Yaskawa SI-ET3 User Manual
YASKAWA AC Drive 1000-Series Option
MECHATROLINK-III
Technical Manual
Type: SI-ET3
To properly use the product, read this manual thoroughly and retain
for easy reference, inspection, and maintenance. Ensure the end user
receives this manual.
MANUAL NO. SIEP C730600 62B
Copyright © 2013 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any
means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent
liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to
improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has
been taken in the preparation of this manual. Yaskawa assumes no responsibility for errors or omissions. Neither is any liability
assumed for damages resulting from the use of the information contained in this publication.
2 YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual
Table of Contents
1 PREFACE AND SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 PRODUCT OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3 RECEIVING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
4 OPTION COMPONENTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
5 INSTALLATION PROCEDURE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
6 RELATED DRIVE PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
7 TRANSMISSION INTERFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
8 MECHATROLINK-III COMMANDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
9 MAIN COMMAND. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
10 SUB-COMMANDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
11 TROUBLESHOOTING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
12 SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual 3
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 the SI-ET3 option:
SI-ET3 Option
YASKAWA AC Drive 1000-Series Option
SI-ET3 MECHATROLINK-III
Installation Manual
Manual No: TOBP C730600 62
YASKAWA AC Drive 1000-Series Option
SI-ET3 MECHATROLINK-III
Technical Manual
Manual No: SIEP C730600 62
(This book)
Read this manual first.
The installation manual is packaged with the option and contains
information required to install the option and set up related drive
parameters.
The technical manual contains detailed information about the
option. Access the following sites to obtain the technical manual:
U.S.: http://www.yaskawa.com
Europe: http://www.yaskawa.eu.com
Japan: http://www.e-mechatronics.com
For questions, contact your local Yaskawa sales office or the
nearest Yaskawa representative.
Drive
The drive manuals cover basic installation, wiring, operation
YASKAWA AC Drive
1000-Series Quick Start Guide
YASKAWA AC Drive
1000-Series Technical Manual
procedures, functions, troubleshooting, and maintenance
information.
The manuals also include important information about parameter
settings and drive tuning.
Access these sites to obtain Yaskawa instruction manuals:
U.S.: http://www.yaskawa.com
Europe: http://www.yaskawa.eu.com
Japan: http://www.e-mechatronics.com
For questions, contact your local Yaskawa sales office or the
nearest Yaskawa representative.
Terms
Note: Indicates supplemental information that is not related to safety messages.
Drive: YASKAWA AC Drive 1000-Series
Option: YASKAWA AC Drive 1000-Series Option SI-ET3 MECHATROLINK-III
Registered Trademarks
• MECHATROLINK-III is a trademark of the MECHATROLINK Members Association (MMA).
• All trademarks are the property of their respective owners.
4 YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual
1 Preface and Safety
DANGER
W ARNING
CAUTION
NOTICE
DANGER
NOTICE
Supplemental Safety Information
Read and understand this manual before installing, operating, or servicing this option. The option must be installed
according to this manual and local codes.
The following conventions are used to indicate safety messages in this manual. Failure to heed these messages could
result in serious or possibly even fatal injury or damage to the products or to related equipment and systems.
Indicates a hazardous situation, which, if not avoided, will result in death or serious injury.
Indicates a hazardous situation, which, if not avoided, could result in death or serious injury.
Indicates a hazardous situation, which, if not avoided, could result in minor or moderate injury.
Indicates an equipment damage message.
General Safety
General Precautions
• The diagrams in this section may include options and drives without covers or safety shields to illustrate details. Be
sure to reinstall covers or shields before operating any devices. The option should be used according to the instructions
described in this manual.
• Any illustrations, photographs, or examples used in this manual are provided as examples only and may not apply to
all products to which this manual is applicable.
• The products and specifications described in this manual or the content and presentation of the manual may be
changed without notice to improve the product and/or the manual.
• When ordering new copies of the manual, contact a Yaskawa representative or the nearest Yaskawa sales office and
provide the manual number shown on the front cover.
Heed the safety messages in this manual.
Failure to comply will result in death or serious injury.
The operator is responsible for injuries or equipment damage caused from failure to heed the warnings in the manual.
Do not modify the drive or option circuitry.
Failure to comply could result in damage to the drive or option and will void warranty.
