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

Copyright © 2014 YASKAWA AMERICA, INC. All rights reserved.

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

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

3

1Preface and Safety

1Preface 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.

u 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.

u 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

u Registered Trademarks

•EtherNet/IP is a trademark of the ODVA.

•All trademarks are the property of their respective owners.

u 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.

4	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.

n 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

5

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.

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

2 Product Overview

2Product Overview

u 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.

u Applicable Models

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

Table 1 Applicable Models

	Drive Series	Drive Model Number	Software Version <1>
		CIMR-Ao2Aoooo	1010 and later
	A1000	CIMR-Ao4A0002o to 4A0675o
		CIMR-Ao4A0930 and 4A1200	301o
		CIMR-Ao5Aoooo	504o; 1017 and later

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

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

7

3Receiving

3Receiving

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.

u Option Package Contents

Description	Option	Ground Wire	Screws (M3)	LED Label		Installation Manual
				NS	MS	MANUAL
–
Quantity	1	1	3		1	1

u 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.

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

4 Option Components

4Option Components

u SI-EN3D Dual-Port EtherNet/IP Option

	H
	G	I
	F
		J
	E
	D	Underside
	C
	B	K
		L
	A
		M

A – Ground terminal and installation hole <1>

B – Port 2 LED (10/100) <2> C – Port 2

D – Port 2 LED (LINK/ACT) <2> E – Port 1 LED (10/100) <2>

F – Port 1

G – Port 1 LED (LINK/ACT) <2>

H – EtherNet/IP cable connector I – Option connector

J – Installation hole K – LED (MS) <2>

L – LED (NS) <2>

M – EtherNet/IP PCB

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.

u 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 2	3 4 5	6 7 8

Latch release

<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)	Not used <1>
5 (Pair 1)	Not used <1>
6 (Pair 3)	Receive data (RXD) -
7 (Pair 4)	Not used <1>
8 (Pair 4)	Not used <1>

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

9

4 Option Components

u 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			Display		Operating Status	Remarks
		Color		Status
		–		OFF	Power supply OFF	Power is not being supplied to the drive.
		Green		ON	Normal operation	The option is operating normally and initialization is
						complete.
		Green		Flashing	Standby/Initializing	The option is in process of configuring or waiting for
MS						configuration information.
		Red		Flashing	Non-fatal error occurred	The option has detected a recoverable minor fault such
						as incomplete configuration.
		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.
		–		OFF	Power supply OFF	–
		Green		ON	Online communications	The option is online and has established connections.
					established
NS		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.
10/100	<1>	Green		OFF	10 Mbps is established
		Green		ON	100 Mbps is established
		Green		OFF	LINK is not established	–
LINK/ACT <1>		Green		ON	LINK is established
		Green		Flashing	LINK is established and there is
					network activity.
<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.

n 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	–

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

5 Installation Procedure

5Installation Procedure

u 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

11

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.

u 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.

I

J

K M A

L

B

H

C

NS	MS
G
F
E
D

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

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

Figure 2 Drive Components with Option

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

5 Installation Procedure

u 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.

1.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.

A

B

D

Figure 3 Remove the Front Covers and Digital Operator

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

A

C

NSMS

Figure 4 Apply the LED Label

3.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

13

5 Installation Procedure

K M

L

F

NS	MS
TX	RX

Figure 5 Insert the Option

4.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).

M

H

NS	MS
TX	RX

G

F

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.

5.Route the option wiring.

Depending on the drive model, some drives may require routing the wiring through the side of the front cover to the outside to provide adequate space for the wiring. Refer to the Peripheral Devices & Options section of the drive Quick Start Guide or 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.

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

5 Installation Procedure

A

B

A – Route wires through the openings provided on the left side of the front cover. <1>

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.

6.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.

