) Receive data (RXD) +

4 (Pair 1)

5 (Pair 1)

Not used

<1>

6 (Pair 3) Receive data (RXD) -

7 (Pair 4)

8 (Pair 4)

Not used

<1>

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

4 Option Components

Option LED Display

The option has four LEDs.

Bi-color Status LEDs:

• Module status (MS) red/green

• Network status (NS) red/green

Ethernet LEDs:

• Network speed - 10/100 (MS) green

• Link status and network activity - LINK/ACT (NS) red/green

The operational states of the option LEDs after completion of the power-up diagnostic LED sequence are described in Table

3. Wait at least 2 seconds for the power-up diagnostic process to complete before verifying LED states.

Table 3 Option LED States

Name

<1>

10/100

LINK/ACT

<1> Remove the cover to check the status of the LED. Be careful not to touch the main circuit terminals or the control board in the drive.

<1>

Color Status

Green ON Normal operation

Green Flashing Standby/Initializing

Red Flashing Non-fatal error occurred

Red ON Fatal error occurred The option has detected an unrecoverable major fault.

Green/Red Flashing Option self-test The option is in self-test mode.

Green ON

Green Flashing Not connected The option is online without an established connection.

Red Flashing Minor fault A minor recoverable fault has occurred.

Red ON Major fault The option detected a duplicate IP address.

Green/Red Flashing Option self-test The option is in self-test mode.

Green OFF 10 Mbps is established

Green ON 100 Mbps is established

Green OFF LINK is not established

Green ON LINK is established

Green Flashing

Display

– OFF Power supply OFF Power is not being supplied to the drive.

– OFF Power supply OFF –

Operating Status Remarks

The option is operating normally and initialization is complete.

The option is in process of configuring or waiting for configuration information.

The option has detected a recoverable minor fault such as incomplete configuration.

Online communications established

LINK is established and there is network activity.

The option is online and has established connections.

–

Power-Up Diagnostics

An LED test is performed each time the drive is powered up. The initial boot sequence may take several seconds. After the LEDs have completed the diagnostic LED sequence, the option is successfully initialized. The LEDs then assume operational conditions as shown in Table 3.

Table 4 Power-Up Diagnostic LED Sequence

Sequence Module Status (MS) Network Status (NS) Time (ms)

1 Green OFF 250

2 Red OFF 250

3 Green OFF –

4 Green Green 250

5 Green Red 250

6 Green OFF –

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

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.

WARNING

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 is on.

Failure to comply could result in death or serious injury.

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

Failure to comply could result in death or serious injury.

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.

NOTICE

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

Failure to comply may result in ESD damage to the drive 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 SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

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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 could result in damage to the option.

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 drive Quick Start Guide 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.

A – Drive front cover B – Digital operator C – LED label D – Drive terminal cover E – Removable tabs for wire routing F – Included screws G – Ground wire

Figure 2 Drive Components with Option

H – Drive grounding terminal (FE) I – Connector CN5-C J – Connector CN5-B K – Connector CN5-A L – Insertion point for CN5 connector M – Option

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

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5 Installation Procedure

Installing the Option

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

DANGER! 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.

Shut off power to the drive, wait the appropriate amount of time for voltage to dissipate, then remove the digital operator

(B) and front covers (A, D). Front cover removal varies by model.

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 Remove the Front Covers and Digital Operator

With the front covers and digital operator removed, apply the LED label (C) in the appropriate position on the drive

top front cover (A).

Figure 4 Apply the LED Label

Make sure the screws on the left and right sides of the option terminal block (J) are tightened with a tightening torque

of 0.5 to 0.6 Nm (4.4 to 5.3 in lbs), then insert the option (B) into the CN5-A connector (L) located on the drive and fasten it using one of the included screws (H).

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

NS MS

TX RX

NS MS

TX RX

5 Installation Procedure

Connect the ground wire (I) to the ground terminal (K) 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 provided screw (H) and tighten both screws to 0.5 to 0.6 N•m (4.4 to 5.3 in lbs).

Figure 5 Insert the Option

Figure 6 Connect the Ground Wire

Note:

There are two screw holes on the drive for use as ground terminals. When connecting three options, two ground wires will need to share the same drive ground terminal.

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 Technical 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. Use a file or sandpaper to make the sharp edges along the cutout smoother 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.

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

Yaskawa

Drive

Yaskawa

Drive

Yaskawa

Drive

Yaskawa

Drive

Yaskawa

Drive

Yaskawa

Drive

Yaskawa

Drive

Yaskawa

Drive

Yaskawa

Drive

Star Topology

Daisy-Chained Topology

Ring Topology

5 Installation Procedure

A – Route wires through the openings

provided on the left side of the front

<1>

cover.

B – Use the open space provided

inside the drive to route option wiring.

Figure 7 Wire Routing Examples

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

Connect the Ethernet communication cable to the option modular connector (CN1) port 1.

To connect the option to a network, firmly connect RJ45 8-pin shielded twisted pair Cat5e cable(s) into the modular connector ports (see Figure 7).

IGMP Snooping

Switches implementing IGMP Snooping are strongly recommended. When IGMP Snooping is used, devices will only receive the multicast packets in which they are interested.

Communication Cable Specifications

Only use cable recommended for EtherNet/Industrial Protocol (EtherNet/IP™). Using a cable not specifically recommended may cause the option or drive to malfunction. Refer to the ODVA website for more information on network cabling (http://www.odva.org).

The dual RJ45 network 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 RJ45 ports. The daisy-chained approach reduces the requirements of central switch ports. A ring topology is also possible.

Figure 8 Topology Options

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

Drive

U/T1 V/T2 W/T3

R/L1 S/L2 T/L3

SI-EN3D

EtherNet/IP

Option

<1>

EtherNet/IP Cable

MotorPower

EtherNet/IP Cable

NS MS

TX RX

5 Installation Procedure

Use the second communication cable port to daisy chain a series of drives where applicable.

Replace and secure the front covers of the drive (A, D) and replace the digital operator (B).

Figure 9 Option Connection Diagram

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

EDS Files

are pinched between the front covers and the drive when replacing the covers.

Set drive parameters in Table 5 for proper option performance.

For easy network implementation of drives equipped with the option, an EDS file can be obtained from:

U.S.: http://www.yaskawa.com

Europe: http://www.yaskawa.eu.com

Japan: http://www.e-mechatronics.com

Other areas: Contact a Yaskawa representative.

Note: Download the option EDS file. The option will not function as a slave in the network without the appropriate EDS file.

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

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 manual.

Confirm proper setting of the parameters in Table 5 before starting network communications. After changing parameter settings, cycle power to the drive for the new settings to take effect.

Table 5 Related Parameters

No.

(Addr.

Hex)

b1-01

(0180)

<1>

b1-02

(0181)

<1>

F6-01

(03A2)

F6-02

(03A3)

F6-03

(03A4)

F6-06

(03A7)

<3>

F6-07

(03A8)

F6-08

(036A)

<5>

F6-14

(03BB)

F7-01

(03E5)

<6>

F7-02

(03E6)

<6>

F7-03

(03E7)

<6>

F7-04

(03E8)

<6>

F7-05

(03E9)

F7-06

(03EA)

F7-07

(03EB)

F7-08

(03EC)

Frequency Reference Selection 1

Run Command Selection 1

Communications Error Operation Selection

External Fault from Comm. Option Detection Selection

External Fault from Comm. Option Operation Selection

Torque Reference/Torque Limit Selection from Comm. Option

Multi-Step Speed Enable/ Disable Selection when NefRef/ComRef is Selected

Reset Communication Parameters

bUS Error Auto Reset

IP Address 1 Sets the most significant octet of network static IP address.

IP Address 2 Sets the second most significant octet of network static IP address.

IP Address 3 Sets the third most significant octet of network static IP address.

IP Address 4 Sets the fourth most significant octet of network static IP address.

Subnet Mask 1 Sets the most significant octet of network static Subnet Mask.

Subnet Mask 2 Sets the second most significant octet of network static Subnet Mask.

Subnet Mask 3 Sets the third most significant octet of network static Subnet Mask.

Subnet Mask 4 Sets the fourth most significant octet of network static Subnet Mask.

Name Description Values

0: Digital operator 1: Analog input terminals 2: MEMOBUS/Modbus communications 3: Option PCB

Default: 1 Range: 0 to 4

4: Pulse input (terminal RP)

0: Digital operator 1: Digital input terminals 2: MEMOBUS/Modbus communications

Default: 1 Range: 0 to 3

3: Option PCB

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.

3: Alarm only

<2>

1: Detection during run only

Default: 1 Range: 0 to 3

Default: 0 Range: 0, 1

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.

3: Alarm only

0: Disabled. Torque reference/limit from option board disabled. 1: Enabled. Torque reference/limit from option board enabled.

<2>

<4>

0: Multi-step reference disabled (same as F7) 1: Multi-step reference enabled (same as V7)

Default: 1 Range: 0 to 3

Default: 0 Range: 0, 1

0: Communication-related parameters (F6-oo/F7-oo) are not reset when the drive is initialized using A1-03. 1: Reset all communication-related parameters

Default: 0 Range: 0, 1

(F6-oo/F7-oo) when the drive is initialized using A1-03.

0: Disabled 1: Enabled

Default: 0 Range: 0, 1

Default: 192 Range: 0 to 255

Default: 168 Range: 0 to 255

Default: 1 Range: 0 to 255

Default: 20 Range: 0 to 255

Default: 255 Range: 0 to 255

Default: 0 Range: 0 to 255

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

6 Related Drive Parameters

No.

(Addr.

Hex)

F7-09

(03ED)

F7-10

(03EE)

F7-11

(03EF)

F7-12

(03E0)

F7-13

(03F1)

F7-14

(03F2)

F7-15

(03F3)

F7-16

(03F4)

F7-17

(03F5)

F7-18

(03F6)

F7-19

(03F7)

F7-20

(03F8)

F7-21

(03F9)

F7-22

(03FA)

Gateway Address 1 Sets the most significant octet of network Gateway address.

Gateway Address 2 Sets the second most significant octet of network Gateway address.

Gateway Address 3 Sets the third most significant octet of network Gateway address.

Gateway Address 4 Sets the fourth most significant octet of network Gateway address.

Address Mode at Startup

Duplex Mode Selection

Communication Speed Selection

Communication Loss Timeout

EtherNet/IP Speed Scaling Factor

EtherNet/IP Current Scaling Factor

EtherNet/IP Torque Scaling Factor

EtherNet/IP Power Scaling Factor

EtherNet/IP Voltage Scaling Factor

EtherNet/IP Time Scaling

F7-23 to

F7-32

(03FB to

Dynamic Output Assembly Parameters

0374)

F7-33 to

F7-42

(0375 to

Dynamic Input Assembly Parameters

037E)

<1> To start and stop the drive with the EtherNet/IP master device using serial communications, set b1-02 to 3 or set the “Net Control” bit in the

assemblies or Control Supervisor Object. To control the drive frequency reference of the drive via the master device, set b1-01 to 3 or set the Net Reference bit in the assemblies or AC/DC Object.

<2> When set to 3, the drive will continue to operate when a fault is detected. Take safety measures, such as installing an emergency stop switch.

Name Description Values

Default: 192 Range: 0 to 255

Default: 168 Range: 0 to 255

Default: 1 Range: 0 to 255

Select the option address setting method

<7>

0: Static 1: BOOTP

Default: 2 Range: 0 to 2

2: DHCP

Selects duplex mode setting. 0: Half duplex forced

1: Auto-negotiate duplex mode and communication speed 2: Full duplex forced

3: Half (port 1)/Auto (port 2) 4: Half (Port 1)/Full (port 2)

<8>

Default: 1 Range: 0 to 8

<9>

5: Auto (port 1)/Half (port 2) 6: Auto (port 1)/Full (port 2) 7: Full (port 1)/Half (port 2) 8: Full (port 1)/Auto (port 2)

Sets the communication speed 10: 10 Mbps 100: 100 Mbps 101: 10 (Port 1)/100 Mbps (port 2)

Default: 10 Range: 10; 100 to 102

102: 100 (Port 1)/10 Mbps (port 2)

Sets the timeout value for communication loss detection in tenths of a second. A value of 0 disables the connection timeout. Example: An entered value of 100 represents 10.0 seconds.

Sets the scaling factor for the speed monitor in EtherNet/IP Class ID 2AH Object.

Sets the scaling factor for the output current monitor in EtherNet/IP Class ID 2AH Object.

Sets the scaling factor for the torque monitor in EtherNet/IP Class ID 2AH Object.

Sets the scaling factor for the power monitor in EtherNet/IP Class ID 2AH Object.