Yaskawa is not responsible for any modification of the product made by the user. This product must not be modified.
Do not expose the drive or the option to halogen group disinfectants.
Failure to comply may cause damage to the electrical components in the option.
Do not pack the drive in wooden materials that have been fumigated or sterilized.
Do not sterilize the entire package after the product is packed.
YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual 5
2 Product Overview
2 Product Overview
About This Product
The option provides a communications connection between the drive and a MECHATROLINK-III network. The option
connects the drive to a MECHATROLINK-III network and facilitates the exchange of data.
This manual explains the handling, installation and specifications of this product.
MECHATROLINK-III is a communications link to connect industrial devices (such as smart motor controllers, operator
interfaces, and variable frequency drives) as well as control devices (such as programmable controllers and computers) to
a network. MECHATROLINK-III is a simple, networking solution that reduces the cost and time to wire and install
factory automation devices, while providing interchangeability of like components from multiple vendors.
By installing the option to a drive, it is possible to do the following from a MECHATROLINK-III master device:
• operate the drive
• monitor the operation status of the drive
• change parameter settings
Applicable Models
The option can be used with the drive models in Tabl e 1.
Table 1 Applicable Models
Drive Series Drive Model Number Software Version <1>
CIMR-A2A ≥1020
A1000
<1> See “PRG” on the drive nameplate for the software version number.
CIMR-A4A0002 to 4A0675 ≥1020
CIMR-A4A0930 and 4A1200 Under development
CIMR-A5A ≥1020
6 YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual
3 Receiving
R/E LK1
CON LK2
3 Receiving
Please perform the following tasks upon receipt of the option:
• Inspect the option for damage. Contact the shipper immediately if the option appears damaged upon receipt.
• Verify receipt of the correct model by checking the model number printed on the name plate of the option package.
• Contact your supplier if you have received the wrong model or the option does not function properly.
Option Package Components
Table 2 Option Package Contents
Description: Option
_
Quantity: 1131 1
Ground
Wire
Screws (M3) LED Label Installation Manual
MANUAL
Tools Required for Installation
• A Phillips screwdriver (M3 metric/#1, #2 U.S. standard size <1>) is required to install the option and remove drive front
covers.
• Diagonal cutting pliers. (required for some drive models)
• A small file or medium grit sandpaper. (required for certain drive models)
<1> Screw sizes vary by drive capacity. Select a screwdriver appropriate for the drive capacity.
Note: Tools required to prepare option networking cables for wiring are not listed in this manual.
YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual 7
4 Option Components
A1000
E
F
G
H
I
D
C
B
Underside
A
A1000
4 Option Components
SI-ET3 Option
Figure 1
A – Connector (CN5)
F – LED (LK1) <1>
B – Installation hole G – Ground terminal and installation hole <2>
C–LED (CON)<1> H – Communication connector CN1
D–LED (R/E)
E – LED (LK2)
<1> I – Communication connector CN2
<1>
<1> Refer to Option LED Display on page 9 for details on the LEDs
<2> The ground wire provided in the option shipping package must be connected during installation
Figure 1 SI-EN3 Option Components
Connector
Table 3 Communication Connector
MECHATROLINK-III Connector Pin No. Signal Name I/O Function
1 TXD_P I/O Send data (+): OUT
CN2
CN1
2468
1357
2 TXD_N I/O Send data (-): OUT
3 RXD_P I/O Receive data (-): IN
4(NC) – –
5(NC) – –
6 RXD_N I/O Receive data (-): IN
7(NC) – –
8(NC) – –
Shell SLD – Shield
8 YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual
4 Option Components
Option LED Display
The MECHATROLINK-III Option has four LEDs that indicate the option card or communication status.
