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.

1

2

3

4

5

6

7

8

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

Copyright © 2011 YASKAWA EUROPE GMBH

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.

EN 2 YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual

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

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

EN 4 YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual

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

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

YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual EN 5

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.

EN 6 YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual

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.

YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual EN 7

2 Product Overview

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

®

EN 8 YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual

3 Software Parts

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.

YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual EN 9

4 Receiving

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

EN 10 YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual

5 EtherCAT® Option Components

5 EtherCAT® Option Components

 EtherCAT® Option

Figure E.2

EtherCAT with cover attached

2
1

RUN ERR

L/A OUT LA/IN

3
4

5

underside

8

7

EtherCAT with cover removed

FE

9

10

11

12
13

IN OUT

15

6

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.

YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual EN 11

14

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

EN 12 YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual

®

error LED indicates the presence of any errors.

5 EtherCAT® Option Components

LED Color Display Meaning

- Continuously Off

Link Activity 1/2

Green

Continuously On

Flickering There is traffic on Ethernet, data are being exchanged

- Continuously Off The device is in Init state

Blinking

Green

RUN

Red

Single flash

Continuously On The device is in Operational State

Blinking

(1 Hz or 6 Hz)

Continuously Off

Blinking General configuration error

Single flash

Double flash

ERR Red

Continuously On

Blinking

(1 Hz or 6 Hz)

No link. The communication cable is not physically
connected. The EtherCAT
The module is connected to Ethernet. A
communication cable is physically connected, but no
data are being exchanged.

The device is in Pre-Operational State (flashing rate
about 2.5 Hz)
The device is in Safe-Operational State (one short flash
(approximately 200 ms) followed by a long off
condition (approximately 1000 ms)

The Option BOOT or APP firmware is executing the
NOID firmware loader.
1 Hz: Firmware loader protocol in IDLE state (waiting
for commands from the drive)
6 Hz: Firmware loader protocol is processing
commands.

No link. The EtherCAT® communication is in working
condition.

The slave device application has changed the

®

EtherCAT
"Change" in the AL status register is set to 0x01:
change/error. Single flash is one short flash
(approximately 200 ms) followed by a long off phase

state autonomously: The parameter

(approximately 1000 ms).
The sync manager watchdog timeout has occurred.

Double flash is two short flashes (approximately 200
ms each), separated by an off condition (approximately
200 ms), and then a long off phase (approximately
1000 ms)

Possible causes:

1. An EtherCAT® PDI (Process Data Interface) error has
occurred, the NOID application interface has failed.

2. An option card FATAL event has occurred (system
has stalled execution, see EtherCAT
0x4000 for the cause).
The option BOOT or APP firmware is executing the
NOID firmware loader.
1Hz: Firmware loader protocol in IDLE state (waiting
for commands from drive)
6Hz: Firmware loader protocol is processing
commands.

Table E.5 UNDERSTANDING THE STATUS LEDS

®

controller is not started up.

®

vendor object

YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual EN 13

5 EtherCAT® Option Components

Figure E.3 explains the indicator flash rates.

FigureE.3

LED Flash Rates and Meaning

EN 14 YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual

5 EtherCAT® Option Components

 DSP402 functionality

This part manages the DSP402 drive profile functionality in the option and converts the
control/status data into drive specific control/status data.

 Vendor specific CANopen objects

This part integrates the vendor specific CANopen object model into EtherCAT®.

 Error management

This part processes drive and EtherCAT® specific errors and assures that all faults process
and propagate properly to the drive/EtherCAT

®

network.

 EtherCAT® processing stack

The "EtherCAT® Slave example code" from the EtherCAT® technology group (ETG) is used
as a main base in this project. It is internally adopted to fit the product.

YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual EN 15

6 Installation Procedure

DANGER

WARNING

NOTICE

6 Installation Procedure

 Section Safety

Electric Shock Hazard

Power to the drive must be shut off when installing this option card.

Even though the power has been shut off, voltage still remains in the drive’s DC bus. Wait before
removing the front cover once the drive has been turned off.

The CHARGE light on the drive will go out after voltage in the DC bus drops below 50 V, at
which point it is safe to remove the front cover.

Due to the risk of electric shock, be sure that all LEDs have gone out and that the DC bus voltage
has reached a safe level prior to performing any work on the drive.

Electrical Shock Hazard

Do not remove the front cover 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 drives without covers or safety shields to show 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.

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 the option card while the power supply to the drive is switched on.

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.

Damage to Equipment

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

Failure to comply may result in ESD damage to circuitry.

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

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

EN 16 YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual

6 Installation Procedure

NOTICE

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.

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.

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.

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 card and
connecting any other devices.

Failure to comply may result in damage to the option card.

YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual EN 17

6 Installation Procedure

 Prior to Installing the Option Card

Prior to installing the EtherCAT® Option, wire the drive and make necessary connections to
the drive terminals. For more information on wiring and connecting the drive, refer to the
manual packaged with the drive. Verify that the drive runs normally without the option
installed.

 Installing the Option Unit

Remove the front cover of the drive before installing the EtherCAT® Option. Follow the
directions below for proper installation.

1. Switch off the power supply to the drive.

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. Before installing the EtherCAT
power to the drive. 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 at least five minutes after all indicators are off and
measure the DC bus voltage level to confirm safe level.

2. Remove the front cover. The original drive front cover may be discarded because it will
be replaced by the EtherCAT

Figure 1

®

Option cover in step 8.

®

Option, disconnect all

Figure 1 Remove Front Cover

EN 18 YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual

6 Installation Procedure

Ground terminal

Ground cable

Bottom cover

A

B

3. Remove the bottom cover and connect the EtherCAT® Option ground wire to the
ground terminal.

Figure E.1

Connect Ground Wire

Note: The four different ground wires packaged with the EtherCAT® Option connect

the unit to different drive models. Select the proper ground wire from the
EtherCAT

on page 20.

Figure E.2

®

Option kit depending on drive size. Refer to Ground Wire Selection

1 – Option unit connection: screw size = M3
2 – Drive-side connection: screw size = M3.5 to M6

Ground Wire

YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual EN 19

6 Installation Procedure

Table E.1 Ground Wire Selection

Drive Model

Ground Wire Length

(mm/in)

150/5.9

200/7.9

250/9.8 -

400/15.7 -

Single-Phase

200 V Class

BA0001
BA0002
BA0003

BA0006
BA0010
BA0012
BA0018

Note: Cover removal steps for certain larger models of V1000 with a Terminal

Cover:

-Single-Phase 200 V Class: CIMR-VUBA0006 to BA0018

-Three-Phase 200 V Class: CIMR-VU2A0008 to 2A0069

-Three-Phase 400 V Class: All models
Remove the terminal cover before removing the bottom cover to install the
EtherCAT® Option. Replace the terminal cover after wiring the EtherCAT
Option.

FigureE.3

CIMR-VU

Three-Phase

200 V Class

2A0001
2A0002
2A0004
2A0006

2A0010
2A0012
2A0020

2A0030
2A0040

2A0056
2A0069

Three-Phase

400 V Class

-

4A0001
4A0002
4A0004
4A0005
4A0007
4A0009
4A0011

4A0018
4A0023

4A0031
4A0038

®

Models with Terminal Cover

EN 20 YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual

6 Installation Procedure

Tabs should line up

Tabs should line up

4. Reattach the bottom cover.

5. Connect the EtherCAT® Option to the drive. Properly secure the tabs on the left and
right sides of the EtherCAT

Figure E.4

®

Option to the drive case.

Attach EtherCAT® Option

YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual EN 21

6 Installation Procedure

Drive ground
terminal

Through-hole
for ground wire

Ground wire

Pass the ground
wire through
the bottom cover
of the drive.

Tabs should line up

6. Connect the ground wire between the drive ground terminal and the EtherCAT® Option

®

ground. When wiring the EtherCAT
drive bottom cover, then pass the ground wire into the through-hole for the ground wire at
the front of the EtherCAT

FigureE.5

®

Option.

Option, pass the ground wire through the inside of the

Ground Wire Connection

7. Connect the communication wire to the EtherCAT® Option modular connector.

®

8. Attach the EtherCAT

FigureE.6

Option cover to the front of the EtherCAT® Option.

Attach Cover

EN 22 YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual

6 Installation Procedure

PRG : 503

IND.CONT.EQ.

7J48 B

CIMR-VC2B0004BAA

YASKAWA ELECTRIC CORPORATION

MADE IN JAPAN

:

:

AC3PH 200-240V 50/60Hz 2.9A

:

AC3PH 0-240V 0-1000Hz 3.2A

:

3.1kg
: --
:



:

E131457

IP20

PASS

MODEL
MAX APPLI. MOTOR : 0.55kW REV : A
INPUT
OUTPUT
MASS
O / N
S / N

FILE NO

2-1 Kurosaki-shiroishi, Yahatanishi-Ku, Kitakyushu 806-0004 Japan

Firmware Version

Enclosure Type

AC Drive Model

Input Specifications

Output Specifications

Lot Number

Serial Number

 Communication Cable Specifications

To ensure proper performance, YASKAWA recommends using EtherCAT® dedicated Cat5e
communication cables.

 Network Termination

The EtherCAT® network does not require a termination resistor if the drive is the last node in
the network. Network termination is realized by the ASIC of the EtherCAT

®

option card.