Sets the scaling factor for the voltage monitor in EtherNet/IP Class ID 2AH Object.

Sets the scaling factor for the time monitor in EtherNet/IP Class ID 2AH Object.

Default: 0.0 Min.: 0.0 Max.: 30.0

Default: 0 Min.: -15 Max.: 15

Parameters used in Output Assembly 116. Each parameter contains a MEMOBUS/Modbus address. The value received for Output Assembly 116 will be written to this corresponding MEMOBUS/Modbus address. A MEMOBUS/Modbus address value of 0 means that the value received for

Default: 0

Output Assembly 116 will not be written to any MEMOBUS/Modbus register.

Parameters used in Input Assembly 166. Each parameter contains a MEMOBUS/Modbus address. The value sent for Input Assembly 166 will be read from this corresponding MEMOBUS/Modbus address. A MEMOBUS/Modbus address value of 0 means that the value sent for Input

Default: 0

Assembly 166 is not defined by the user, therefore the option default register value will be returned.

<10>

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

6 Related Drive Parameters

<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> Parameter setting value is not reset to the default value when the drive is initialized.

<6> Cycle power for setting changes to take effect.

<7> When F7-13 is set to 0, parameters F7-01 to F7-12 must be set, and all IP Addresses (as defined with parameters F7-01 to F7-04) must be unique.

<8> When F7-14 is set to 0 or 2, parameter F7-15 must be set.

<9> Setting range differs depending on drive software version. PRG: 1020 and earlier, Range: 0 to 2

PRG: 1021 and later, Range: 0 to 8

<10> Setting range differs depending on drive software version. PRG: 1020 and earlier, Range: 10, 100

PRG: 1021 and later, Range: 10; 100 to 102

Table 6 Option Monitors

No. Name Description Value Range

U6-80 to

U6-83

U6-84 to

U6-87

U6-88 to

U6-91

U6-92 Online Speed Link Speed

U6-93 Online Duplex Duplex Setting 0: Half, 1: Full

U6-94 Port 2 Duplex Port 2 Duplex Setting 0: Half, 1: Full

U6-95 Port 2 Speed Port 2 Link Speed

U6-98 First Fault First Option Fault –

U6-99 Current Fault Current Option Fault –

Online IP Address IP Address currently available; U6-80 is the most significant octet 0 to 255

Online Subnet Subnet currently available; U6-84 is the most significant octet 0 to 255

Online Gateway Gateway currently available; U6-88 is the most significant octet 0 to 255

10: 10 Mbps 100: 100 Mbps

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

7 Configuring Messaging

This section provides information on methods used to control the drive with the option installed.

Drive Polled Configuration

The assemblies in Table 7 are available for polled I/O:

Table 7 Supported Polled I/O Assemblies

Assembly

Number (Hex)

20 (14) Basic Speed Control Output Output 4 21

21 (15) Extended Speed Control Output Output 4 21

22 (16) Speed and Torque Control Output Output 6 22

23 (17) Extended Speed and Torque Control Output Output 6 22

70 (46) Basic Speed Control Input Input 4 29

71 (47) Extended Speed Control Input Input 4 29

72 (48) Speed and Torque Control Input Input 6 30

73 (49) Extended Speed and Torque Control Input Input 6 30

100 (64)

101 (65) (Vendor Specific Yaskawa Electric (YE) Assy)-Speed/Torque Control Output Output 8 23

115 (73)

116 (74) (Vendor Specific Yaskawa Electric (YE) Assy)-High Speed/Torque Control Output Output 44 26

150 (96)

151 (97) (Vendor Specific Yaskawa Electric (YE) Assy)-Speed/Torque Status Input Input 8 32

155 (9B)

166 (A6) (Vendor Specific Yaskawa Electric (YE) Assy)-High Speed/Torque Status Input Input 44 36

(Vendor Specific Yaskawa Electric (YE) Assy)-MEMOBUS/Modbus Message Output

(Vendor Specific Yaskawa Electric (YE) Assy)-Extended Speed/Torque Control Output

(Vendor Specific Yaskawa Electric (YE) Assy)-MEMOBUS/Modbus Message Input

(Vendor Specific Yaskawa Electric (YE) Assy)- Extended Speed/ Torque Status Input

Description Type Bytes Page

Output 5 23

Output 40 25

Input 5 31

Input 40 33

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

8 Output Assemblies (Drive Consumes)

Note: The convention in this manual is from the PLC perspective. As such, an assembly is called an “Output Assembly” when outputted from the

Basic Speed Control Output - 20 (0x14)

Output Instance Word Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

PLC and received by this node. This section details “Output Assemblies” that are “Consumed” by this drive.

Name Description

Run Fwd

Fault Reset

Speed Reference

Forward Run Command 0: Stop 1: Forward Run

Fault Reset (0 to 1 transition: Fault Reset)

Speed Command Sets drive speed reference. Speed reference data: Frequency reference/2SS (SS: Speed scale) Setting range: 0 to 0xFFFF Example: setting a reference of 4096 with a speed scale of 2: Speed reference data = 4096/22 = 1024 = 0x0400 Hex or 10.24 Hz Unit depends on o1-03.

0 – – – – – Fault Reset – Run Fwd

1 –

2 Speed Reference (Low Byte)

3 Speed Reference (High Byte)

Extended Speed Control Output - 21 (0x15)

Output Instance Word Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Name Description

Run Fwd

Run Rev

Fault Reset

NetCtrl

NetRef

Speed Reference

Forward Run Command 0: Stop 1: Forward Run

Reverse Run Command 0: Stop 1: Reverse Run

Fault Reset (0 to 1 transition: Fault Reset)

Run command from Network 0: Depends on b1-02 1: Enables the run command from network

Speed reference from Network 0: Depends on b1-01 1: Enables the speed reference from network

0 – NetRef NetCtrl – – Fault Reset Run Rev Run Fwd

1 –

2 Speed Reference (Low Byte)

3 Speed Reference (High Byte)

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

8 Output Assemblies (Drive Consumes)

Speed and Torque Control Output - 22 (0x16)

Output Instance Word Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 – – – – – Fault Reset – Run Fwd

1 –

2 Speed Reference (Low Byte)

3 Speed Reference (High Byte)

4 Torque Reference/Torque Limit (Low Byte)

5 Torque Reference/Torque Limit (High Byte)

Name Description

Run Fwd

Fault Reset

Speed Reference

Torque Reference/Torque

Limit

Forward Run Command 0: Stop 1: Forward Run

Fault Reset (0 to 1 transition: Fault Reset)

Torque Reference/Torque Limit Sets the Torque Reference/Torque Limit in units of 0.1%. Sets the Torque Reference when using Torque Control (d5-01 = 1). Sets the Torque Limit when using Speed Control (d5-01 = 0). The Torque Reference and Torque Limit are disabled with F6-06 = 0.

Extended Speed and Torque Control Output - 23 (0x17)

Output Instance Word Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Name Description

Run Fwd

Run Rev

Fault Reset

NetCtrl

NetRef

Speed Reference

Forward Run Command 0: Stop 1: Forward Run

Reverse Run Command 0: Stop 1: Reverse Run

Fault Reset (0 to 1 transition: Fault Reset)

Run command from Network 0: Depends on b1-02 1: Enables the run command from network

Speed reference from Network 0: Depends on b1-01 1: Enables the speed reference from network

0 – NetRef NetCtrl – – Fault Reset Run Rev Run Fwd

1 –

2 Speed Reference (Low Byte)

3 Speed Reference (High Byte)

4 Torque Reference/Torque Limit (Low Byte)

5 Torque Reference/Torque Limit (High Byte)

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

8 Output Assemblies (Drive Consumes)

Name Description

Torque Reference/Torque Limit

Torque Reference/Torque

Limit

MEMOBUS/Modbus Message Output (Vendor Specific Yaskawa Electric (YE) Assy) -

Sets the Torque Reference/Torque Limit in units of 0.1%. Sets the Torque Reference when using Torque Control (d5-01 = 1). Sets the Torque Limit when using Speed Control (d5-01 = 0). The Torque Reference and Torque Limit are disabled with F6-06 = 0.

100 (0x64)

Output Instance Word Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

100

Note: This is a paired assembly (100/150).

Name Description

Function Code MEMOBUS/Modbus Function Code

2 4 Register Data (Low Byte)

0 Function Code

1 Register Number (High Byte)

2 Register Number (Low Byte)

3 Register Data (High Byte)

Table 8 Function Code Decode Table

Function Code MEMOBUS/Modbus Function

0x00 No Operation

0x03 Read Register

0x10 Write Register

Note: Refer to the MEMOBUS/Modbus Data Table in the MEMOBUS/Modbus Communications chapter of the drive manual for a list of monitor

Speed/Torque Control Output (Vendor Specific Yaskawa Electric (YE) Assy) - 101 (0x65)

Output Instance Word Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

data using the MEMOBUS/Modbus message area.

Multi-

Function

Input 8

Multi-

Function

Photo-

coupler 2

101

2 Speed Reference (Low Byte)

3 Speed Reference (High Byte)

4 Torque Reference/Torque Limit (Low Byte)

5 Torque Reference/Torque Limit (High Byte)

6 Torque Compensation (Low Byte)

7 Torque Compensation (High Byte)

Multi-

Function

Input 7

Multi-

Function

Photo-

coupler 1

Multi-

Function

Input 6

Multi-

Function

Digital Output

Multi-

Function

Input 5

– – – Fault Reset

Multi-

Function

Input 4

Multi-

Function

Input 3

Run Rev Run Fwd

External

Fault

Name Description

Run Fwd

Run Rev

Multi-Function Input 3

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

Forward Run Command 0: Stop 1: Forward Run

Reverse Run Command 0: Stop 1: Reverse Run

Terminal S3 Function Input 0: Terminal S3 Function (H1-03) OFF 1: Terminal S3 Function (H1-03) ON

8 Output Assemblies (Drive Consumes)

Name Description

Multi-Function Input 4

Multi-Function Input 5

Multi-Function Input 6

Multi-Function Input 7

Multi-Function Input 8

External Fault

Fault Reset

Multi-Function Digital

Output

Multi-Function Photocoupler 1

Multi-Function Photocoupler 2

Speed Reference

Torque Reference/Torque

Limit

Torque Compensation Sets the amount of Torque Compensation Sets in units of 0.1%.

Terminal S4 Function Input 0: Terminal S4 Function (H1-04) OFF 1: Terminal S4 Function (H1-04) ON

Terminal S5 Function Input 0: Terminal S5 Function (H1-05) OFF 1: Terminal S5 Function (H1-05) ON

Terminal S6 Function Input 0: Terminal S6 Function (H1-06) OFF 1: Terminal S6 Function (H1-06) ON

Terminal S7 Function Input 0: Terminal S7 Function (H1-07) OFF 1: Terminal S7 Function (H1-07) ON

Terminal S8 Function Input 0: Terminal S8 Function (H1-08) OFF 1: Terminal S8 Function (H1-08) ON

External Fault EF0 0: No External Fault (EF0) 1: External Fault (EF0)

Fault Reset 0: No Fault Reset 1: Fault Reset

Terminal M1/M2 0: M1/M2 OFF 1: M1/M2 ON This function is enabled only when H2-01 is set to F.

Terminal P1 0: P1 OFF 1: P1 ON This function is enabled only when H2-02 is set to F.

Terminal P2 0: P2 OFF 1: P2 ON This function is enabled only when H2-03 is set to F.

Speed Command Sets drive speed reference.

Unit depends on o1-03. Unit is not affected by Speed Scale SS.

