Yaskawa SI-ES3 User Manual

Installation Manual

YASKAWA AC Drive V1000 Option

MANUAL NO. YEU TOEP C710606 98A

Type: SI-ES3 for V1000 Series

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

ATTENTION! This product can onl y be used on V1000 drives with firmware version VSV901020 to VSV901099 installed.

YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual EN 1

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 highquality 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.

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V1000 Option

EtherCAT

Installation Manual

Table of Contents

1 Preface and Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

2 Product Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

3 Software Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

4 Receiving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

5 EtherCAT® Option Components . . . . . . . . . . . . . . . . . 11

6 Installation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . 16

7 EtherCAT® Option Related Drive Parameters . . . . . . 24

8 Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

9 Process Data Objects (PDO). . . . . . . . . . . . . . . . . . . . . 29

10 Fault Diagnosis and Possible Solutions . . . . . . . . . . 31

11 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual

ENGLISH

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 SI-ES3 EtherCAT® Option card:

Option Card

YASKAWA AC Drive V1000 Option EtherCAT® Installation Manual (this book) Manual No.: YEU TOEP C710606 98A

Read this manual first. The installation manual is packaged with the EtherCAT basic overview of wiring, settings, functions, and fault diagnoses.

YASKAWA AC Drive V1000 Option EtherCAT Manual No.: YEU SIEP C710606 98A

The technical manual contains detailed information. To obtain the technical manual access these sites: Europe: http://www.yaskawa.eu.com Japan: http://www.e-mechatronics.com USA: http://www.yaskawa.com Other areas: contact a Yaskawa representative.

Option and contains a

Technical Manual

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1 Preface and Safety

STOP

(Hz)

(Hz) (A) (V)

Freq Reference FWD / REV Sel Output Freq Output Current Selected Monitor Monitor Verify SetUpGuide Parameter Set Auto-Tuning

V1000

: : : : : : : : : :

Risque de décharge électrique.

Lire le manuel avant l'installation. Attendre 5 minutes après la coupure de l'alimentation, pour permettre la décharge des condensateurs. Pour répondre aux exigences , s assurer que le neutre soit relié à la terre, pour la série 400V.

Read manual before installing. Wait 5 minutes for capacitor discharge after disconnecting power supply. To conform to requirements, make sure to ground the supply neutral for 400V class.

Risk of electric shock.

WARNING

AVERTISSEMENT

For the drive setup, refer to one of the documentation listed below.

YASKAWA Drive

Refer to the manual of the drive this option card is being used with. The instruction manual for the drive covers basic installation, wiring, operation procedures, functions, troubleshooting, and maintenance information. It also includes important information on parameter settings and how to tune the drive. A Quick Start Guide is included with the drive. For the more detailed technical manual, visit YASKAWA’s homepage. Europe: http://www.yaskawa.eu.com Japan: http://www.e-mechatronics.com USA: http://www.yaskawa.com Other areas: contact a YASKAWA representative

 Term s

Note: Indicates supplemental information that YASKAWA highly recommends be

followed. Content identified by Note: is not related to personnel safety or equipment damage safety messages.

EtherCAT

NOID: Network Option Interface Driver (YASKAWA Interface driver)

Online-DRV: NOID processing mode, process (ctrl/resp) data is active

Online-DRVMB:

Online-PRG: NOID processing mode, NO process (ctrl/resp) data is active

Host: YASKAWA drive 1000 series

JTAG:

LED: Light Emitting Diode

OPT, Option: The unit described in this document

INV, Inverter: Host application to OPT

PCB: Printed Circuit Board

SPI: Serial Peripheral Interface Bus

FCS: Frame Check Sequence

INVR: Drive register number

ESI: EtherCAT Slave Information

Option: YASKAWA AC Drive SI-ES3 EtherCAT® option card

Ethernet for Control Automation Technology, an open Ethernet-based network

NOID processing mode, process resp data is active, ctrl data is on hold (Until MEMOBUS process is complete)

Joint Test Action Group, an IEEE standard interface test port for test and programming purposes

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1 Preface and Safety

DANGER

WARNING

CAUTION

NOTICE

 Registered Trademarks

•EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

• Other company names and product names listed in this manual are registered trademarks of those companies.

 Supplemental Safety Information

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

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

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

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

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

Indicates an equipment damage message.

 General Safety

General Precautions

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

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

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

• When ordering 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.

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1 Preface and Safety

DANGER

NOTICE

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.

Do not expose the drive to halogen group disinfectants.

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

Do not modify the drive circuitry.

Failure to comply could result in damage to the drive and will void warranty. YASKAWA is not responsible for any modification of the product made by the user. This product

must not be modified.

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2 Product Overview

 About This Product

The EtherCAT® Option (Model: SI-ES3) is an option card designed to connect the YASKAWA AC drive to an EtherCAT

network. Using this option card and an EtherCAT

master can;

• operate the drive

• monitor the drive operation status

• read or modify drive parameters.