 ESI File

For easy network implementation of drives equipped with an EtherCAT® Option, the ESI
file can be obtained from:

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

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

USA: http://www.yaskawa.com

Other areas: contact a YASKAWA representative

 Identification of Drive Firmware Version

1. Read out firmware version from drive digital operator.

Check monitor parameter U1-25 when the drive is switched ON. The display shows the last
four digits of the firmware version and the value should be in the range of 1020 ~ 1099.

2. Verifying firmware version on drive nameplate

Figure E.7

YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual EN 23

Verifying firmware version on drive nameplate

7 EtherCAT® Option Related Drive Parameters

7

EtherCAT® Option Related Drive Parameters

The drive parameters listed in Table E.2 have influence on some functions of the SI-ES3
option card. Check these parameters before starting network communications.

Table E.2 Parameter Settings

No. Name Description Default

Frequency

b1-01

Reference

<1>

Selection

b1-02

Run Command

<1>

Selection

E2-04

Motor 1 Motor

<2>

Poles

Operation
Selection after

F6-01

Communications
Error

External Fault

F6-02

Detection
Conditions (EF0)

Stopping Method
for External Fault

F6-03

from
Communication
Option Board

Torque Reference/
Torque Limit

F6-06

selection from

<4>

Communications
Option

NetRef/ComRef

F6-07

Selection Function

Selects the frequency reference input source
0: Operator - Digital preset speed d1-01 to d1-17
1: Terminals - Analog input terminals
2: MEMOBUS/Modbus communications
3: Option card
4: Pulse Input (Terminal RP)

Selects the run command input source
0: Digital Operator - RUN and STOP keys
1: Digital input terminals S
2: MEMOBUS/Modbus communications
3: Option card

Set the number of motor poles described on the motor nameplate.
2 to 48

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

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

Determines drive response for external fault input (EF0) detection during

®

EtherCAT
0: Ramp to Stop
1: Coast to Stop
2: Fast-Stop
3: Alarm Only <3>

0: Torque reference/torque limit via network communications are
disabled.

communication

®

Option

1: Torque reference/torque limit via network communications are

enabled. <5>

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

<6>

1

4

1

0

1

0

0

EN 24 YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual

7 EtherCAT® Option Related Drive Parameters

No. Name Description Default

Reset
Communication

F6-08

Related
Parameters

o1-03

Digital Operator

<7>

Display Selection

Determines if communication-related parameters are set back to their
original default values when the drive is initialized.
0: Do not reset F6- and F7- parameters when the drive is
initialized using parameter A1-03.
1: Rest F6- and F7- parameters when the drive is initialized using
parameter A1-03.
Note: Setting this parameter does not affect communication-

related parameters. Setting this parameter only determines
if communication-related parameters (F6- and F7­) are also reset when A1-03 is used to initialize the
drive.

Sets the units to display the frequency reference and output frequency.
0: 0.01 Hz
1: 0.01% (100% = E1-04)
2: r/min (enter the number of motor poles to E2-04/E4-04/E5-04)
3: User defined by parameters o1-10 and o1-11

0

<6>

<1> To start and stop the drive from an EtherCAT® master device using serial communications, set b1-02

to 3. To control the frequency reference of the drive via the master device, set b1-01 to 3.
<2> E2-04 is necessary to set up when the Drive Profile DSP402 objects are used.
<3> If set to 3, then the drive will continue to operate when an EF0 fault is detected. Take proper safety

measures, such as installing an emergency stop switch.
<4> This parameter might not appear in certain drives. Furthermore its availability is limited to

depending on the control mode selection. For details refer to the technical manual for the drive the

option card is used with.
<5> If the drive is set to receive the torque reference/limit from the network (F6-06 = 1) make sure the

value is set appropriately by the controller. If no torque reference/limit value is entered the motor

will not produce torque.
<6> The default value depends on the drive used and/or the drive software version. For details refer to

the technical manual for the drive.
<7> Changing o1-03 changes the units for input object 2010 (Hex) (frequency reference), output object

2110 (Hex) (output frequency) and 2200 (Hex) (motor speed). Furthermore o1-03 must be set to 2

and E2-04 must be set to the correct value in order to use the Drive Profile DSP402.

YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual EN 25

8 Object Dictionary

8 Object Dictionary

 Object Dictionary Overview

The Object Dictionary consists of three sections:

• Communication Profile Objects

• Manufacturer Specific Profile Objects

• Drive and Motion Profile Objects

The tables below give an overview of the communication objects available in the SI-ES3
option. Refer to the page references given for further details on each object.