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

8 Output Assemblies (Drive Consumes)

Extended Speed/Torque Control Output (Vendor Specific Yaskawa Electric (YE) Assy)

- 115 (0x73)

Output Instance Word Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

115

4/5 8-11 Reserved

9-20 18-39 Reserved

2 Speed Reference (Low Byte)

3 Speed Reference (High Byte)

4 Torque Reference/Torque Limit (Low Byte)

5 Torque Reference/Torque Limit (High Byte)

6 Torque Compensation (Low Byte)

7 Torque Compensation (High Byte)

12 Analog Output 1 (Low Byte)

13 Analog Output 1 (High Byte)

14 Analog Output 2 (Low Byte)

15 Analog Output 2 (High Byte)

16 Digital Outputs (Low Byte)

17 Digital Outputs (High Byte)

Multi-

Function

Input 8

Multi-

Function

Photo-

coupler 2

Multi-

Function

Input 7

Multi-

Function

Photo-

coupler 1

Multi-

Function

Input 6

Multi-

Function

Digital Output

Multi-

Function

Input 5

– – – Fault Reset

Multi-

Function

Input 4

Multi-

Function

Input 3

Run Rev Run Fwd

External

Fault

Name Description

Run Fwd

Run Rev

Multi-Function Input 3

Multi-Function Input 4

Multi-Function Input 5

Multi-Function Input 6

Multi-Function Input 7

Multi-Function Input 8

External Fault

Fault Reset

Multi-Function Digital

Output

Forward Run Command 0: Stop 1: Forward Run

Reverse Run Command 0: Stop 1: Reverse Run

Terminal S3 Function Input 0: Terminal S3 Function (H1-03) OFF 1: Terminal S3 Function (H1-03) ON

Terminal S4 Function Input 0: Terminal S4 Function (H1-04) OFF 1: Terminal S4 Function (H1-04) ON

Terminal S5 Function Input 0: Terminal S5 Function (H1-05) OFF 1: Terminal S5 Function (H1-05) ON

Terminal S6 Function Input 0: Terminal S6 Function (H1-06) OFF 1: Terminal S6 Function (H1-06) ON

Terminal S7 Function Input 0: Terminal S7 Function (H1-07) OFF 1: Terminal S7 Function (H1-07) ON

Terminal S8 Function Input 0: Terminal S8 Function (H1-08) OFF 1: Terminal S8 Function (H1-08) ON

External Fault EF0 0: No External Fault (EF0) 1: External Fault (EF0)

Fault Reset 0: No Fault Reset 1: Fault Reset

Terminal M1/M2 0: M1/M2 OFF 1: M1/M2 ON This function is enabled only when H2-01 is set to F.

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

8 Output Assemblies (Drive Consumes)

Name Description

Multi-Function Photocoupler 1

Multi-Function Photocoupler 2

Speed Reference

Torque Reference/Torque

Torque Compensation Sets the amount of Torque Compensation Sets in units of 0.1%.

Limit

Analog Output 1 MEMOBUS/Modbus (0x0007)

Analog Output 2 MEMOBUS/Modbus (0x0008)

Digital Outputs MEMOBUS/Modbus (0x0009)

High Speed/Torque Control Output (Vendor Specific Yaskawa Electric (YE) Assy) - 116

Terminal P1 0: P1 OFF 1: P1 ON This function is enabled only when H2-02 is set to F.

Terminal P2 0: P2 OFF 1: P2 ON This function is enabled only when H2-03 is set to F.

Speed Command Sets drive speed reference.

Unit depends on o1-03. Unit is not affected by Speed Scale SS.

(0x74)

This assembly is dynamic and can be configured as to what parameters are used. The first 20 Bytes (0-19) are fixed and the next 20 Bytes can be configured using parameters F7-23 to F7-32. If an error occurs while trying to write to the dynamic parameters, the appropriate error bit in Assembly 166 will be set. If more information is needed as to the nature of the error, the extended error status can be read explicitly through Class 4, Instance 0xA6, Attribute 0x64. This will return 20 Bytes with each dynamic parameter in Assembly 116 having a Byte dedicated to its extended error status. Refer to Input Assemblies

(Drive Produces) on page 29 for more information.

Output Instance Word Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

116

2 Speed Reference (Low Byte)

3 Speed Reference (High Byte)

4 Torque Reference/Torque Limit (Low Byte)

5 Torque Reference/Torque Limit (High Byte)

6 Torque Compensation (Low Byte)

7 Torque Compensation (High Byte)

8 Reserved

9 – – – –

10 – – – – – – NetCtrl NetRef

11 – – – – – – – –

12 Analog Output 1 (Low Byte)

13 Analog Output 1 (High Byte)

Multi-

Function

Input 8

Multi-

Function

Photo-

coupler 2

Multi-

Function

Input 7

Multi-

Function

Photo-

coupler 1

Multi-

Function

Input 6

Multi-

Function

Digital Output

Multi-

Function

Input 5

– – – Fault Reset

Multi-

Function

Input 4

Multi-

Function

Input 12

Multi-

Function

Input 3

MultiFunction Input 11

Run Rev Run Fwd

Function

Input 10

Multi-

External

Fault

Multi-

Function

Input 9

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

8 Output Assemblies (Drive Consumes)

Output Instance Word Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

14 Analog Output 2 (Low Byte)

15 Analog Output 2 (High Byte)

16 Digital Outputs (Low Byte)

17 Digital Outputs (High Byte)

18 Reserved

19 Reserved

Programmable Bytes

Defined by F7-23

Default: Not Used

Programmable Bytes

Defined by F7-24

Default: Not Used

Programmable Bytes

Defined by F7-25

Default: Not Used

Programmable Bytes

Defined by F7-26

Default: Not Used

Programmable Bytes

Defined by F7-27

Default: Not Used

Programmable Bytes

Defined by F7-28

Default: Not Used

Programmable Bytes

Defined by F7-29

Default: Not Used

Programmable Bytes

Defined by F7-30

Default: Not Used

Programmable Bytes

Defined by F7-31

Default: Not Used

Programmable Bytes

Defined by F7-32

Default: Not Used

116

10 20-21

11 22-23

12 24-25

13 26-27

14 28-29

15 30-31

16 32-33

17 34-35

18 36-37

19 38-39

Name Description

Run Fwd

Run Rev

Multi-Function Input 3

Multi-Function Input 4

Multi-Function Input 5

Multi-Function Input 6

Multi-Function Input 7

Multi-Function Input 8

Forward Run Command 0: Stop 1: Forward Run

Reverse Run Command 0: Stop 1: Reverse Run

Terminal S3 Function Input 0: Terminal S3 Function (H1-03) OFF 1: Terminal S3 Function (H1-03) ON

Terminal S4 Function Input 0: Terminal S4 Function (H1-04) OFF 1: Terminal S4 Function (H1-04) ON

Terminal S5 Function Input 0: Terminal S5 Function (H1-05) OFF 1: Terminal S5 Function (H1-05) ON

Terminal S6 Function Input 0: Terminal S6 Function (H1-06) OFF 1: Terminal S6 Function (H1-06) ON

Terminal S7 Function Input 0: Terminal S7 Function (H1-07) OFF 1: Terminal S7 Function (H1-07) ON

Terminal S8 Function Input 0: Terminal S8 Function (H1-08) OFF 1: Terminal S8 Function (H1-08) ON

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

8 Output Assemblies (Drive Consumes)

Name Description

External Fault

Fault Reset

Multi-Function Digital

Output

Multi-Function Photocoupler 1

Multi-Function Photocoupler 2

Speed Reference

Torque Reference/Torque

Limit

Torque Compensation Sets the amount of Torque Compensation Sets in units of 0.1%.

Digital Inputs MEMOBUS/Modbus (0x49). Monitor parameter U1-10

NetRef Network sets reference

NetCtrl Network sets control

Analog Output 1 MEMOBUS/Modbus (0x0007)

Analog Output 2 MEMOBUS/Modbus (0x0008)

Digital Outputs MEMOBUS/Modbus (0x0009)

Programmable Bytes

External Fault EF0 0: No External Fault (EF0) 1: External Fault (EF0)

Fault Reset 0: No Fault Reset 1: Fault Reset

Terminal M1/M2 0: M1/M2 OFF 1: M1/M2 ON This function is enabled only when H2-01 is set to F.

Terminal P1 0: P1 OFF 1: P1 ON This function is enabled only when H2-02 is set to F.

Terminal P2 0: P2 OFF 1: P2 ON This function is enabled only when H2-03 is set to F.

Speed Command Sets drive speed reference.

Unit depends on o1-03. Unit is not affected by Speed Scale SS.

Contains the data to be written to the MEMOBUS/Modbus address defined in the given parameter. A value of 0 in the given parameter means it is not used, therefore the value received for this given parameter will not be written to any MEMOBUS/ Modbus register. If the PPA is Input Assembly 166, then any errors occurring during a write will be flagged. Refer to High

Speed/Torque Status Input (Vendor Specific Yaskawa Electric (YE) Assy) - 166 (0xA6) on page 36 for details.

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

9 Input Assemblies (Drive Produces)

Note: The convention in this manual is from the PLC perspective. An “Input Assembly” is outputted from this node and read by the PLC. This

Basic Speed Control Input - 70 (0x46)

Input Instance Word Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Running 1 (FWD)

section details “Input Assemblies” that are “Produced” by this drive.

Name Description

Faulted

Speed Actual

Faulted 0: No Faults Occurred 1: Fault Occurred

Forward Running 0: Stop or Reverse Running 1: Forward Running

Actual Drive Speed Monitors drive output frequency. Speed actual data: Output frequency x 2SS (SS: Speed scale) Setting range: 0 to 0xFFFF For example, when output frequency of 1024 with a speed scale of 2: Speed actual data = 1024 x 22 = 4096 = 0x1000 Unit depends on o1-03.

0 – – – – –

1 –

2 Speed Actual (Low Byte)

3 Speed Actual (High Byte)

Running 1

(FWD)

– Faulted

Extended Speed Control Input - 71 (0x47)

Input Instance Word Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Name Description

Faulted

Warning

Running 1 (FWD)

Running 2 (REV)

Ready

Ctrl from Net

Ref from Net

At Speed

Faulted 0: No Faults Occurred 1: Fault Occurred

Warning 0: No Warning Occurred 1: Warning Occurred

Forward Running 0: Stop or Reverse Running 1: Forward Running

Reverse Running 0: Stop or Forward Running 1: Reverse Running

Drive Ready 0: Not Ready 1: Ready

Status of Run command from Network 0: Run command is not from network 1: Run command is from network

Status of Speed reference from Network 0: Speed reference is not from network 1: Speed reference is from network

Speed Agree 0: No Speed Agree 1: Speed actual at speed reference

0 At Speed

1 Drive State

2 Speed Actual (Low Byte)

3 Speed Actual (High Byte)

Ref from

Net

Ctrl from

Net

Ready

Running 2

(REV)

Running 1

(FWD)

Warning Faulted

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

9 Input Assemblies (Drive Produces)

Name Description

Drive State Contains the value from the Control Supervisor (Class 0x29) Instance 1 Attribute 6.

Actual Drive Speed Monitors drive output frequency.

Speed Actual

Speed and Torque Control Input - 72 (0x48)

Input Instance Word Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Name Description

Faulted

Running 1 (FWD)

Speed Actual

Torque Actual

Speed actual data: Output frequency x 2SS (SS: Speed scale) Setting range: 0 to 0xFFFF For example, when output frequency of 1024 with a speed scale of 2: Speed actual data = 1024 x 22 = 4096 = 0x1000 Unit depends on o1-03.

Faulted 0: No Faults Occurred 1: Fault Occurred

Forward Running 0: Stop or Reverse Running 1: Forward Running

Output Torque Shows the Torque Reference. Value displays in 0.1% units.

0 – – – – –

1 –

2 Speed Actual (Low Byte)

3 Speed Actual (High Byte)

4 Torque Actual (Low Byte)

5 Torque Actual (High Byte)

Running 1

(FWD)

– Faulted

Extended Speed and Torque Control Input - 73 (0x49)

Input Instance Word Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Name Description

Faulted

Warning

Running 1 (FWD)

Faulted 0: No Faults Occurred 1: Fault Occurred

Warning 0: No Warning Occurred 1: Warning Occurred

Forward Running 0: Stop or Reverse Running 1: Forward Running

0 At Speed

1 Drive State

2 Speed Actual (Low Byte)

3 Speed Actual (High Byte)

4 Torque Actual (Low Byte)

5 Torque Actual (High Byte)

Ref from

Net

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

Ctrl from

Net

Ready

Running 2

(REV)

Running 1

(FWD)

Warning Faulted

9 Input Assemblies (Drive Produces)

Name Description

Running 2 (REV)

Ready

Ctrl from Net

Ref from Net

At Speed

Drive State Contains the value from the Control Supervisor (Class 0x29) Instance 1 Attribute 6.

Speed Actual

Torque Actual

Reverse Running 0: Stop or Forward Running 1: Reverse Running

Drive Ready 0: Not Ready 1: Ready

Status of Run command from Network 0: Run command is not from network 1: Run command is from network

Status of Speed reference from Network 0: Speed reference is not from network 1: Speed reference is from network

Speed Agree 0: No Speed Agree 1: Speed actual at speed reference

Output Torque Shows the Torque Reference. Value displays in 0.1% units.

MEMOBUS/Modbus Message Input (Vendor Specific Yaskawa Electric (YE) Assy) - 150 (0x96)

Input Instance Word Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

150

Note: This is a paired assembly (100/150).