Checking LED Operation
Table 4 Option LED States
Name Display Operating Status Remarks
R/E
CON
LK1
LK2
Lit in
green
Lit in red Error
Flashing in
red
Unlit Power supply off
Lit in
green
Unlit Connection unestablished Connection with master device is not established
Lit in
green
Unlit
Lit in
green
Unlit
Power supply on
SI-ET3 error Error found during SI-ET3’s self-diagnostic check
Connection established Established connection
Connector CN1 connected Connector CN1 is connected to other stations
Connector CN1
disconnected
Connector CN2 connected Connector CN2 is connected to other stations
Connector CN2
disconnected
• SI-ET3 has been successfully powered up
• An internal, self-diagnostic check completed in the SI-ET3
• Error/alarm occured
• Command error occurred (parameter error, phase error, combination error)
• The drive has no power
• SI-ET3 is not properly connected to the drive, or SI-ET3 has no power
• An internal, self-diagnostic error occurred in the SI-ET3
Connector CN1 is not connected to other stations (cable not connected, cable
disconnected, other stations not powered up)
Connector CN2 is not connected to other stations (cable not connected, cable
disconnected, other stations not powered up)
YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual 9
5 Installation Procedure
DANGER
W ARNING
NOTICE
5 Installation Procedure
Section Safety
Electrical Shock Hazard
Do not connect or disconnect wiring while the power is on.
Failure to comply will result in death or serious injury.
Disconnect all power to the drive and wait at least the amount of time specified on the drive front cover safety label.
After all indicators are off, measure the DC bus voltage to confirm safe level, and check for unsafe voltages before
servicing. The internal capacitor remains charged after the power supply is turned off.
Electrical Shock Hazard
Do not remove the front covers of the drive while the power is on.
Failure to comply could result in death or serious injury.
The diagrams in this section may include options and drives without covers or safety shields to show details. Be sure to
reinstall covers or shields before operating any devices. The option should be used according to the instructions
described in this manual.
Do not allow unqualified personnel to use equipment.
Failure to comply could result in death or serious injury.
Maintenance, inspection, and replacement of parts must be performed only by authorized personnel familiar with
installation, adjustment, and maintenance of this product.
Do not touch circuit boards while the power to the drive is on.
Failure to comply could result in death or serious injury.
Do not use damaged wires, place excessive stress on wiring, or damage the wire insulation.
Failure to comply could result in death or serious injury.
Fire Hazard
Tighten all terminal screws to the specified tightening torque.
Loose electrical connections could result in death or serious injury by fire due to overheating of electrical connections.
Damage to Equipment
Observe proper electrostatic discharge (ESD) procedures when handling the option, drive, and circuit boards.
Failure to comply may result in ESD damage to circuitry.
Never shut the power off while the drive is outputting voltage.
Failure to comply may cause the application to operate incorrectly or damage the drive.
Do not operate damaged equipment.
Failure to comply may cause further damage to the equipment.
Do not connect or operate any equipment with visible damage or missing parts.
Do not use unshielded cable for control wiring.
Failure to comply may cause electrical interference resulting in poor system performance.
Use shielded twisted-pair wires and ground the shield to the ground terminal of the drive.
10 YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual
5 Installation Procedure
NOTICE
A1000
Properly connect all pins and connectors.
Failure to comply may prevent proper operation and possibly damage equipment.
Check wiring to ensure that all connections are correct after installing the option and connecting any other
devices.
Failure to comply may result in damage to the option.
Prior to Installing the Option
Prior to installing the option, wire the drive, make necessary connections to the drive terminals, and verify that the drive
functions normally without the option installed. Refer to the instruction manual packaged with the drive for information
on wiring and connecting the drive.
Figure 2 shows an exploded view of the drive with the option and related components for reference.
Figure 2
O
N
M
L
K
J
I
H
A
B
G
C
D
R/E
LK1
CON
LK2
F
E
A – Insertion point for CN5 connector I – Ground wire
B – SI-ET3 option J – Option modular connector CN1
C – Drive front cover K – Option modular connector CN2
D – Digital operator L – Drive grounding terminal (FE)
E – LED label M – Connector CN5-A
F – Drive terminal cover N – Connector CN5-B
G – Removable tabs for wire routing O – Connector CN5-C
H – Included screws
Figure 2 Drive Components with Option
YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual 11
5 Installation Procedure
C
D
F
A1000
A1000
Installing the Option
Remove the front covers of the drive before installing the option. Refer to the drive instruction manual for directions on
removing the front covers. Cover removal varies depending on drive size. This option can be inserted only into the
CN5-A connector located on the drive control board.
DANGER! Electrical Shock Hazard. Do not connect or disconnect wiring while the power is on. Failure to comply could result in death
or serious injury. Before installing the option, disconnect all power to the drive and wait at least the amount of time specified on the
drive front cover safety label. After all indicators are off, measure the DC bus voltage to confirm safe level, and check for unsafe
voltages before servicing. The internal capacitor remains charged after the power supply is turned off.