Communication Profile Objects (DSP 301)

Index (Hex) Name

1000 Device Type
1001 Error Register
1003 Pre-defined Error Field
1008 Manufacturer Device Name
1009 Manufacturer Hardware Version

100A Manufacturer Software Version

1010 Store Parameters
1011 Restore Default Parameters
1018 Identity Object

1600 - 1628 Receive PDO Mapping

1A00 - 1A28 Tranmit PDO mapping

1C00 Sync Manager Communication Type
1C12 Sync Manager RxPDO assign
1C13 Sync Manager TxPDO assign

EN 26 YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual

 Manufacturer Specific Profile Objects (DS 301)

Index (Hex) Content

Input

Output

2000 Operation Command
2010 Speed Command
2020 Torque Limit
2030 Torque Compensation
2040 MEMOBUS/Modbus Read Command
2050 MEMOBUS/Modbus Write Command
2060 MEMOBUS/Modbus Unlimited Enter Command
2070 MEMOBUS/Modbus Limited Enter Command
2080 Selectable (default: none)
2090 Selectable (default: none)
20A0 Selectable (default: none)
20B0 Selectable (default: none)
20C0 Selectable (default: none)
20D0 FM analog output 1
20F0 Multi-function DO output
3000 Selectable (default: none)
3100 Selectable (default: none)
2100 Drive Status

2110 Output Frequency
2120 Output Current
2130 Output Torque
2140
2150
2155
2160
2180
2190
21A0
21B0
21C0
21E0
21D0
21F0
2200
2210
2220 Analog input monitor A1
2240 Analog input monitor A2
2270 Inverter DI Input
4000 Option NVS FATAL Record
4001 Option Info + Status Record

MEMOBUS/Modbus Read Command Response
MEMOBUS/Modbus Write Command Response
PDO Parameter Write Response
MEMOBUS/Modbus Not Limited Enter Command Response
Selectable (default: Input terminal status)
Selectable (default: Analog input 1 monitor)
Selectable (default: none)
Selectable (default: none)
Selectable (default: none)
Selectable (default: none)
Selectable (default: none)
Selectable (default: none)
Motor Speed
DC Bus Voltage

8 Object Dictionary

YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual EN 27

8 Object Dictionary

 Drives and Motion Profile Objects (DSP 402)

Object Type Index (Hex) Name

Common

Entries

Device

Control

Velocity

Mode

60FD Digital Inputs
60FE Digital Outputs

6040 Controlword
6041 Statusword
6060 Modes of operation
6061 Modes of operation display
6042 vl target velocity
6043 vl velocity demand
6044 vl control effort
6046 vl velocity min max amount
6048 vl velocity acceleration

6049 vl velocity deceleration
604A vl velocity quick stop
604C vl dimension factor
604D vl pole number

EN 28 YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual

9 Process Data Objects (PDO)

9 Process Data Objects (PDO)

PDOs (Process Data Object) will be used for I/O exchange. PDOs are mapped to objects
during configuration (PRE-OPERATIONAL state).

TxPDOs are used to transfer data from the option card and RxPDOs are used to transfer data
to the option card.

The module supports at least 8 parameters mapped to RxPDO and 8 parameters mapped to
TxPDO.

 PDOs and Default PDO Setup

The drive supports 15 Receive and 16 Transmit PDOs. The tables below show available
PDOs, their default settings and the objects required to set up when changing the PDO
configuration or the PDO mapping.

 Transmit PDOs (TxPDO)

The Transmit PDOs have a default mapping according to the table below. They can be re­mapped by the end user by writing to map objects 0x1A00-0x1A28, please see page 26.

PDO number

1 Sub-index 1: 0x6041#0, 2-bytes (DSP402 status word) 0x1A00

2

6

7

21 Sub-index 1: 0x6042#0, 2-bytes (vl target velocity) 0x1A14
22 Sub-index 1: 0x6043#0, 2-bytes (vl velocity demand) 0x1A15

23

24

25

26

36 Sub-index 1: 0x2100#1, 2-bytes (Drive status) 0x1A23
37 Sub-index 1: 0x2110#1, 2-bytes (Output frequency) 0x1A24
38 Sub-index 1: 0x2120#1, 2-bytes (Output current) 0x1A25
39 Sub-index 1: 0x2130#1, 2-bytes (Output torque reference) 0x1A26
40 Sub-index 1: 0x2140#1, 2-bytes (MEMOBUS/Modbus read response) 0x1A27
41 Sub-index 1: 0x2150#1, 2-bytes (MEMOBUS/Modbus write response) 0x1A28

Sub-index 1: 0x6041#0, 2-bytes (DSP402 status word)
Sub-index 2: 0x6061#0, 2-bytes, (DSP402 Modes of operation display)

Sub-index 1: 0x6041#0, 2-bytes (DSP402 status word)
Sub-index 2: 0x6044#0, 2-bytes, (vl control effort)

Sub-index 1: 0x6041#0, 2-bytes (DSP402 status word)
Sub-index 2: 0x60FD#0, 4-bytes, (Digital inputs)