Byte Write Success Read Success Write Failure Read Failure Invalid Function Code

0 0x10 0x03 0x90 0x83

3 0

4 0 Read Data (Low Byte) Error Code Error Code 1 0

Output Assembly Register Number

(High Byte)

Output Assembly Register Number

(Low Byte)

2 4 Register Data (Low Byte)

0 Function Code

1 Register Number (High Byte)

2 Register Number (Low Byte)

3 Register Data (High Byte)

Table 9 Reply Mapping – 150

Output Assembly

(High Byte)

Output Assembly

(Low Byte)

Read Data

(High Byte)

Output Assembly

(High Byte)

Output Assembly

(Low Byte)

0 0 0 0

Output Assembly

(High Byte)

Output Assembly

(Low Byte)

Function Code

Equals Zero

Function Code Or-ed with

0x80

Output Assembly

(High Byte)

Output Assembly

(Low Byte)

Table 10 Error Replies – 150

Error Code Description

0x01 Invalid Function Code

0x02 Invalid Register Number

0x21 Upper/Lower Limit Error

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

9 Input Assemblies (Drive Produces)

Error Code Description

Option generated busy event. The MEMOBUS/Modbus requested operation is in the process loop but the drive is not done.

0x22

0x23 Attempting to write during a drive undervoltage (Uv) event.

0x24 Attempting to write while the drive is storing data.

Writing “Enter” when drive is running. Attempt to write data that is read only. Attempt to write a parameter when drive is running. During a CPF03 event attempting to write to registers other than A1-00 to A1-05, E1-03, o2-04.

Note: Refer to the MEMOBUS/Modbus Data Table in the MEMOBUS/Modbus Communications chapter of the drive manual for a list of monitor

Speed/Torque Status Input (Vendor Specific Yaskawa Electric (YE) Assy) - 151 (0x97)

Input Instance Word Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

LOCAL/REMOTE

data using the MEMOBUS/Modbus message area.

0 Faulted Alarm Ready

1 ZSV –

151

Name Description

Running

ZSP

REV Running

Reset

Speed Agree

Ready

Alarm

Faulted

OPE

Running 0: Stop 1: Forward or Reverse Running

Zero Speed 0: Running 1: Stop or DC Injection Braking

Reverse Running 0: Not Reverse Running 1: Reverse Running

Reset 0: No Reset 1: Reset

Speed Agree 0: No Speed Agree 1: Speed Actual at speed reference

Drive Ready 0: Not Ready 1: Ready

Drive Alarm 0: No Drive Alarm 1: Alarm

Drive Fault 0: No Drive Fault 1: Fault

OPE Fault 0: No oPE Fault 1: oPE

Undervoltage 0: No Undervoltage 1: Undervoltage

Status of Run command from Network 0: Run command is not from network 1: Run command is from network

2 Output Frequency (Low Byte)

3 Output Frequency (High Byte)

4 Torque Actual (Low Byte)

5 Torque Actual (High Byte)

6 Current Actual (Low Byte)

7 Current Actual (High Byte)

Multi-

Function

Photo-

coupler 2

Speed Agree

Multi-

Function

Photo-

coupler 1

Reset

Multi-

Function

Digital Output

REV

Running

LOCAL/

REMOTE

ZSP Running

Uv oPE

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

Name Description

Multi-Function Digital

Output

Multi-Function Photocoupler 1

Multi-Function Photocoupler 2

ZSV

Output Frequency

Torque Actual

Current Actual

Terminal M1/M2 0: M1/M2 OFF 1: M1/M2 ON This function is enabled only when H2-01 is set to F.

Terminal P1 0: Terminal P1 OFF 1: Terminal P1 ON

Terminal P2 0: Terminal P2 OFF 1: Terminal P2 ON

Zero Servo Completed 0: – 1: Completed

Actual Drive Speed Monitors drive output frequency. Unit depends on o1-03. Unit is not affected by Speed Scale SS.

Output Torque Shows the Torque Reference. Value displays in 0.1% units.

Actual Output Current Monitors drive output current. Unit is 0.01 A. Unit is not affected by Current Scale CS.

9 Input Assemblies (Drive Produces)

Extended Speed/Torque Status Input (Vendor Specific Yaskawa Electric (YE) Assy) 155 (0x9B)

Output Instance Word Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

155

0 Faulted Alarm Ready

1 ZSV –

2 Motor Speed (Low Byte)

3 Motor Speed (High Byte)

4 Torque Actual (Low Byte)

5 Torque Actual (High Byte)

6 PG Count Value (Low Byte)

7 PG Count Value (High Byte)

8 Frequency Command (Low Byte)

9 Frequency Command (High Byte)

10 Output Frequency (Low Byte)

11 Output Frequency (High Byte)

12 Output Current (Low Byte)

13 Output Current (High Byte)

16 Main Circuit DC Voltage (Low Byte)

17 Main Circuit DC Voltage (High Byte)

18 Error Code (Low Byte)

19 Error Code (High Byte)

Multi-

Function

Photo-

coupler 2

Default: Terminal A2 Input (Low Byte)

Default: Terminal A2 Input (High Byte)

Speed Agree

Multi-

Function

Photo-

coupler 1

Parameter F7-35

Fault Reset

Multi-

Function

Digital Output

REV

Running

LOCAL/

REMOTE

ZSP Running

Uv oPE

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

9 Input Assemblies (Drive Produces)

Output Instance Word Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Parameter F7-33

Default: Alarm Code (Low Byte)

Parameter F7-33

Parameter F7-34

Parameter F7-37

Parameter F7-36

Terminal A1 Input (Low Byte)

Terminal A1 Input (High Byte)

Parameter F7-38

155

16-19 32-39 Reserved

<1> Selectable with F7-33 to F7-42.

<1>

Default: Alarm Code (High Byte)

Default: Output Power (Low Byte)

Default: Output Power (High Byte)

Default: Terminal A3 Input (Low Byte)

Default: Terminal A3 Input (High Byte)

Default: Terminal S1 to S8 Input (Low Byte)

Default: Terminal S1 to S8 Input (High Byte)

Default: PG Counter (Ch2) (Low Byte)

Default: PG Counter (Ch2) (High Byte)

Name Description

Running

0: Stop 1: Forward or Reverse Running

Zero Speed

0: Running 1: Stop or DC Injection Braking

Reverse Running

REV Running

0: Not Reverse Running 1: Reverse Running

Fault Reset command from Network

Fault Reset

0: Fault Reset command is not from network 1: Fault Reset command is from network

Speed Agree

0: No Speed Agree 1: Speed Actual at speed reference

Drive Ready

Ready

0: Not Ready 1: Ready

Drive Alarm

Alarm

0: No Drive Alarm 1: Alarm

Drive Fault

Faulted

0: No Drive Fault 1: Fault

oPE Fault

oPE

0: No oPE Fault 1: oPE

Undervoltage

0: No Undervoltage 1: Undervoltage

Status of Run command from Network

LOCAL/REMOTE

0: Run command is not from network 1: Run command is from network

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

Name Description

Multi-Function Digital

Output

Multi-Function Photocoupler 1

Multi-Function Photocoupler 2

ZSV

Motor Speed Monitor parameter U1-05

Torque Actual

PG Count Value Contained MEMOBUS/Modbus Address

Frequency Command Monitor parameter U1-01

Output Frequency

Output Current

Drive Terminal A1 Input

Main DC Voltage

Error Code U2-01 converted using fault code table

F7-33 Alarm Code Programmable: MEMOBUS/Modbus (0x7F)

F7-35 Terminal A2 Input

F7-36 Drive Terminal

S1 to S8

F7-37 Terminal A3 Input Programmable: MEMOBUS/Modbus (0x50)

F7-38 PG Count Value

(CH 2)

Terminal M1/M2 0: M1/M2 OFF 1: M1/M2 ON This function is enabled only when H2-01 is set to F.

Terminal P1 0: Terminal P1 OFF 1: Terminal P1 ON

Terminal P2 0: Terminal P2 OFF 1: Terminal P2 ON

Zero Servo Completed 0: – 1: Completed

Output Torque Shows the Torque Reference. Value displays in 0.1% units.

Actual Drive Speed Monitors drive output frequency. Unit depends on o1-03. Unit is not affected by Speed Scale SS.

Actual Output Current Monitors drive output current. Unit is 0.01 A Unit is not affected by Current Scale CS.

MEMOBUS/Modbus (0x46) Monitor parameter U1-13

Main Circuit DC Voltage Monitor parameter U1-07

Programmable: MEMOBUS/Modbus (0x4F) Monitor parameter U1-14

Programmable: MEMOBUS/Modbus (0x49) Monitor parameter U1-10

Programmable: MEMOBUS/Modbus (0xF1) Serial interface Control Response

9 Input Assemblies (Drive Produces)

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

9 Input Assemblies (Drive Produces)

High Speed/Torque Status Input (Vendor Specific Yaskawa Electric (YE) Assy) - 166 (0xA6)

If an error occurs while trying to read from the dynamic parameters, the appropriate error bit in Assembly 166 will be set. If more information about the nature of the error is needed, the extended error status can be read explicitly through Class 4, Instance 0xA6, Attribute 0x64. This will return 20 Bytes with each dynamic parameter in Assembly 166 having a Byte dedicated to its extended error status.

Output Instance Word Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

166

0 Faulted Alarm Ready

1 ZSV –

2 Motor Speed (Low Byte)

3 Motor Speed (High Byte)

4 Torque Actual (Low Byte)

5 Torque Actual (High Byte)

6 PG Count Value (Low Byte)

7 PG Count Value (High Byte)

8 Frequency Command (Low Byte)

9 Frequency Command (High Byte)

10 Output Frequency (Low Byte)

11 Output Frequency (High Byte)

12 Output Current (Low Byte)

13 Output Current (High Byte)

16 Main Circuit DC Voltage (Low Byte)

17 Main Circuit DC Voltage (High Byte)

18 Error Code (Low Byte)

19 Error Code (High Byte)

<1>

Multi-

Function

Photo-

coupler 2

Default: Terminal A2 Input (Low Byte)

Default: Terminal A2 Input (High Byte)

Speed Agree

Multi-

Function

Photo-

coupler 1

Parameter F7-35

Parameter F7-33

Default: Alarm Code (Low Byte)

Parameter F7-33

Default: Alarm Code (High Byte)

Fault Reset

Multi-

Function

Digital Output

REV

Running

LOCAL/

REMOTE

ZSP Running

Uv oPE

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

9 Input Assemblies (Drive Produces)

Output Instance Word Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Parameter F7-34

Parameter F7-35

Parameter F7-36

Parameter F7-37

Parameter F7-38

Parameter F7-39

Default: NetRef and NetCtrl

Parameter F7-40

Parameter F7-41

Default: Not Used

Parameter F7-33

Default: Not Used

Parameter F7-33

Default: Not Used

Parameter F7-42

Default: Not Used

Assy. 116

F7-27

Error

Assy. 166

F7-37

Error

Assy. 116

F7-26

Error

Assy. 166

F7-36

Error

Assy. 116

F7-25

Error

Assy. 166

F7-35

Error

Assy. 116

F7-32

Error

Assy. 116

F7-24

Error

Assy. 166

F7-42

Error

Assy. 166

F7-34

Error

Assy. 116

Assy. 166

166

21 42 – – – – – –

<1> Selectable with F7-33 to F7-42.

<1>

Default: Output Power (Low Byte)

Default: Output Power (High Byte)

Default: Terminal A2 Input (Low Byte)

Default: Terminal A2 Input (High Byte)

Default: Terminal S1 to S8 Input (Low Byte)

Default: Terminal S1 to S8 Input (High Byte)

Default: Terminal A3 Input (Low Byte)

Default: Terminal A3 Input (High Byte)

Default: PG Counter (Ch2) (Low Byte)

Default: PG Counter (Ch2) (High Byte)

Default: NetRef and NetCtrl (Low Byte)

– – – – – – NetCtrl NetRef

<1>

Default: Drive Software Version (Low Byte)

Default: Drive Software Version (High Byte)

40 – – – – – –

Assy. 116

F7-30

Error

Assy. 166

F7-40

Error

Assy. 116

F7-29

Error

Assy. 166

F7-39

Error

Assy. 116

F7-28

Error

Assy. 166

F7-38

Error

F7-31

Error

F7-23

Error

F7-41

Error

F7-33

Error

Name Description

Running

0: Stop 1: Forward or Reverse Running

Zero Speed

0: Running 1: Stop or DC Injection Braking

Reverse Running

REV Running

0: Not Reverse Running 1: Reverse Running

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

9 Input Assemblies (Drive Produces)

Name Description

Fault Reset

Speed Agree

Ready

Alarm

Faulted

oPE

LOCAL/REMOTE

Multi-Function Digital

Output

Multi-Function Photocoupler 1

Multi-Function Photocoupler 2

ZSV

Motor Speed Monitor parameter U1-05

Torque Actual

PG Count Value Contained MEMOBUS/Modbus Address

Frequency Command Monitor parameter U1-01

Output Frequency

Output Current

Drive Terminal A1 Input

Main DC Voltage

Error Code U2-01 converted using fault code table

F7-33 Alarm Code Programmable: MEMOBUS/Modbus (0x7F)

F7-35 Terminal A2 Input

F7-36 Drive Terminal

S1 to S8

F7-37 Terminal A3 Input Programmable: MEMOBUS/Modbus (0x50)

Fault Reset command from Network 0: Fault Reset command is not from network 1: Fault Reset command is from network

Speed Agree 0: No Speed Agree 1: Speed Actual at speed reference

Drive Ready 0: Not Ready 1: Ready

Drive Alarm 0: No Drive Alarm 1: Alarm

Drive Fault 0: No Drive Fault 1: Fault

oPE Fault 0: No oPE Fault 1: oPE

Undervoltage 0: No Undervoltage 1: Undervoltage

Status of Run command from Network 0: Run command is not from network 1: Run command is from network

Terminal M1/M2 0: M1/M2 OFF 1: M1/M2 ON This function is enabled only when H2-01 is set to F.