Star Topology

Daisy-Chained Topology

Ring Topology

Yaskawa	Yaskawa	Yaskawa	Yaskawa	Yaskawa	Yaskawa	Yaskawa	Yaskawa	Yaskawa
Drive	Drive	Drive	Drive	Drive	Drive	Drive	Drive	Drive

Figure 8 Topology Options

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

15

5 Installation Procedure

R/L1 Power S/L2 T/L3

EtherNet/IP Cable

EtherNet/IP Cable

U/T1
V/T2	M	Motor
W/T3
Drive	<1>
SI-EN3D
EtherNet/IP
Option	FE

Figure 9 Option Connection Diagram

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

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

A

B

NS	MS
TX	RX

D

Figure 10 Replace the Front Covers and Digital Operator

Note: Take proper precautions when wiring the option so that the front covers will easily fit back onto the drive. Make sure no cables are pinched between the front covers and the drive when replacing the covers.

9. Set drive parameters in Table 5 for proper option performance.

u EDS Files

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.

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

6 Related Drive Parameters

6Related 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.	Name	Description	Values
	(Addr.
	Hex)
	b1-01		0: Digital operator
		Frequency Reference Selection	1: Analog input terminals	Default: 1
	(0180)		2: MEMOBUS/Modbus communications
	<1>	1	3: Option PCB	Range: 0 to 4
			4: Pulse input (terminal RP)
	b1-02		0: Digital operator
		Run Command	1: Digital input terminals	Default: 1
	(0181)
		Selection 1	2: MEMOBUS/Modbus communications	Range: 0 to 3
	<1>
			3: Option PCB
			0: Ramp to stop. Decelerate to stop using the deceleration time in C1-02.
	F6-01	Communications Error	1: Coast to stop	Default: 1
	(03A2)	Operation Selection	2: Fast Stop. Decelerate to stop using the deceleration time in C1-09.	Range: 0 to 3
			3: Alarm only <2>
	F6-02	External Fault from Comm.	1: Detection during run only	Default: 0
	(03A3)	Option Detection Selection		Range: 0, 1
			0: Ramp to stop. Decelerate to stop using the deceleration time in C1-02.
	F6-03	External Fault from Comm.	1: Coast to stop	Default: 1
	(03A4)	Option Operation Selection	2: Fast Stop. Decelerate to stop using the deceleration time in C1-09.	Range: 0 to 3
			3: Alarm only <2>
	F6-06	Torque Reference/Torque	0: Disabled. Torque reference/limit from option board disabled.	Default: 0
	(03A7)	Limit Selection from Comm.
			1: Enabled. Torque reference/limit from option board enabled. <4>	Range: 0, 1
	<3>	Option
	F6-07	Multi-Step Speed Enable/	0: Multi-step reference disabled (same as F7)	Default: 0
		Disable Selection when
	(03A8)		1: Multi-step reference enabled (same as V7)	Range: 0, 1
		NefRef/ComRef is Selected
	F6-08		0: Communication-related parameters (F6-oo/F7-oo) are not reset when
		Reset Communication	the drive is initialized using A1-03.	Default: 0
	(036A)
		Parameters	1: Reset all communication-related parameters	Range: 0, 1
	<5>
			(F6-oo/F7-oo) when the drive is initialized using A1-03.
	F6-14	bUS Error Auto Reset	0: Disabled	Default: 0
	(03BB)		1: Enabled	Range: 0, 1
	F7-01			Default: 192
	(03E5)	IP Address 1	Sets the most significant octet of network static IP address.
				Range: 0 to 255
	<6>
	F7-02			Default: 168
	(03E6)	IP Address 2	Sets the second most significant octet of network static IP address.
				Range: 0 to 255
	<6>
	F7-03			Default: 1
	(03E7)	IP Address 3	Sets the third most significant octet of network static IP address.
				Range: 0 to 255
	<6>
	F7-04			Default: 20
	(03E8)	IP Address 4	Sets the fourth most significant octet of network static IP address.
				Range: 0 to 255
	<6>
	F7-05	Subnet Mask 1	Sets the most significant octet of network static Subnet Mask.	Default: 255
	(03E9)			Range: 0 to 255
	F7-06	Subnet Mask 2	Sets the second most significant octet of network static Subnet Mask.	Default: 255
	(03EA)			Range: 0 to 255
	F7-07	Subnet Mask 3	Sets the third most significant octet of network static Subnet Mask.	Default: 255
	(03EB)			Range: 0 to 255
	F7-08	Subnet Mask 4	Sets the fourth most significant octet of network static Subnet Mask.	Default: 0
	(03EC)			Range: 0 to 255