Sub-index 1: 0x6048#1, 4-bytes (vl Accel delta speed)
Sub-index 2: 0x6048#2, 2-bytes, (vl Accel delta time)

Sub-index 1: 0x6049#1, 4-bytes (vl Decel delta speed)
Sub-index 2: 0x6049#2, 2-bytes, (vl Decel delta time)

Sub-index 1: 0x604A#1, 4-bytes (vl quick-stop delta speed)
Sub-index 2: 0x604A#2, 2-bytes, (vl quick-stop delta time)
Sub-index 1: 0x604C#1, 4-bytes (vl Dimension factor)
Sub-index 2: 0x604C#2, 4-bytes, (vl Dimension factor)

Transmit PDO Mapping

Mapped objects (Hex) Index (Hex)

0x1A01

0x1A05

0x1A06

0x1A16

0x1A17

0x1A18

0x1A19

YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual EN 29

9 Process Data Objects (PDO)

 Receive PDOs (RxPDO)

The Receive PDOs have a default mapping according to the table below. The end user can
re-map Receive PDOs by writing to the map objects 0x1600-1628, refer to
n Communication Profile Objects (DSP 301).

PDO number

1 Sub-index 1: 0x6040#0, 2-bytes (DSP402 control word) 0x1600

2

6

7

8

21

22

23

24

36 Sub-index 1: 0x2000#1, 2-bytes (Operation command) 0x1623
37 Sub-index 1: 0x2010#1, 2-bytes (Speed reference/limit) 0x1624
38 Sub-index 1: 0x2020#1, 2-bytes (Torque reference/limit) 0x1625
39 Sub-index 1: 0x2030#1, 2-bytes (Torque compensation) 0x1626
40 Sub-index 1: 0x2040#1, 4-bytes (MEMOBUS/Modbus read request) 0x1627
41 Sub-index 1: 0x2050#1, 4-bytes (MEMOBUS/Modbus write request) 0x1628

Sub-index 1: 0x6040#0, 2-bytes (DSP402 control word)
Sub-index 2: 0x6060#0, 1-bytes, (DSP402 Modes of operation)

Sub-index 1: 0x6040#0, 2-bytes (DSP402 control word)
Sub-index 2: 0x6042#0, 2-bytes, (vl target velocity)

Sub-index 1: 0x6040#0, 2-bytes (DSP402 control word)
Sub-index 2: 0x60FE#1, 4-bytes, (Physical digital outputs)
Sub-index 1: 0x6040#0, 2-bytes (DSP402 control word)
Sub-index 2: 0x6060#0, 1-bytes, (DSP402 Modes of operation)
Sub-index 1: 0x6048#1, 4-bytes (vl Accel delta speed)
Sub-index 2: 0x6048#2, 2-bytes, (vl Accel delta time)
Sub-index 1: 0x6049#1, 4-bytes (vl Decel delta speed)
Sub-index 2: 0x6049#2, 2-bytes, (vl Decel delta time)
Sub-index 1: 0x604A#1, 4-bytes (vl quick-stop delta speed)
Sub-index 2: 0x604A#2, 2-bytes, (vl quick-stop delta time)
Sub-index 1: 0x604C#1, 4-bytes (vl Dimension factor)
Sub-index 2: 0x604C#2, 4-bytes, (vl Dimension factor)

Mapped objects (Hex) Index (Hex)

Receive PDO Mapping

0x1601

0x1605

0x1606

0x1607

0x1614

0x1615

0x1616

0x1617

EN 30 YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual

10 Fault Diagnosis and Possible Solutions

10 Fault Diagnosis and Possible Solutions

 EtherCAT® Option Card Error Codes

The following error codes will be shown in object 1003, subindex 01 if the correspondent
error occurred on the drive.

 Inverter and CANopen/EtherCAT

 Emergency Object (EMCY)

The emergency object is used for sending fault information from the communication module
to the CANopen/EtherCAT

®

network.

The emergency object is triggered by a fault event from the host or the option card itself. An
emergency object is transmitted only once per 'error event'.

Emergency error codes are specified for a number of events. Emergency word specification:

Table E.3 Emergency Word Specification

Byte 0 1 2 3 4 5 6 7

Error

register

object

0x1001

Content

Emergency

error code

 Emergency Messages, DSP301 & DSP402

The error codes specified in the list below can be read from CANopen object 0x1003 (Pre­defined error field)

Table E.4 Error Codes

Error Code (Hex) Meaning Drive Display

0000 No error No error 0x00

3220 DC bus undervoltage Uv1 0x02

5200 Control power supply undervoltage Uv2 0x03

3221 DC bus charging circuit fault Uv3 0x04

2330 Ground fault GF 0x06

2220 Over current oC 0x07

3210 DC bus overvoltage ov 0x08

4280 Heatsink overheat oH 0x09

4210 Heatsink overheat oH1 0x0A

®

Faults

Manufacturer specific error info. Not used. Set to zero.