Terminal P1 0: Terminal P1 OFF 1: Terminal P1 ON

Terminal P2 0: Terminal P2 OFF 1: Terminal P2 ON

Zero Servo Completed 0: – 1: Completed

Output Torque Shows the Torque Reference. Value displays in 0.1% units.

Actual Drive Speed Monitors drive output frequency. Unit depends on o1-03. Unit is not affected by Speed Scale SS.

Actual Output Current Monitors drive output current. Unit is 0.01 A Unit is not affected by Current Scale CS.

MEMOBUS/Modbus (0x46) Monitor parameter U1-13

Main Circuit DC Voltage Monitor parameter U1-07

Programmable: MEMOBUS/Modbus (0x4F) Monitor parameter U1-14

Programmable: MEMOBUS/Modbus (0x49) Monitor parameter U1-10

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

9 Input Assemblies (Drive Produces)

Name Description

F7-38 PG Count Value

(CH 2)

F7-39 NetRef (Status)

F7-40 Drive Software

Version

Programmable: MEMOBUS/Modbus (0xF1) Serial interface Control Response

Status of reference command from Network 0: Reference command is not from network 1: Reference command is from network

Programmable: MEMOBUS/Modbus (0x4D) Monitor parameter U1-25

Possible extended error codes are listed in Table 11 and Table 12. If an error occurs, extended error code 0x02 (Register number failure) is usually set.

Table 11 Extended Error Codes for Assembly 116/166

Error Code Description

0x00 No error

0x01 Sub function code failure

0x02 Register number failure

0x21 Limit check error failure

0x22 Write failure

0x23 Write failure at Uv

0x24 Write failure at busy

Table 12 Extended Error Codes in Class 0x04 Instance 0xA6 Attribute 0x64

Dynamic Parameter Byte Containing Extended Error Code

F7-23 Byte 0

F7-24 Byte 1

F7-25 Byte 2

F7-26 Byte 3

F7-27 Byte 4

F7-28 Byte 5

F7-29 Byte 6

F7-30 Byte 7

F7-31 Byte 8

F7-32 Byte 9

F7-33 Byte 10

F7-34 Byte 11

F7-35 Byte 12

F7-36 Byte 13

F7-37 Byte 14

F7-38 Byte 15

F7-39 Byte 16

F7-40 Byte 17

F7-41 Byte 18

F7-42 Byte 19

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

10 General Class Objects

Identity Object 1 (Class 0x01)

Services Supported

Service Code No. (Hex) Service Name

01 Get Attribute All

05 Reset

0E Get Attribute Single

Attributes Supported

Instance

0 1

1 1 Vendor ID

1 2 Device Type

1 3 Product Code

1 4 Revision Software revision for the option. O – Word – Depends on software

1 5 Status

1 6 Serial Number Option serial number O – Long – Each unit is unique

1 7 Product Name Product name O –

1 8 State

<1> Product code is 2 Bytes. The first Byte is the drive type and the second Byte is the model number of the drive.

Attribute Name Description Get Set Size Range Default

Object Software

Revision

Identity Object software revision O – Word – 1

Manufacturer code. 44 (2C H): Yaskawa Electric

Device profile. The profile for this product is an AC drive. 2: AC drive

Product codes determined by the manufacturer.

Shows the communication status for the drive.

Operation status of the drive. 3: Drive ready 4: Fault

O – Word – 44 (Yaskawa)

O – Word – 2 (AC drives)

O – Word –

O – Word – 0

String

(14 Bytes)

O – Byte –

–

Product-dependent

(i.e., CIMR-X)

State of the drive

<1>

Assembly Object 4 (Class 0x04)

Services Supported

Service Code No. (Hex) Service Name

0E Get Attribute Single

10 Set Attribute Single

Attributes Supported

Instance

0 1

20 3 Data

21 3 Data

22 3 Data

Attribute Name Description Get Set Size Range Default

Object Software

Revision

Show the EtherNet Object software revision.

Same function as the Basic Speed Control (Output Assembly)

Same function as the Extended Speed Control (Output Assembly)

Same function as the Speed and Torque Control (Output Assembly)

O – Word – 2

O O Array 4 Bytes – 00 00 00 00

O O Array 6 Bytes – 00 00 00 00 00 00

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

10 General Class Objects

Instance

23 3 Data

70 3 Data

71 3 Data

72 3 Data

73 3 Data

100 3 Data

101 3 Data

115 3 Data

116 3 Data

150 3 Data

151 3 Data

155 3 Data

166 3 Data

Attribute Name Description Get Set Size Range Default

Same function as the Extended Speed and Torque Control (Output Assembly)

Same function as the Basic Speed Control (Input Assembly)

Same function as the Extended Speed Control (Input Assembly)

Same function as the Extended Speed and Torque Control (Input Assembly)

Same function as the Speed Control (Input Assembly)

Same function as the MEMOBUS/ Modbus Message Command (Output Assembly)

Same function as the Standard Control (Output Assembly)

Same function as the Extended Speed/ Torque Control (Output Assembly)

Same function as the High Speed/ Torque Control (Output Assembly)

Same function as the MEMOBUS/ Modbus Message Command (Input Assembly)

Same function as the Standard Status (Input Assembly)

Same function as the Extended Speed/ Torque Status (Input Assembly)

Same function as the High Speed/ Torque Status (Input Assembly)

O O Array 6 Bytes – 00 00 00 00 00 00

O – Array 4 Bytes – 00 00 00 00

O – Array 6 Bytes – 00 00 00 00 00 00

O O Array 5 Bytes – 00 00 00 00 00

O O Array 8 Bytes – 00 00 00 00 00 00 00 00

00 00 00 00 00 00 00 00

O O

O – Array 5 Bytes – 00 00 00 00 00

O – Array 8 Bytes – 00 00 00 00 00 00 00 00

O –

Array 40

Bytes

Array 44

Bytes

Array 40

Bytes

Array 44

Bytes

00 00 00 00 00 00 00 00

–

00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

–

00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

–

00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

–

00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

Motor Data Object 40 (Class 0x28)

Services Supported

Service Code No. (Hex) Service Name

0E Get Attribute Single

10 Set Attribute Single

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

10 General Class Objects

Attributes Supported

Instance

0 1

1 3 Motor Type

1 6

1 7

Control Supervisor Object 41 (Class 0x29)

Services Supported

Attribute Name Description Get Set Size Range Default

Object Software

Revision

Rated Current

[0.1 A]

Rated Voltage

[1V]

Service Code No. (Hex) Service Name

Motor Data Object software revision. O – Word – 1

Differs depending on selected motor control mode. When set to OLV/PM (A1-02 = 5), value becomes 3 (PM motor). When set to V/f (A1-02 = 0) or OLV (A1-02 = 2), value becomes 7 (squirrel cage motor).

Motor rated current. Displayed in 0.1 A units. Changes according to the current scale (CS).

Motor rated voltage. Displayed in 1 V units. Changes according to the voltage scale (VS).

0E Get Attribute Single

10 Set Attribute Single

05 Reset

O – Byte –

O O Byte – Depends on capacity

Depends on A1-02,

Control Method

Selection

Attributes Supported

Instance

0 1

1 3

1 4

1 5

1 6 State

1 7

1 8

1 9 Ready

1 10 Faulted

Attribute Name Description Get Set Size Range Default

Object Software

Revision

Run 1 (Forward Run Command)

Run 2 (Reverse

Run Command)

NetCtrl

(Command)

Running 1

(FWD)

Running 1

(REV)

Revision number of the Control Supervisor Object.

Forward Running 0: Stop 1: Forward Running

Reverse Running 0: Stop 1: Reverse Running

Run command from Network 0: Depends on b1-02 1: Enables the run command from network

Drive Status 2: Not Ready 3: Ready (Stopped) 4: Enabled (Run command present) 5: Deceleration to Stop 6: Fault Stop 7: Fault

Forward Running 0: Stop 1: Forward Running

Reverse Running 0: Stop 1: Reverse Running

Drive Ready 0: Not Ready 1: Ready

Drive Fault 0: No Drive Fault 1: Fault

O – Word – 1

O O Byte 0, 1 0

O – Byte – 3

O – Byte – 0

O – Byte – 1

O – Byte – 0

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

10 General Class Objects

Instance

Attribute Name Description Get Set Size Range Default

1 11 Warning

1 12 Fault Reset

1 13 Fault Code

1 15

1 16 NetFaultMode Normal 2 (Vendor Specific) O – Byte – 2

1 17 Force Fault

1 18 Force Status

Control from

Net (Status)

Warning 0: No Warning 1: Warning

Fault Reset 0: No Fault Reset 1: Fault Reset

Current Fault

Refer to Option Fault Code Conversion Table on page 43 for

details.

Run Command from the option 0: The Run command is not from the option 1: Enables the Run command from option

External Fault 0: No External Fault 1: External Fault (EF0) Triggered by the rising edge of the signal.

External Fault status 0: No External Fault 1: External Fault (EF0) Triggered by the rising edge of the signal.

O – Byte – 0

O O Byte 0, 1 0

O – Word – 0000

O – Byte – 0

O O Byte 0, 1 0

O – Byte – 0

Option Fault Code Conversion Table

Drive Fault Code (Hex)

(MEMOBUS/Modbus 0080 Hex)

0 0 None

2 3220 DC Bus Undervolt (Uv1)

3 5110 CTL PS Undervolt (Uv2)

4 3222 MC Answerback (Uv3)

6 2120 Ground Fault (GF)

7 2300 Over Current (oC)

8 3210 DC Bus Overvolt (ov)

9 4200 Heatsink Overtemp (oH)

10 4210 Heatsink Max Temp (oH1)

11 2220 Motor Overload (oL1)

12 2200 Drive Overload (oL2)

13 2221 Overtorque Det 1 (oL3)

14 2222 Overtorque Det 2 (oL4)

15 7110 DynBrk Transistor (rr)

16 7112 DynBrk Resistor (rH)

17 9000 External Fault 3 (EF3)

18 9000 External Fault 4 (EF4)

19 9000 External Fault 5 (EF5)

20 9000 External Fault 6 (EF6)

21 9000 External Fault 7 (EF7)

22 9000 External Fault 8 (EF8)

24 7310 Overspeed Det (oS)

25 7310 Speed Deviation (dEv)

26 7301 PG Open (PGo)

27 3130 Input Phase Loss (PF)

28 3130 Output Phase Loss (LF)

Option Fault Code (Hex) Description

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

10 General Class Objects

Drive Fault Code (Hex)

(MEMOBUS/Modbus 0080 Hex)

29 5210 Motor Overheat 1 (PTC Input) (oH3)

30 5300 Operator Disconnected (oPr)

31 6320 EEPROM R/W Error (Err)

32 3210 Motor OverHeat 2 (PTC Input) (oH4)

33 7500 MEMBOUS/Modbus Com Fault (CE)

34 7500 EtherNet/IP Communication Error (bUS)

37 8321 Out of Control (CF)

39 9000 External Fault 0 (EF0)

40 8000 PID Feedback Loss (FbL)

41 8000 Undertorque Detection 1 (UL3)

42 8000 Undertorque Detection 2 (UL4)

43 8000 High Slip Braking oL (oL7)

50 8000 Z Pulse Fault Detection (dv1)

51 8000 Z Pulse Noise Fault Detection (dv2)

52 8000 Inversion Detection (dv3)

53 8000 Inversion Prevention Detection (dv4)

54 8000 Current Imbalance (LF2)

55 8000 Pull-Out Detection (STo)