1. Shut off power to the drive, wait the appropriate amount of time for voltage to dissipate, then remove the digital
operator (D) and front covers (C, F). Cover removal varies depending on drive size.
NOTICE: Damage to Equipment. Observe proper electrostatic discharge procedures (ESD) when handling the option, drive, and
circuit boards. Failure to comply may result in ESD damage to circuitry.
Figure 3
Figure 3 Remove the Front Covers and Digital Operator
2. With the front covers and digital operator removed, apply the LED label (E) in the appropriate position on the
Figure 4
drive top front cover (C).
Figure 4 Apply the LED Label
C
R/E LK1
CON LK2
E
12 YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual
5 Installation Procedure
NS
MS
M
H
B
A1000
NS MS
H
I
L
B
A1000
3. Insert the option (B) into the CN5-A connector (M) located on the drive and fasten it using one of the included
Figure 5
screws (H).
Figure 5 Insert the Option
4. Connect the ground wire (I) to the ground terminal (L) using one of the remaining provided screws (H). Connect
the other end of the ground wire (I) to the remaining ground terminal and installation hole on the option (B) using
Figure 6
the last remaining provided screw (H) and tighten both screws to 0.5 to 0.6 Nxm (4.4 to 5.3 in lbs).
Figure 6 Connect the Ground Wire
Note: There are two screw holes on the drive for use as ground terminals (L). When connecting three options, two ground wires will
need to share the same drive ground terminal.
YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual 13
5 Installation Procedure
B
A
A1000
5. Route the option wiring.
Depending on the drive model, some drives may require routing the wiring through the side of the front cover to
the outside to provide adequate space for the wiring. Refer to the Peripheral Devices & Options section of the
drive Quick Start Guide or instruction manual for more information on wire routing of specific models.
Route the wiring through the side of the front cover to the outside. In these cases, using diagonal cutting pliers,
cut out the perforated openings on the left side of the drive front cover as shown in Figure 7-A. Sharp edges
along the cut out should be smoothed down with a file or sand paper to prevent any damage to the wires.
Route the wiring inside the enclosure as shown in Figure 7-B for drives that do not require routing through the
front cover.
Note: Separate communication cables from main circuit wiring and other electrical lines.
Figure 7
A – Route wires through the openings
provided on the left side of the
front cover.
<1> The drive will not meet NEMA Type 1 requirements if wiring is exposed outside the enclosure.
<1>
Figure 7 Wire Routing Examples
B – Use the open space provided
inside the drive to route option
wiring.
6. Connect the MECHATROLINK-III communication cable to option communication connector CN1 or CN2. Refer
to Communication Cable Wiring on page 15 for details.
Install MECHATROLINK-III communications cables apart from main-circuit wiring and other electrical and power
lines. Ensure the cable end is firmly connected (see Figure 7).
Note: Maximum transmission distance is 100 m (3937.0 in.). Minimum wiring distance between stations is 0.2 m (7.9 in.).
14 YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual
Connection Diagram
A1000
PLC
MECHATROLINK-III
Hub Module
A1000 A1000 A1000
A1000 A1000 A1000
PLC
A1000
MECHATROLINK-III
Master
TXD_P
TXD_N
RXD_P
NC
NC
RXD_N
NC
NC
MECHATROLINK-III
Communication Cable
TXD_P
TXD_N
RXD_P
NC
NC
RXD_N
NC
NC
TXD_P
TXD_N
RXD_P
NC
NC
RXD_N
NC
NC
CN2
CN1
SI-ET3
<1>
<1>
5 Installation Procedure
Drive
FE
control circuit terminal
Figure 8
<1> Use connector CN1 or CN2 to connect with the MECHATROLINK-III master. Refer to Communication Cable Wiring on
page 15 for details.
Figure 8 Option Connection Diagram
Communication Cable Wiring
The dual communication cable ports on the option board act as a switch to allow for flexibility in cabling topology.
For example, a traditional star network topology may be employed by using a single port on the option board.
Alternatively, a daisychained approach may be employed by using both communication cable ports. This second
approach reduces the requirements of MECHATROLINK-III hub module ports.
YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual 15
Figure 9 Topology Options
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