The SI-ES3 option provides instant connectivity to an EtherCAT

network for the YASKAWA V1000 drive. The option contains support for the Velocity mode according the CANopen Device Profile and Motion Control (DSP402) profile. It also contains YASKAWA vendor specific CANopen objects based on the present CANopen option board specification.

The EtherCAT

Option supports the following communication profiles;

• DS 301 Ver. 4.02

• DSP 402 Ver. 3.0 Velocity Mode

FigureE.1

EtherCAT Conformance tested

 Applicable Models

The option can be used with the drive models in Tab le E .1 .

Table E.1 Applicable Models

Drive Series Drive Model Number Software Version <1>

V1000

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

CIMR-V2 CIMR-V4

VSV901020 to VSV901099

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3 Software Parts

 NOID - Network Option Interface Driver

This section explains communication sequences provided by the SI-ES3 option to startup and control the drive.

Functionality provided:

• Startup/initialization of option with the drive.

• Option and drive compatibility/acceptance management.

• Process data parameter (register) mapping.

• Drive <--> Option re-initialization management (remap of process data).

• MEMOBUS channel.

• Error management.

• Drive <- -> Option basic control response data in Online-DRV mode.

• Drive <- -> Option operation mode.

 Drive/Option Identification Information

This section specifies the option/drive specific identification information exchanged during power-up state of the application driver.

Table E.2 Drive/Option Identification Information

Setting Value Description

Option mode code, 4-digit ASCII string.

Option model code 0x53455333

Option software version DEC: 24201

Drive model codes ALL

Value: SES3=0x53455333

Used by drive to identify what kind of option that is mounted.

Last 5 decimal digits of decimal option firmware revision.

Def: VST9242zz

VST9 = V1000 option card

2 = European product

42 = Product code

zz = Minor revision

Drive model codes accepted by option NOID driver.

If the provided drive model code does not match the list the option will raise the OFx31 drive error.

Option will accept any drive model code.

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4 Receiving

Please perform the following tasks after receiving the EtherCAT® Option:

• Inspect the EtherCAT® Option for damage. If the EtherCAT

• Verify receipt of the correct model by checking the information on the PCB.

• If you have received the wrong model or the EtherCAT properly, contact your supplier.

 Contents and Packaging

Option appears damaged upon receipt, contact the shipper immediately.

Option does not function

Description: Option Card Ground Cable Installation Manual

MANUAL

Quantity: 143

 Tool Requirements

A Phillips screwdriver PH1(#1) or PH2(#2) is required to install the EtherCAT® option.

Table E.3 Option Package Contents

Note: Tools required to prepare EtherCAT

manual.

cables for wiring are not listed in this

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5 EtherCAT® Option Components

 EtherCAT® Option

Figure E.2

EtherCAT with cover attached

2 1

RUN ERR

L/A OUT LA/IN

3 4

underside

EtherCAT with cover removed

12 13

IN OUT

Option Unit

1 - LED (RUN) 9 - EtherCAT PCB

2 - LED (ERR) 10 - Attachment screw hole for option cover

3 - LED (L/A OUT) 11 - Nameplate

4 - LED (L/A IN) 12 - Function Earth wire connection (FE)

5 - Option Cover 13 - Mounting clip

6 - Communication cable connector (RJ45) 14 - Wire

7 - Mounting clip 15 - Through-hole for wire

8 - Option board connector

Refer to EtherCAT® Option Status LEDs on page 12 for details on the LEDs.

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5 EtherCAT® Option Components

 Communication connector

The EtherCAT® Option is connected to the network using a RJ45 connector. The pin assignment is explained in Ta bl e E.4 .

Table E.4 Communication connector (RJ45)

EtherCAT® Connector Pin Signal Description

1 TD+ 2 TD3 RD+ Receive data 4 – N.C. (Pins denoted as N.C. do not connect to any signal) 5 – N.C. (Pins denoted as N.C. do not connect to any signal) 6 RD- Receive data 7 – N.C. (Pins denoted as N.C. do not connect to any signal) 8 – N.C. (Pins denoted as N.C. do not connect to any signal)

Housing – Shield

Send data

 EtherCAT® Option Status LEDs

The EtherCAT® Option has four LEDs that indicate the communication status. The indications conform with DS303, Part 3: Indicator Specification.

 LEDs L/A OUT and L/A IN: Ethernet Link/Activity 1 and 2

The Link/Activity indicators show the status of the physical link and show activity on the link period

 RUN LED

A green lit EtherCAT

RUN LED indicates the status of the EtherCAT® network state

machine.

A red lit EtherCAT

RUN LED is only used by the NOID firmware loader, refer to

Table E.5.

 EtherCAT® ERROR indicator

The red EtherCAT

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error LED indicates the presence of any errors.

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