56 7000 PG Hardware Fault (PGoH)

59 1000 Too Many Speed Search Restarts (SEr)

65 8000 Excessive PID Feedback (FbH)

66 9000 External Fault (input terminal S1) (EF1)

67 9000 External Fault (input terminal S2) (EF2)

38 8000 Mechanical Weakening Detection 1 (oL5)

39 8000 Mechanical Weakening Detection 2 (UL5)

70 5000 Current Offset Fault (CoF)

73 8000 DriveWorksEZ Fault (dwFL)

77 5000 Output Voltage Detection Fault (voF)

78 7000 Braking Resistor Fault (rF)

79 7000 Braking Transistor Overload Fault (boL)

– 1000 Other faults

Option Fault Code (Hex) Description

AC/DC Drive Object 42 (Class 0x2A)

Services Supported

Service Code No. (Hex) Service Name

0E Get Attribute Single

10 Set Attribute Single

Attributes Supported

Instance

0 1

1 3 AtReference

1 4

Attribute Name Description Get Set Size Range Default

Object Software

Revision

NetRef

(Command)

Revision number of AC/DC drive object

Speed Agree 0: – 1: Speed Agree

Status of reference command from EtherNet/ IP 0: Reference command not from option 1: Reference command from the option

O – Word – 1

O – Byte – 0

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

10 General Class Objects

Instance

Attribute Name Description Get Set Size Range Default

1 6 Drive Mode

1 7 Speed Actual

1 8 Speed Reference

1 9 Current Actual

1 11 Torque Actual

1 12

1 15

1 16

1 17

1 18 Accel Time (ms)

1 19 Decel Time (ms)

1 20

1 21

1 22

1 23

1 24

1 26

Torque

Reference/

Torque Limit

Power Actual

Input Voltage

Output Voltage

Low Speed

Limit Percent of

Max Speed

High Speed

Limit Percent of

Max Speed

Speed Scale

(-15 to 15)

Current Scale

(-15 to 15)

Torque Scale

(-15 to 15)

Power Scale

(-15 to 15)

(W)

(V)

Drive control mode. 0: OLV, OLV for PM (Read only), Advanced OLV for PM (Read only) 1: V/f 2: V/f with PG 3: CLV, CLV for PM (Read only)

Actual drive speed. Unit is not affected by Speed Scale (SS).

Frequency Reference. Monitors the drive frequency reference. Unit is not affected by Speed Scale (SS).

Actual Output Current. Display is in the following units: 2A0004 to 2A0040, 4A0002 to 4A0023, 5A0007 to 5A0017: 0.01 A units. 2A0056 to 2A0415, 4A0031 to 4A0675, 5A0022 to 5A0242: 0.1 A units. 4A0930 and 4A1200: 1 A units. Unit is not affected by Current Scale (CS).

Drive Output Torque Unit is affected by Torque Scale (TS)

Torque Reference/Torque Limit Sets the Torque Reference/Torque Limit. The units are determined by the Torque Scale. Sets the Torque Reference when using Torque Control (d5-01 = 1). Sets the Torque Limit when using Speed Control (d5-01 = 0) The Torque Reference/Torque Limit are disabled when F6-06 = 0.

Drive Output Power Unit is affected by Power Scale (PS).

Drive Input Voltage Unit is affected by Voltage Scale (VS).

Drive Output Voltage Unit is affected by Voltage Scale (VS).

Acceleration Time 1 (C1-01) Units set in parameter C1-10. Unit is affected by Time Scale (TS).

Acceleration Time 1 (C1-02) Units set in parameter C1-10. Unit is affected by Time Scale (TS).

Frequency Reference Lower Limit (d2-02)

Frequency Reference Upper Limit (d2-01)

Setting for F7-17, scale of units for speed related data.

Setting for F7-18, scale of units for current related data.

Setting for F7-19, scale of units for torque related data.

Setting for F7-20, scale of units for power related data.

O O Byte 0 to 3 0

O – Word – 3

O O Word – 0

O – Word – 0

O O Word – 0

O – Word – 0

O – Word – Dep. on capacity

O – Word – 0

O O Word – 2710H

O O Word 0 to 1100 0

O O Word 0 to 1100 3E8H

O O Byte -15 to 15 0

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

10 General Class Objects

Instance

1 27

1 28

1 29

DLR Object 71 (Class 0x47)

Attribute Name Description Get Set Size Range Default

Voltage Scale

(-15 to 15)

Time Scale

(-15 to 15)

Reference from

Net (Status)

Setting for F7-21, scale of units for voltage related data.

Setting for F7-22, scale of units for speed related data.

Status of Reference Command (1 = Network). 0: As set by the drive parameters 1: Network

O O Byte -15 to 15 0

O – Byte – 0

Device Level Ring (DLR) is a layer 2 protocol allowing for redundancy in EtherNet/IP based ring topology networks. DLR allows devices to be placed in a ring to reduce the need for switch hardware and cabling and allow for the detection and recovery of faults in the ring. This option is a beacon based ring node implementation.

To set up a DLR network, configure a supervisor on the network prior to connecting and powering on all devices in the ring. Establishing a ring without an active supervisor may cause a loss of communication to devices on the ring.

The supervisor precedence must be configured when setting up the supervisor. Typically, the default beacon rate is 400 ms to allow for faster fault detection and recovery period and should be fast enough for devices to recover on the ring without losing an I/O connection. The precedence value for the supervisor is used when more than one supervisor is present. When two supervisors are on the network, the supervisor with the higher MAC address will become the supervisor and the other will become a backup supervisor.

Yaskawa recommends that all devices in the ring be DLR capable. Add non-DLR devices to the ring through a DLR-capable device, such as a 3-port ETAP.

Ensure that non-DLR devices placed in the ring meet the following requirements:

• Disable MAC address learning

• Do not use multicast filtering

• Preserve VLAN tags. Make sure that all switches in the ring are DLR-aware. Switches in the ring that are not DLR-aware may cause undesired

behavior due to MAC address learning of the supervisor beacon packets being received on two different switch ports.

Be sure to set the RPI only as fast as needed to limit the network traffic. Yaskawa supports RPIs down to 10 ms. However, if a slower level of control is acceptable, a slower RPI setting will reduce network traffic.

Yaskawa also recommends setting up and configuring all devices prior to completing the ring by leaving one cable disconnected. Make the last connection after configuring the nodes and supervisor.

Note: DLR is supported in option software versions VST800341 and later.

Services Supported

Service Code No. (Hex) Service Name

Attributes Supported

Instance

0 1

1 1

1 2 Network Status

Attribute Name Description Get Set Size Range Default

Object Software

01 Get Attribute All

10 Set Attribute Single

Revision

Network

Topology

Revision number of the DLR Object O – Word – 3

Current network topology mode 0: Linear 1: Ring

Current status of network 0: Normal 1: Ring fault 2: Unexpected loop detected 3: Partial network fault 4: Rapid fault/restore cycle

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

O – Byte 0, 1 0

O – Byte 0 to 4 –

10 General Class Objects

Instance

Note: “Get Attribute All” Service shall report in attribute ascending order.

QoS Object 72 (Class 0x48)

Services Supported

Attributes Supported

Instance

Attribute Name Description Get Set Size Range Default

1 10

1 12 Capability Flags Describes DLR capabilities O – Long – 0x00000002

Attribute Name Description Get Set Size Range Default

0 1

1 4 DCSP Urgent

1 5

1 6 DSCP High

1 7 DSCP Low

1 8 DSCP Explicit

Active

Supervisor

Address

Service Code No. (Hex) Service Name

Object Software

Revision

DSCP

Scheduled

Struct of: Supervisor IP Address = Long Supervisor MAC Address = Array of bytes

0E Get Attribute Single

10 Set Attribute Single

Revision number of the QoS Object O – Word – 1

DSCP value for CIP transport class 0/1 Urgent priority messages

DSCP value for CIP transport class 0/1 Scheduled priority messages

DSCP value for CIP transport class 0/1 High priority messages

DSCP value for CIP transport class 0/1 Low priority messages

DSCP value for CIP explicit messages and all other EtherNet/IP encapsulation messages

O – Struct – –

O O Byte 0 to 63 55

O O Byte 0 to 63 47

O O Byte 0 to 63 43

O O Byte 0 to 63 31

O O Byte 0 to 63 27

TCP/IP Object 245 (Class 0xF5)

Services Supported

Service Code No. (Hex) Service Name

01 Get Attribute All

0E Get Attribute Single

10 Set Attribute Single

Attributes Supported

Instance

Attribute Name Description Get Set Size Range Default

0 1

1 1 Status

Object Software

Revision

Revision number of the TCP/IP Object O – Word – 1

Bits 0-3 = Interface Status 0: Interface has not been configured 1: Interface Configuration is valid, obtained from BOOTP, DHCP, or NVRAM 2: Interface Configuration is valid and obtained from hardware settings 3: Reserved Bit 4 = Multicast Pending Bits 5-31 = Reserved

O – DWord – –

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

10 General Class Objects

Instance

1 2

1 3

1 4 Physical Link

1 5

1 6 Host Name Host Name O O STRING 64 char Null

1 10 Select ACD

1 11

Attribute Name Description Get Set Size Range Default

Bit 0 = BOOTP Client

Configuration

Capability

Configuration

Control

Interface

Configuration

Last Conflict

Detected

Bit 1 = DNS Client Bit 2 = DHCP Client Bit 3 = DHCP-DNS Update Bit 4 = Configuration Settable Bits 5-31 = Reserved

Bits 0-3 = Startup Configuration 0: NVRAM 1: BOOTP 2: DHCP 3: Reserved Bit 4 =DNS Enabled (not supported) Bits 5-31 = Reserved

Struct of: Path Size: 0 Path: 0

Struct of: IP Address = Long Subnet Mask = Long Gateway Address = Long Name Server1 = Long Name Server2 = Long Domain Name = STRING

Activates use of ACD 0: Disable ACD 1: Enable ACD

Structure containing information related to the last conflict detected. Struct of: Bit 0: ACD Activity Bits 1-7: Remote MAC Bits 8-36: ARP PDU

O – DWord – –

O O DWord – –

O – Struct –

O O Struct – –

O O BOOL 0, 1 1

O O Struct – –

02H 00H 20H

F6H 24H 01H

Note: “Get Attributes All” Service shall report in attribute ascending order.

Ethernet Link Object 246 (Class 0xF6)

Services Supported

Service Code No. (Hex) Service Name

01 Get Attribute All

0E Get Attribute Single

10 Set Attribute Single

Attributes Supported

Instance

0 1

0 2 Max Instance – O – UINT – 2

0 3

1 1 Interface Speed Interface speed currently in use O – UDINT – –

Attribute Name Description Get Set Size Range Default

Object Software

Revision

Number of

Instances

Revision number of the TCP/IP Object O – Word – 3

– O – UINT – 2

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

10 General Class Objects

Instance

Attribute Name Description Get Set Size Range Default

Bit 0 = Link Status Bit 1 = Duplex (0: Half/1: Full) Bits 2-4 = Negotiation Status 0: In progress

1 2 Interface Flags

1 3

1 6

1 10 Interface Label – O – Short String – Port 1

2 1 Interface Speed Interface speed currently in use O – UDINT – –

2 2 Interface Flags

2 6

2 10 Interface Label – O – Short String – Port 2

Physical

Address (MAC)

Interface

Control

Interface

Control

1: Auto-negotiate failed 2: Speed found, duplex not found 3: Successful 4: Not attempted Bit 5 = Manual Setting requires restart Bit 6 = Local hardware fault Bits 7-31 = Reserved

MAC address O –

Struct of: Control Bits: Word Bit 0 = Auto-negotiate Bit 1 = Forced Duplex Mode Bits 2-15 = Reserved Forced Int Speed: Word

Bit 0 = Link Status Bit 1 = Duplex (0: Half/1: Full) Bits 2-4 = Negotiation Status 0: In progress 1: Auto-negotiate failed 2: Speed found, duplex not found 3: Successful 4: Not attempted Bit 5 = Manual Setting requires restart Bit 6 = Local hardware fault Bits 7-31 = Reserved

Struct of: Control Bits: Word Bit 0 = Auto-negotiate Bit 1 = Forced Duplex Mode Bits 2-15 = Reserved Forced Int Speed: Word

O – DWord – –

– O Struct – –

O – DWord – –

– O Struct – –

Array of 6

Bytes

– –

Note: “Get Attributes All” Service shall report in attribute ascending order.