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

17

6 Related Drive Parameters

		No.	Name	Description	Values
	(Addr.
		Hex)
		F7-09	Gateway Address 1	Sets the most significant octet of network Gateway address.	Default: 192
	(03ED)				Range: 0 to 255
		F7-10	Gateway Address 2	Sets the second most significant octet of network Gateway address.	Default: 168
	(03EE)				Range: 0 to 255
		F7-11	Gateway Address 3	Sets the third most significant octet of network Gateway address.	Default: 1
	(03EF)				Range: 0 to 255
		F7-12	Gateway Address 4	Sets the fourth most significant octet of network Gateway address.	Default: 1
	(03E0)				Range: 0 to 255
				Select the option address setting method
		F7-13	Address Mode at Startup	0: Static <7>	Default: 2
	(03F1)			1: BOOTP	Range: 0 to 2
				2: DHCP
				Selects duplex mode setting.
				0: Half duplex forced <8>
				1: Auto-negotiate duplex mode and communication speed
		F7-14		2: Full duplex forced <8>	Default: 1
			Duplex Mode Selection	3: Half (port 1)/Auto (port 2)
	(03F2)			4: Half (Port 1)/Full (port 2)	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
		F7-15	Communication Speed	10: 10 Mbps	Default: 10
				100: 100 Mbps
	(03F3)		Selection		Range: 10; 100 to 102 <10>
				101: 10 (Port 1)/100 Mbps (port 2)
				102: 100 (Port 1)/10 Mbps (port 2)
		F7-16		Sets the timeout value for communication loss detection in tenths of a second.	Default: 0.0
			Communication Loss Timeout	A value of 0 disables the connection timeout.	Min.: 0.0
	(03F4)
				Example: An entered value of 100 represents 10.0 seconds.	Max.: 30.0
		F7-17	EtherNet/IP Speed Scaling	Sets the scaling factor for the speed monitor in EtherNet/IP Class ID 2AH	Default: 0
					Min.: -15
	(03F5)		Factor	Object.
					Max.: 15
		F7-18	EtherNet/IP Current Scaling	Sets the scaling factor for the output current monitor in EtherNet/IP Class ID	Default: 0
					Min.: -15
	(03F6)		Factor	2AH Object.	Max.: 15
		F7-19	EtherNet/IP Torque Scaling	Sets the scaling factor for the torque monitor in EtherNet/IP Class ID 2AH	Default: 0
					Min.: -15
	(03F7)		Factor	Object.
					Max.: 15
		F7-20	EtherNet/IP Power Scaling	Sets the scaling factor for the power monitor in EtherNet/IP Class ID 2AH	Default: 0
					Min.: -15
	(03F8)		Factor	Object.
					Max.: 15
		F7-21	EtherNet/IP Voltage Scaling	Sets the scaling factor for the voltage monitor in EtherNet/IP Class ID 2AH	Default: 0
					Min.: -15
	(03F9)		Factor	Object.	Max.: 15
		F7-22		Sets the scaling factor for the time monitor in EtherNet/IP Class ID 2AH	Default: 0
			EtherNet/IP Time Scaling		Min.: -15
	(03FA)			Object.
					Max.: 15
	F7-23 to			Parameters used in Output Assembly 116. Each parameter contains a
			Dynamic Output Assembly	MEMOBUS/Modbus address. The value received for Output Assembly 116
		F7-32		will be written to this corresponding MEMOBUS/Modbus address. A	Default: 0
	(03FB to		Parameters	MEMOBUS/Modbus address value of 0 means that the value received for
		0374)		Output Assembly 116 will not be written to any MEMOBUS/Modbus
				register.
	F7-33 to			Parameters used in Input Assembly 166. Each parameter contains a
			Dynamic Input Assembly	MEMOBUS/Modbus address. The value sent for Input Assembly 166 will
		F7-42		be read from this corresponding MEMOBUS/Modbus address. A	Default: 0
	(0375 to		Parameters	MEMOBUS/Modbus address value of 0 means that the value sent for Input
	037E)			Assembly 166 is not defined by the user, therefore the option default register
				value will be returned.
	<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.