INVR:0x0080

Enum Value

YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual EN 31

10 Fault Diagnosis and Possible Solutions

Error Code (Hex) Meaning Drive Display

2310 Motor overload oL1 0x0B

2221 Drive overload oL2 0x0C

2311 Overtorque detection 1 oL3 0x0D

2312 Overtorque detection 2 oL4 0x0E

5420 Braking transistor fault rr 0x0F

4410 Internal braking resistor overheat rH 0x10

5441 External fault 3 EF3 0x11

5442 External fault 4 EF4 0x12

5443 External fault 5 EF5 0x13

5444 External fault 6 EF6 0x14

FF17 Cooling FAN fault FAn 0x17

7180 Motor over speed (control mode using PG) oS 0x18

8321 Speed deviation (control mode using PG) dEv 0x19

7305 PG fault (control mode using PG) PGo 0x1A

3130 Input phase loss PF 0x1B

3300 Output phase loss LF 0x1C

FF01 Motor overheat alarm oH3 0x1D

5300 Digital operator disconnected oPr 0x1E

5530 EEPROM error Err 0x1F

FF08 MEMOBUS/Modbus Error CE 0x21

FF07 BUS error bUS 0x22

FF06 Control fault CF 0x25

5481 Fault input from option card EF0 0x27

FF02 PID feedback lost FbL 0x28

FF03 Undertorque detected 1 UL3 0x29

FF04 Undertorque detected 2 UL4 0x2A

FF05 High slip braking OL oL7 0x2B

FF31 Intermediary voltage fault VCF 0x31

FF36 Output current imbalance LF2 0x36

FF3B Too many speed search restarts SEr 0x3B

FF41 PID feedback loss FbH 0x41

FF0D External fault at input terminal S1 EF1 0x42

FF0E External fault at input terminal S2 EF2 0x43

FF44 Mechanical weakening detection 1 oL5 0x44

FF45 Mechanical weakening detection 2 UL5 0x45

INVR:0x0080
Enum Value

EN 32 YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual

10 Fault Diagnosis and Possible Solutions

Error Code (Hex) Meaning Drive Display

FF46 Current offset fault CoF 0x46

FF47 Programming Error 1 PE1 0x47

FF49 Current offset fault dWFL 0x49

6301 Error during object content selection - -

INVR:0x0080

Enum Value

 SDO Abort Codes

SDO abort codes are supported as specified in DS301. Additionally the abort codes listed
below are implemented.

Table E.5 SDO Abort Codes

SDO Abort Code Description

Consecutive MEMOBUS/Modbus Read/Write/Enter commands are send
but the wait time between messages is too short.

0602 0010 (Hex)

0602 0022 (Hex)

A MEMOBUS/Modbus Read or Write Response (2140 (Hex) and 2150
(Hex)) was attempted but no or an incorrect MEMOBUS/Modbus address
has been written to object 2040 (Hex) or 2050 (Hex) before.

A MEMOBUS/Modbus write request has been sent during DC bus under
voltage.

Drive Profile DSP402 is used and a value is written to object 6042 (Hex) (vl
Target Velocity) while the drive status is not “Operation Enable”.

Object 2155 (Hex) is tried to be read while the SI-ES3 option is not in
“Operational” state.

A MEMOBUS/Modbus Read or Write command (2040 (Hex) and 2050
(Hex)) was performed with an invalid MEMOBUS/Modbus address.

 Drive-Side Error Codes

Drive-side error codes appear on the drive’s digital operator. Causes of the errors and
corrective actions are listed in Table E.6 and Table E.4. For additional error codes, refer to
the technical manual for the drive.

®

The bUS (EtherCAT
EtherCAT

®

Option) may appear as an alarm or a fault. If they occur as an alarm, the "ALM"
LED on the drive digital operator will blink and the alarm code will flash in the display.
When these occur as a fault, the “ALM” LED will light and the display will show the fault
code.

If communication stops while the drive is running, check the following items:

•Is the EtherCAT

• Is the communication line properly connected to the EtherCAT

Option Communication Error) and EF0 (External Fault Input from the

®

Option properly installed?

®

Option? Is it loose?

YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual EN 33

10 Fault Diagnosis and Possible Solutions

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

• Did a momentary power loss interrupt communications?

 Faults

Table E.6 lists possible faults when using a communication option. The drive’s fault contact

will close if one of these faults occur.

Digital Operator Display Fault Name

Master controller (PLC) has stopped
communicating.

Communication cable is not connected
properly.

A data error occurred due to noise.

®

EtherCAT

Table E.6 Fault Display and Possible Solutions

®

EtherCAT

bUS

Cause Possible Solution

Option is damaged.