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

11 Vendor-Specific (Yaskawa) Class Objects

Yaskawa Drive Parameters Object 100 (Class 0x64)

Services Supported

Service Code No. (Hex) Service Name

0E Get Attribute Single

10 Set Attribute Single

This is a dynamic explicit Class Object. With this Class object any drive parameter with a MEMOBUS/Modbus address greater than 0x00FF can be accessed. The mapping of Class Object instance/attribute to MEMOBUS/Modbus address is as follows.

Given a typical MEMOBUS/Modbus Address of 0xXXYY

The EtherNet/IP Instance value is equal to XX

The EtherNet/IP Attribute value is equal to YY

As an example, to access parameter b5-12 (MEMOBUS/Modbus Address =0x01B0)

Class Object is 100 (0x64) (Always for this Class Object)

Instance = 0x01

Attribute = 0xB0

Storing Changed Parameters

Writing a zero to 0x0900 (Enter) stores changed parameters to the non-volatile memory of the drive. Writing a 0 to 0x0910 (Accept) allows the drive to use the changed parameters. Reading Enter Command 0x0900 or Accept Command 0x910 will always return a value of 0x0001.

Performing a RAM-ENTER to Store Register Data

Parameter H5-11 is used to decide whether a RAM-ENTER will be done on the writes to registers in the drive. If H5-11 = 1 (default), the option will issue the RAM-ENTER with the parameter writes. If H5-11 = 0, no RAM-ENTER is issued and an ENTER command must be explicitly sent by the user for the parameter to be activated after a write.

Explicit writes to RAM-ENTER (0x910) and ROM-ENTER (0x900) are handled as special cases. If a user writes a 0 to RAMENTER or ROM-ENTER, the command will be executed in the drive. If a user writes a 1 to those registers, the command will not be executed but returns a success to the explicit write on the network. Writing a value other than 0 or 1 will result in an error response of Invalid Attribute Value on the network.

Note: Performing the RAM-ENTER increases the processing time of the writes and increases the response time to explicit writes.

Attributes Supported

Instance

0 1

1 00

1 01

1 YY

2 YY

Attribute Name Description Get Set Size Range Default

Object Software

Revision

MEMOBUS/

Modbus Register

0x0100

MEMOBUS/

Modbus Register

0x0101

MEMOBUS/

Modbus

Registers

0x0100 to

0x01FF

MEMOBUS/

Modbus

Registers

0x0200 to

0x02FF

Yaskawa Drive Parameters object software revision

Language selection O O Word 0 to 2 1

Parameter access level O O Word 0 to 2 2

MEMOBUS/Modbus Registers 0x0100 to 0x01FF

MEMOBUS/Modbus Registers 0x0200 to 0x02FF

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

O – Word – 1

O O Word – –

11 Vendor-Specific (Yaskawa) Class Objects

Instance

... ... ... ... ... O Word – –

255 YY

Note: 1. Attempting to set a read-only parameter results in an EtherNet/IP error code of 0x0E, Attribute Not Settable.

Yaskawa Monitor/Control Object 125 (Class 0x7D)

Services Supported

Attribute Name Description Get Set Size Range Default

MEMOBUS/

Modbus

Registers

0xFF00 to

0xFFFF

2. Attempting to access an invalid parameter results in an EtherNet/IP error code of 0x09, Invalid Attribute Value.

3. Refer to the MEMOBUS/Modbus Data Table in the MEMOBUS/Modbus Communications chapter of the drive manual for a list of

monitor data using the MEMOBUS/Modbus message area.

Service Code No. (Hex) Service Name

MEMOBUS/Modbus Registers 0xFF00 to 0xFFFF

0E Get Attribute Single

10 Set Attribute Single

O O Word – –

This is a dynamic explicit Class Object. With this Class object any parameter with a MEMOBUS/Modbus address less than 0x0100 can be accessed. This class is similar to the Drive Parameters Object Class 100, Object Class 100 differs slightly from Object Class 125. In Object Class 125 the most significant byte of MEMOBUS/Modbus address is always zero and the Instance ID remains at 1.

Given a typical MEMOBUS/Modbus Address 0f 0x00YY

The EtherNet/IP Instance value is equal to 0x01

The EtherNet/IP Attribute value is equal to YY

As an example, to access Drive Status (MEMOBUS/Modbus Address = 0x002C)

Class Object is 125 (0x7D) (Always for this Class Object)

Instance = 0x01

Attribute = 0x2C

Attributes Supported

Instance

Note: 1. Attempting to set a read-only parameter results in an EtherNet/IP error code of 0x0E, Attribute Not Settable.

Attribute

0 1 – Object Software Revision O – Word – 1

1 1 0x0001 Drive Command Bits O O Word – 0

1 2 0x0002 Frequency Instruction O O Word – 4

.. .. .. .. O O Word – –

1 255 0x00FF Unused O O Word – –

2. Attempting to access an invalid parameter results in an EtherNet/IP error code of 0x09, Invalid Attribute Value.

3. Refer to the MEMOBUS/Modbus Data Table in the MEMOBUS/Modbus Communications chapter of the drive manual for a list of

monitor data using the MEMOBUS/Modbus message area.

MEMOBUS/

Modbus

Address

Description Get Set Size Range Default

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

12 Web Interface

The option contains a series of web pages that allow for viewing of status and diagnostic information through a standard web browser.

The web page is accessed through a self-contained web server at port 80. Access the home page by typing the IP address of the option in a web browser. Example: "http://192.168.1.20"

The IP address of the option can be read using monitors U6-80 to U6-83 on the digital operator if it is unknown. Refer to

Option Monitors on page 19 for details.

The home page is an HTML-based page providing basic drive and option data and a link to an enhanced web page requiring a Java© enabled web browser.

Enhanced Web Page Notes:

• PCs must have Java SE 6 Update 14 or later installed to view the enhanced web pages.

• When no internet connection is available, disable the revocation check by changing a Java setting in the PC: All Programs / Java / Configure Java / Advanced Tab. Set "Perform certificate checks on" to "Do not check".

Enhanced Web Page Tab Page

Main Tab 53

Drive Status Tab 54

Network Tab 54

Email Alerts Tab 55

Parameter Access Tab

Configuration Tab

Custom Tab 58

<1> Accessible after entering a valid password.

<1>

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

VST800340

CIMR-AU2A0004

VST800340

CIMR-AU2A0004

HTML Home Page

The HTML home page provides basic drive and option data and a link to an enhanced web page.

Figure 11 HTML Home Page

12 Web Interface

Main Tab

The Main tab shows basic option information such as IP address, MAC address, and firmware version.

Figure 12 Main Tab View

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

12 Web Interface

Drive Status Tab

The Drive Status tab shows basic I/O information and drive state information.

Figure 13 Drive Status Tab View

Network Tab

The Network tab shows the status of the option network traffic and the status of open I/O connections.

Figure 14 Network Tab View

Table 13 Network Monitor Descriptions

Network Monitor Explanation

Msg Tx OK Cumulative number of messages transmitted successfully from the option.

Msg Rx OK Cumulative number of messages received successfully to the option.

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

12 Web Interface

Network Monitor Explanation

Current Connections Current number of open connections.

Control Connection Delta

Time

Msg Tx Dropped Cumulative number of messages dropped due to output network buffer being full and unable to hold the new message.

Msg Rx Dropped Cumulative number of messages dropped due to input network buffer being full and unable to hold the new message.

Collisions

Msg Tx Errors Cumulative number of transmit underruns and transmit stops reported by the MAC/PHY.

Msg Rx Errors Cumulative number of receive overruns, receive stops, and receive error frames reported by the MAC/PHY.

Tx Retry Cumulative number of transmits in which the 1st attempt was delayed due to busy medium reported by the MAC/PHY.

Email Alerts Tab

The time between the last two writes to the Control register, MEMOBUS/Modbus address 0001H.

Cumulative number of collisions (half duplex only) reported by the MAC/PHY (Media Access Control/Physical Connection).

The Email Alerts tab allows the user to configure four Email Fault/Alarm conditions. When the condition is true, one email will be sent to the provided email address. Another email will not be sent until the condition becomes false and then true again. A 30-second timer prevents emails from being sent when conditions reoccur immediately after being removed. The timer helps limit the amount of emails sent regarding the same intermittent condition and helps to reduce network traffic by reducing emails about reoccurring errors.

Figure 15 Email Alerts Tab View

Conditional Email Set-up

Define the condition that will trigger the email by selecting a monitor parameter, a comparator, and a value. Set up

comparator values for the range of values to check in the chosen condition. If choosing only one condition and no OR or AND are needed, set the “OR/AND” drop-down selection to “NotUsed”.

Enter the email address where the alert will be sent.

Enter the message that will appear in the email contents.

Enter the email subject.

Click the “Email Active” check box to enable the alert.

Clicking “Save to device” will save the entered information into the option memory.

Clicking “Cancel and reload” will cancel any pending edits and display the most recently saved settings from the option board.

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

12 Web Interface

Parameter Access Tab

The Parameter Access tab allows the user to read and write parameters from the drive. Write access is restricted until a valid password is entered.

Figure 16 Parameter Access Tab View

The MEMOBUS/Modbus address for the drive parameter being accessed must be entered in hexadecimal. The number must begin with “0x” to signify hexadecimal. Clicking “Read” will load and display the current value of the given MEMOBUS/ Modbus Address.

Clicking “Set” will save the given value to the given MEMOBUS/Modbus address.

After a “Read” or “Set” command is given, Status will display “Waiting” while the action is being carried out, then “Complete” is displayed when finished.

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

12 Web Interface

Configuration Tab

The Configuration tab sets web page behavior parameters. Access is restricted unless a valid password is entered.

Figure 17 Configuration Tab View

Security Login

Enter a valid password and click “Log in”. The button text will change to “Log out” and the status will change to “Logged in”.

Note: The default security password is “yaskawa”.

This password can be changed in the “Change Password” section of the tab. Entering a valid password allows access to the settings in the Configuration tab, Email Alerts tab, and the Parameter Access tab.

Change Password

To change the password, enter the new password in the “New Password:” and “Confirm Password:” text boxes then click “Change password”. The Status display will change to “Idle” then “Changing Password” then “Password Changed”. If the passwords in the two text boxes do not match, the Status will display “Passwords don’t match”.

Option Card

The values displayed in the various tabs are refreshed at the rate defined in the “Applet Refresh Rate (ms)” text box. Enter values in the range of 1000 ms to 65.535 seconds.

Parameter Security can be enabled or disabled by clicking one of the radio buttons. When “Disabled” is selected, no password is necessary and all functions in the web pages will be available. When “Enabled” is selected, a valid password must be entered to edit email settings and to write parameters.

Email Settings

The “Email Server IP” text box must contain the IP address of the email server. The subnet address is configured in drive parameters F7-05 through F7-08. The configured email alerts will use the server at this address when sending emails.

Enter the email server port in the “Email Port” text box.

The value in the “From Email Address” text box identifies the origin of the email alerts to the recipient.

Click “Submit Email Parameters” to save the email settings to the option.

Click “Save Configuration Parameters to Flash” to save the entered values from this tab into non-volatile memory. These values will then be remembered after cycling power.

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

12 Web Interface

General Settings

Click “Save Options Card Parameters” to save the Applet Refresh Rate and the Parameter Security settings to the option.

Custom Tab

The Custom tab displays a selection of quick setting parameters.

Figure 18 Custom Tab View

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

13 Troubleshooting

Drive-Side Error Codes

Drive-side error codes appear on the drive digital operator. Causes of the errors and corrective actions are listed below. Refer to the drive manual for additional error codes that may appear on the drive digital operator.

Faults

Both bUS (Option Communication Error) and EF0 (Option Card External Fault) 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?

• Are the communication lines properly connected to the option? Are the wires loose?

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

• Did a momentary power loss interrupt communications?

Digital 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 noise

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

• The connection was lost after establishing initial communication.

• 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

• Check the various options available to minimize the effects of 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 requirements

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

Digital Operator Display Fault Name

EF0

Cause Possible Solutions

An external fault was received from the PLC and F6-03 is set to a value other than 3.

Problem with the PLC program Check the PLC program and correct problems.

Digital Operator Display Fault Name

oFA00

Cause Possible Solution

Digital Operator Display Fault Name

oFA01

Cause Possible Solution

The option card connection to port CN5-A is faulty

Option Card External Fault

The alarm function for an external device has been triggered.

• Remove the cause of the external fault.

• Remove the external fault input from the PLC.

Option Card Connection Error at Option Port CN5-A

Option compatibility error

Option Card Fault at Option Port CN5-A

Option not properly connected

• Turn off the power and reconnect the option card.

• Check if the option card is properly plugged into the option port. Make sure the card is fixed properly.

• If the option is not a communication option card, try to use the card in a different option port. If the option card works properly in a different option port, CN5-A is damaged, and the drive requires replacement. If the error persists (oFb01 or oFC01 occur), replace the option card.