18	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		Online IP Address		IP Address currently available; U6-80 is the most significant octet		0 to 255
U6-83
U6-84 to		Online Subnet		Subnet currently available; U6-84 is the most significant octet		0 to 255
U6-87
U6-88 to		Online Gateway		Gateway currently available; U6-88 is the most significant octet		0 to 255
U6-91
U6-92		Online Speed		Link Speed		10: 10 Mbps
						100: 100 Mbps
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		10: 10 Mbps
						100: 100 Mbps
U6-98		First Fault		First Option Fault		–
U6-99		Current Fault		Current Option Fault		–

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

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7Configuring Messaging

7Configuring Messaging

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

u Drive Polled Configuration

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

Table 7 Supported Polled I/O Assemblies

	Assembly	Description	Type	Bytes	Page
	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)	(Vendor Specific Yaskawa Electric (YE) Assy)-MEMOBUS/Modbus Message	Output	5	23
		Output
	101 (65)	(Vendor Specific Yaskawa Electric (YE) Assy)-Speed/Torque Control Output	Output	8	23
	115 (73)	(Vendor Specific Yaskawa Electric (YE) Assy)-Extended Speed/Torque Control	Output	40	25
		Output
	116 (74)	(Vendor Specific Yaskawa Electric (YE) Assy)-High Speed/Torque Control Output	Output	44	26
	150 (96)	(Vendor Specific Yaskawa Electric (YE) Assy)-MEMOBUS/Modbus Message	Input	5	31
		Input
	151 (97)	(Vendor Specific Yaskawa Electric (YE) Assy)-Speed/Torque Status Input	Input	8	32
	155 (9B)	(Vendor Specific Yaskawa Electric (YE) Assy)- Extended Speed/ Torque Status	Input	40	33
		Input
	166 (A6)	(Vendor Specific Yaskawa Electric (YE) Assy)-High Speed/Torque Status Input	Input	44	36

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

8 Output Assemblies (Drive Consumes)

8Output 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 PLC and received by this node. This section details “Output Assemblies” that are “Consumed” by this drive.

u 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
	0	0	–	–	–		–	–	Fault Reset	–	Run Fwd
20		1						–
	1	2				Speed Reference (Low Byte)
		3				Speed Reference (High Byte)

	Name	Description
	Run Fwd	Forward Run Command
		0: Stop
		1: Forward Run
	Fault Reset	Fault Reset
		(0 to 1 transition: Fault Reset)
		Speed Command
		Sets drive speed reference.
	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.

u 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
	0	0	–	NetRef	NetCtrl		–	–	Fault Reset	Run Rev	Run Fwd
21		1						–
	1	2				Speed Reference (Low Byte)
		3				Speed Reference (High Byte)

	Name	Description
	Run Fwd	Forward Run Command
		0: Stop
		1: Forward Run
	Run Rev	Reverse Run Command
		0: Stop
		1: Reverse Run
	Fault Reset	Fault Reset
		(0 to 1 transition: Fault Reset)
	NetCtrl	Run command from Network
		0: Depends on b1-02
		1: Enables the run command from network
	NetRef	Speed reference from Network
		0: Depends on b1-01
		1: Enables the speed reference from network
		Speed Command
		Sets drive speed reference.
	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
		Unit depends on o1-03.

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

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