After establishing initial communication, the connection was lost.
Only detected when the run command or frequency reference is
assigned to the option (b1-01=3 or b1-02=3).

Check for faulty wiring.
 Correct any wiring problems.

Check the various options available to minimize the effects of noise.
 Take steps to counteract noise in the control circuit wiring, main
circuit lines, 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 fulfills the EtherCAT
Ground the shield on the controller side and on the EtherCAT
side.

 If there are no problems with the wiring and the error continues to
occur, replace the EtherCAT

Option Communication Error

®

Option.

®

requirements.

®

Option

Digital Operator Display Fault Name

EF0

Cause Possible Solution

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

Problem with the upper controller (PLC)
program.

Digital Operator Display Fault Name

oFA00

Non-compatible option connected to the
drive.

EN 34 YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual

Cause Possible Solution

External Fault Input from EtherCAT Option

The alarm function for an external device has been triggered.

 Remove the cause of the external fault.
 Reset the external fault input from the upper controller (PLC)

device.
 Check the program used by the upper controller (PLC) and make

the appropriate corrections.

EtherCAT Option Card Fault

The drive does not support the option board plugged in.

 Check the drive option board compatibility. Replace the option card
if the fault persists even though the drive should support it.

10 Fault Diagnosis and Possible Solutions

Digital Operator Display Fault Name

oFA01

Problem with the connectors between the
drive and EtherCAT

Option card hardware fault

Cause Possible Solution

®

Option.

Digital Operator Display Fault Name

to

oFA30 to oFA43

Cause Possible Solution

EtherCAT Option Card Fault

Option card is not properly connected.

 Turn the power off and check the connectors between the drive and
EtherCAT® Option.

EtherCAT Option Card Fault

Communication ID error

®

 Replace the EtherCAT

Option. Contact YASKAWA for assistance.

 Option board error management

This section describes the errors managed by the option board and the linked actions taken.

Table E.7 Option Board Error Management

Option Error Description Error Indication Possible Solution

BUS error is triggered in
drive.

Note: Error against drive
will be cleared when the
next lower to higher
EtherCAT state
transition is made.

BUS error is triggered in
drive.

Note: Error against drive
will be cleared when the
next lower to higher
EtherCAT state
transition is made.

• Check and correct
state machine
transitions in control
word.

• Check network
connection (e.g. if
cables plugged in at
each node)

• Check telegram
timing. Are
telegrams sent to the
slave the error
occurred on?

OPSAFEOP/PREOP

when Drive running

OPSAFEOP

1. EtherCAT WD timeout

When an EtherCAT state
transition from OP 
SAFEOP/PREOP was
made when the drive
was in OPERATION
enabled.

If the EtherCAT
watchdog timeout is
enabled (Default in
native XML description
file) and output data
from PLC to the drive
isn't updated in time an
error will be trigged

YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual EN 35

10 Fault Diagnosis and Possible Solutions

Option Error Description Error Indication Possible Solution

1. Drive has detected a

OPSAFEOP

1. Drive FCS error

2. Drive COMID error

OPSAFEOP

1. Option card FCS error

2. Option card COMID
error

Initial power-up sequence

not completed within 10

seconds

I/F proc timeout

Option ID Error: Power-

up sequence copyright

string mismatch.

Sum check error

2. Drive has detected a
Communication Option
ID error

Possible cause:

1. Option card is
overloaded.

2. Option is not properly
processing the state.

1. Option card has
detected a Sum check
error

2. Option card has
detected a Communica­tion Option card ID error

Possible cause:

1. Drive system is
overloaded.

2. Drive is not properly
processing the state.

Possible cause:
Drive is not processing

the internal interface
protocol.

Drive does not support
EtherCAT option card

Option card has not pro­cessed any drive system
frames in 1000 ms.

Possible cause:
Drive has stopped

serving the internal
interface to option card
or HW failure.

Drive reported invalid
copyright string in
power-up process

1. Drive fault: OFx32

2. Drive fault: OFx30

1. Drive fault: OFx32

2. Drive fault: OFx30

Drive fault: OFx00
Option will log FATAL

event record in NVS
memory and set ERR
LED: solid RED, see

Ta bl e E . 5

Option will log FATAL
event record in NVS
memory, and set ERR
LED: solid RED, see

Ta bl e E . 5

Option will log FATAL
event record in NVS
memory, and set ERR
LED: solid RED, see

Ta bl e E . 5

1+2 Actions:
a. Disable process

data OUT sync
manager channel

b. Force EtherCAT
state change to
SAFE_OP

1+2 Actions:
a. Disable process

data IN sync manager
channel

b. Force EtherCAT
state change to
SAFE_OP

Actions:

1. Check drive
firmware version as
described on page 23.

2. If drive firmware
version is correct,
replace option card.

3. Replace the drive.

• Force EtherCAT
state to INIT

• Replace option card

EN 36 YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual

10 Fault Diagnosis and Possible Solutions

 Minor Faults and Alarms

Table 6 lists up alarms that might occur during operation using a communication option
board. If a multi function digital output of the drive is programmed for H2- = 10, the
output will close if these alarms occur.