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

13 Troubleshooting

Digital Operator Display Fault Name

Option card or hardware is damaged

Digital Operator Display Fault Name

The option card installed into port CN5-B is incompatible with the drive

A communication option card has been installed in option port CN5-B

Digital Operator Display Fault Name

An option card of the same type is already installed in option port CN5-A

An input option card is already installed in option port CN5-A

oFA03 to oFA06

oFA10, oFA11

oFA12 to oFA17 Option Card Connection Error (CN5-A)

oFA30 to oFA43 Communication Option Card Connection Error (CN5-A)

Cause Possible Solution

oFb00

Cause Possible Solution

oFb02

Cause Possible Solution

Option Card Error Occurred at Option Port CN5-A

• Cycle power to the drive.

• If the problem continues, replace the control board or the entire drive. Contact Yaskawa or a Yaskawa representative for instructions on replacing the control board.

Option Card Fault at Option Port CN5-B

Option compatibility error

Confirm that the drive supports the option card to be installed.

Refer to Option Compatibility on page 62 for details. Contact Yaskawa for assistance.

Communication option cards are only supported by option port CN5-A. It is not possible to install more than one communication option.

Option Card Fault at Option Port CN5-B

Same type of option card is currently connected

Except for PG options, only one of each option card type can only be installed simultaneously. Make sure only one type of option card is connected.

Refer to Option Compatibility on page 62 for details. Contact Yaskawa for assistance.

Install a communication option, a digital input option, or an analog input option. More than one of the same type of card cannot be installed simultaneously.

Digital Operator Display Fault Name

oFC00

Cause Possible Solution

The option card installed into port CN5-C is incompatible with the drive

A communication option card has been installed in option port CN5-C

Digital Operator Display Fault Name

oFC02

Cause Possible Solution

An option card of the same type is already installed in option port CN5-A or CN5-B.

An input option card is already installed in option port CN5-A or CN5-B.

Option Card Connection Error at Option Port CN5-C

Option compatibility error

Confirm that the drive supports the option card to be installed.

Refer to Option Compatibility on page 62 for details. Contact Yaskawa for assistance.

Communication option cards are only supported by option port CN5-A. It is not possible to install more than one communication option.

Option Card Fault at Option Port CN5-C

Same type of option card is currently connected

Except for PG options, only one of each option card type can only be installed simultaneously. Make sure only one type of option card is connected.

Install a communication option, a digital input option, or an analog input option. More than one of the same type of card cannot be installed simultaneously.

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

13 Troubleshooting

Minor Faults and Alarms

Digital Operator Display Minor Fault Name

CALL

Cause Possible Solutions

Communications wiring is faulty, there is a short circuit, the wiring is incorrect, or the connections are poor.

Programming error on the master side. Check communications at start-up and correct programming errors.

Communications circuitry is damaged.

Termination resistor setting is incorrect.

bUS Fault Tolerance

Serial Communication Transmission Error

Communication has not yet been established.

• Check for wiring errors.

• Correct the wiring.

• Check for disconnected cables and short circuits. Repair as needed.

• Perform a self-diagnostics check.

• If the problem continues, replace the control board or the entire drive. Contact Yaskawa for instructions on replacing the control board.

Install a termination resistor at both ends of a communication line. Set the internal termination resistor switch correctly on slave drives. Place DIP switch S1 to the ON position.

Minor Fault

(H2-oo = 10)

YES

bUS Fault Auto-Restart

Parameter F6-14, bUS Fault Auto Reset Select, will appear when the option is installed.

Setting F6-14 = 0 (Disabled) or F6-01 = 3 or greater (Alarm only) will not affect standard default drive behavior. Setting F6-14 = 1 (Enabled) AND F6-01 ≠ 3 (Fault) will cause the following operation: The bUS fault occurs after the F7-16

delay and the Run command is removed from the drive. Then the option throws a bUS fault to the drive. When the condition is removed, the option commands a fault reset and returns control of the drive to the EtherNet/IP network.

Note: The option will only read parameter F6-01 and F6-14 from the drive during power-up.

bUS Fault Delay

Parameter F7-16, Communications Loss Detection Time Delay, will appear when the option is installed.

The setting value of F7-16 is the length of time that the option will delay sending the bUS fault to the drive.

The status LEDs on the option are not affected by the delay time set in F7-16; the LEDs will indicate the bUS condition immediately.

Note: The option will only read parameter F7-16 from the drive during power-up.

Explicit Message Communications Errors

When there is a problem with a request message sent from the master in explicit communications, the drive will return one of the following error codes.

Table 14 Communications Errors and Solutions

Error Code (Hex)

08 Service not supported The service code is incorrect. Correct the service code.

09 Invalid attribute value The attribute is incorrect. Correct the attribute.

0C Object state conflict

0E Attribute not settable Attempted to change a read-only attribute. Correct the service code or attribute setting.

13 Not enough data The data size is incorrect. Correct the data size.

14 Attribute not supported

15 Too much data The data size is incorrect. Correct the data size.

16 Object does not exist An unsupported object was specified. Correct the class or instance setting.

1F Vendor-specific error

Description Cause Possible Solution

Attempted to change a drive constant that cannot be changed while the drive is running.

Attempted to execute a service not defined for the attribute.

Attempted to change a drive constant that cannot be changed while the drive is running. Attempted to change a drive constant to a value outside the setting range.

Stop the drive.

Correct the service code or attribute setting.

Stop the drive. Specify a value within the setting range.

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

13 Troubleshooting

Error Code (Hex)

20 Invalid parameter

Description Cause Possible Solution

Attempted to change to a data value outside the setting range.

Specify a data value within the setting range.

Note: Refer to the MEMOBUS/Modbus Data Table in the MEMOBUS/Modbus Communications chapter of the drive manual for a list of monitor

Option Error Codes

Option Fault Monitors U6-98 and U6-99

data using the MEMOBUS/Modbus message area.

The option can declare error/warning conditions via drive monitor parameters on the drive digital operator as shown in Table

15.

Table 15 Option Fault Monitor Descriptions

Fault Condition Fault Declared

No Fault n/a 0 No faults

Force Fault EF0 3

Network Link Down BUS ERROR 1100 No network link to option.

Connection Timeout BUS ERROR 1101 The node timer (Requested Packet Interval) timed out.

Duplicate IP Address BUS ERROR 1102

Default MAC Address None 1103

Status Value

(U6-98/U6-99)

Description

Network sent a message to force this node to the fault state.

This node and at least one other node have the same IP Address.

Factory default MAC Address programmed into the option. Return for reprogramming.

Two drive monitor parameters, U6-98 and U6-99 assist the user in network troubleshooting.

• U6-98 displays the first declared fault since the last power cycle. U6-98 is only cleared upon drive power-up.

• U6-99 displays the present option status. U6-99 is cleared upon a network-issued fault reset and upon power-up. If another fault occurs while the original fault is still active, parameter U6-98 retains the original fault value and U6-99 stores

the new fault status value.

Option Compatibility

A limited number of options may be simultaneously connected to the drive depending on the type of option.

Table 16 below lists the number of options that can be connected to the drive and the drive ports for connecting those options.

Table 16 Option Installation

Option Port/Connector Number of Options Possible

PG-B3, PG-X3 CN5-C

<2> <3>

PG-F3

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

<3>

SI-B3

<3>

ES3

<4>

DI-A3

<1> When connecting two PG option cards, use both CN5-B and CN5-C. When connecting only one PG option card, use the CN5-C connector.

<2> Not available for the application with Motor 2 Selection.

<3> Not available with models 4A0930 and 4A1200.

<4> When using AI-A3 and DI-A3 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.

, PG-RT3

, SI-C3, SI-EN3

, SI-ET3

<2> <3>

<3>

, SI-N3, SI-P3, SI-S3, SI-T3, SI-W3

, SI-EN3D, SI-EM3

<3>

, SI-EP3

<3>

, AI-A3

, SI-

<4>

CN5-C 1

CN5-A 1

<1>

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

14 Specifications

Item Specification

Model SI-EN3D

14 Specifications

Table 17 Option Specifications

Supported Messages

I/O Assembly Instance

SI-EN3D Specification Composite Test Revision: CT11 Passed

SI-EN3D Profile AC Drive

Connector Type RJ45 8-pin Straight Connector STP Cat5e cable

Physical Layer Type

IP Address Setting Programmable from drive keypad or network

Communication Speed

Number of Connections

Duplex Mode Half-forced, Auto-negotiate, Full-forced

Address Startup Mode Static, BOOTP, DHCP

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

Explicit: Explicit Class 3, Unconnected I/O: Class 1, Listen Only, Input Only

Input: 8 types (4 to 44 Bytes) Output: 8 types (4 to 44 Bytes)

Isolated Physical Layer TCP Protocol Transformer Isolated

Programmable from drive keypad or network: 10/100 Mbps, auto-negotiate

I/O: 2 Explicit: 6

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

14 Specifications

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YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

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YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

Revision History

MANUAL NO.

Example:

SIEP YAICOM 16

Published in U.S.A. May 2014 14-5

Date of publication

Date of original publication

Revision number

The revision dates and the numbers of the revised manuals appear on the bottom of the back cover.

Date of Publication

Revision

Number

Section Revised Content

May 2014 - - First Edition

YASKAWA SIEP YAICOM 16A 1000-Series Option Dual-Port EtherNet/IP SI-EN3D Technical Manual

YASKAWA AC Drive 1000-Series Option

EtherNet/IP

Technical Manual

YASKAWA AMERICA, INC.

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YASKAWA ELECTRIC (CHINA) CO., LTD.

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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

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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 AMERICA, INC.

In the event that the end user of this p roduct is to b e the military and said product is to be employed in any weapons systems or the manufa cture thereof, the export will fall u nder th e relevant regulations as stipulated in the For eign Exchange and Foreign Trade Regulatio ns. Therefore, be sure to follow all procedures and submit all relevant documentation accordin g to any a nd all rules, r egulations and laws th at may ap

Specifications are subject to change without notice for on going product modifica tions and improvements.

MANUAL NO. SIEP YAICOM 16A

Published in USA May 2014 14-5

ply.

Yaskawa SI-EN3D User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 Preface and Safety

Applicable Documentation

Terms

Registered Trademarks

Supplemental Safety Information

2 Product Overview

About this Product

Applicable Models

3 Receiving

Option Package Contents

Tools Required for Installation

4 Option Components

SI-EN3D Dual-Port EtherNet/IP Option

Communication Connector CN1

Option LED Display

5 Installation Procedure

Section Safety

Prior to Installing the Option

Installing the Option

EDS Files

6 Related Drive Parameters

7 Configuring Messaging

Drive Polled Configuration

8 Output Assemblies (Drive Consumes)

Basic Speed Control Output - 20 (0x14)

Extended Speed Control Output - 21 (0x15)

Speed and Torque Control Output - 22 (0x16)

Extended Speed and Torque Control Output - 23 (0x17)

Speed/Torque Control Output (Vendor Specific Yaskawa Electric (YE) Assy) - 101 (0x65)

9 Input Assemblies (Drive Produces)

Basic Speed Control Input - 70 (0x46)

Extended Speed Control Input - 71 (0x47)

Speed and Torque Control Input - 72 (0x48)

Extended Speed and Torque Control Input - 73 (0x49)

MEMOBUS/Modbus Message Input (Vendor Specific Yaskawa Electric (YE) Assy) - 150 (0x96)

Speed/Torque Status Input (Vendor Specific Yaskawa Electric (YE) Assy) - 151 (0x97)

High Speed/Torque Status Input (Vendor Specific Yaskawa Electric (YE) Assy) - 166 (0xA6)

10 General Class Objects

Identity Object 1 (Class 0x01)

Assembly Object 4 (Class 0x04)

Motor Data Object 40 (Class 0x28)

Control Supervisor Object 41 (Class 0x29)

AC/DC Drive Object 42 (Class 0x2A)

DLR Object 71 (Class 0x47)

QoS Object 72 (Class 0x48)

TCP/IP Object 245 (Class 0xF5)

Ethernet Link Object 246 (Class 0xF6)

11 Vendor-Specific (Yaskawa) Class Objects

Yaskawa Drive Parameters Object 100 (Class 0x64)

Yaskawa Monitor/Control Object 125 (Class 0x7D)

12 Web Interface

HTML Home Page

Main Tab

Drive Status Tab

Network Tab

Email Alerts Tab

Parameter Access Tab

Configuration Tab

Custom Tab

13 Troubleshooting

Drive-Side Error Codes

Option Error Codes

Option Compatibility

14 Specifications