Digital Operator Display Minor Fault Name

CALL

Communication wiring is faulty, there is a
short circuit, or something is not connected
properly.

Programming error on the master side  Check communications at start-up and correct programming errors.
Communication circuitry is damaged.  Replace the drive if the fault continues to occur.

Communication wiring is faulty, there is a

short circuit, or something is not connected

EEPROM checksum error

Cause Possible Solution

Digital Operator Display Minor Fault Name

EEP

Cause Possible Solution

properly.

Serial Communication Transmission Error
Communication has not yet been established.

Check for wiring errors.

 Correct the wiring.
 Remove and ground shorts and reconnect loose wires.

EEPROM Error
EEPROM checksum error

Check for wiring errors.

 Remove and ground shorts and reconnect loose wires.

If these errors occur, the object dictionary will be reset to its default
values.
 After the object dictionary has been changed and object dictionary
contents are then changed, execute a Store Parameter command (Index
= 1010 (Hex)).
 If the object dictionary has not been changed, execute a Restore
Parameter command (Index = 1011 (Hex)).

 Correct the wiring.

YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual EN 37

11 Specifications

11 Specifications

 Specifications

Model SI-ES3

Communication Profile

Connector RJ45 connector
Communications Speed 10/100 MBbps
Ambient Temperature –10 C to +50 C
Humidity up to 95% RH (no condensation)
Storage Temperature –20 C to +60 C (allowed for short-term transport of the product)
Area of Use Indoor (free of corrosive gas, airborne particles, etc.)
Altitude up to 1000 m

Items Specifications

DS 301 Ver. 4.02
DSP 402 Ver. 1.1 Velocity Mode

 Internal Scan Cycle

Table E.8 Option Card Specifications

V1000: 2 ms

 Revision History

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

MANUAL NO.ޓYEU TOEP C710606 98A

Published in Germany July 2011 11-7

Date of
publication

Date of Publication Revision Number Section Revised Content

July 2011 First Edition

Date of original
publication

EN 38 YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual

11 Specifications

YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual EN 39

Published in Germany July 2011 11-7

MANUAL NO. YEU TOEP C710606 98A

YASKAWA Europe GmbH

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

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

© 2011 YASKAWA Europe GmbH. All rights reserved.

Installation Manual

YASKAWA AC Drive V1000 Option

DRIVE CENTER (INVERTER PLANT)

2-13-1, Nishimiyaichi, Yukuhashi, Fukuoka, 824-8511, Japan
Phone: [phone] Fax: [phone]
http://www.yaskawa.co.jp

YASKAWA ELECTRIC CORPORATION

New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo, 105-6891, Japan
Phone: [phone] Fax: [phone]
http://www.yaskawa.co.jp

YASKAWA AMERICA, INC.

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

YASKAWA ELÉTRICO DO BRASIL LTDA.

Avenda Fagundes Filho, 620 Bairro Saude, São Paulo, SP04304-000, Brasil
Phone: [phone]

Fax: [phone]

http://www.yaskawa.com.br

YASKAWA EUROPE GmbH

Hauptstrasse 185, 65760 Eschborn, Germany
Phone: [phone] Fax: [phone]
http://www.yaskawa.eu.com

YASKAWA ELECTRIC UK LTD.

1 Hunt Hill Orchardton Woods, Cumbernauld, G68 9LF, United Kingdom
Phone: [phone]

Fax: [phone]

http://www.yaskawa.co.uk

YASKAWA ELECTRIC KOREA CORPORATION

7F, Doore Bldg. 24, Yeoido-dong, Yeoungdungpo-gu, Seoul, 150-877, Korea
Phone: [phone]

Fax: [phone]

http://www.yaskawa.co.kr

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.

151 Lorong Chuan, #04-01, New Tech Park, 556741, Singapore
Phone: [phone]

Fax: [phone]

http://www.yaskawa.com.sg

YASKAWA ELECTRIC (SHANGHAI) CO., LTD.

No. 18 Xizang Zhong Road, 17F, Harbour Ring Plaza, Shanghai, 200001, China
Phone: [phone]

Fax: [phone]

http://www.yaskawa.com.cn

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

Room 1011, Tower W3 Oriental Plaza, No. 1 East Chang An Ave.,
Dong Cheng District, Beijing, 100738, China
Phone: [phone]

Fax: [phone]

YASKAWA ELECTRIC TAIWAN CORPORATION

9F, 16, Nanking E. Rd., Sec. 3, Taipei, 104, Taiwan
Phone: [phone]

Fax: [phone]