Yaskawa SI-ET3 User Manual

Page 1

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

Page 2

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

Page 3

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

Page 4

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

Page 5

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

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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-A2A ≥1020

A1000

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

CIMR-A4A0002 to 4A0675 ≥1020 CIMR-A4A0930 and 4A1200 Under development CIMR-A5A ≥1020

6 YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual

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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

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4 Option Components

A1000

E F

Underside

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

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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

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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

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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

R/E

LK1

CON

LK2

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

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5 Installation Procedure

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

R/E LK1 CON LK2

12 YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual

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5 Installation Procedure

A1000

NS MS

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

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5 Installation Procedure

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

Page 15

Connection Diagram

A1000

PLC

MECHATROLINK-III Hub Module

A1000 A1000 A1000

PLC

A1000

MECHATROLINK-III Master

TXD_P

TXD_N

RXD_P

RXD_N

MECHATROLINK-III

Communication Cable

TXD_P

TXD_N

RXD_P

RXD_N

TXD_P

TXD_N

RXD_P

RXD_N

CN2

CN1

SI-ET3

<1>

5 Installation Procedure

Drive

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

Page 16

5 Installation Procedure

Wind the cable one turn around the ferrite core.

A1000

Table 5 MECHATROLINK-III Communication Cable

Connection Type Cable Specification Length (L) Model

0.2 m (7.9 in.) JEPMC-W6012-A2-E

0.5 m (19.7 in.) JEPMC-W6012-A5-E

1 m (39.4 in.) JEPMC-W6012-01-E

2 m (78.7 in.) JEPMC-W6012-02-E

MECHATROLINK-III

connection without

ferrite core

MECHATROLINK-III

connection with

ferrite core

MECHATROLINK-III

connection with loose

wires at one end

3 m (118.1 in.) JEPMC-W6012-03-E

4 m (157.5 in.) JEPMC-W6012-04-E

5 m (196.9 in.) JEPMC-W6012-05-E

10 m (393.7 in.) JEPMC-W6012-10-E

20 m (787.4 in.) JEPMC-W6012-20-E

30 m (1181.1 in.) JEPMC-W6012-30-E

50 m (1968.5 in.) JEPMC-W6012-50-E

10 m (393.7 in.) JEPMC-W6013-10-E

20 m (787.4 in.) JEPMC-W6013-20-E

30 m (1181.1 in.) JEPMC-W6013-30-E

50 m (1968.5 in.) JEPMC-W6013-50-E

75 m (2952.8 in.) JEPMC-W6013-75-E

100 m (3937.0 in.) JEPMC-W6013-100-E

0.5 m (19.7 in.) JEPMC-W6014-A5-E

1 m (39.4 in.) JEPMC-W6014-01-E

3 m (118.1 in.) JEPMC-W6014-03-E

5 m (196.9 in.) JEPMC-W6014-05-E

10 m (393.7 in.) JEPMC-W6014-10-E

30 m (1181.1 in.) JEPMC-W6014-30-E

50 m (1968.5 in.) JEPMC-W6014-50-E

7. Replace and secure the front covers of the drive (C, F) and replace the digital operator (D).

Figure 9

Figure 10 Replace the Front Covers and Digital Operator

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

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

8. Set drive parameters in Table 6 for proper option performance.

16 YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual

Page 17

6 Related Drive Parameters

The following parameters are used to set up the drive for operation with the option. Parameter setting instructions can be found in the drive instruction manual.

Confirm proper setting of the all parameters in Ta bl e 6 using the digital operator before starting network communications.

Table 6 Related Parameter Settings

No.

(Addr.

Hex)

b1-01

(180)

<1>

b1-02

(181)

<1>

F6-01 (3A2)

F6-02 (3A3)

F6-03 (3A4)

F6-06 (3A7)

<3>

F6-07 (3A8)

F6-08 (36A)

F6-20

<5> <6>

F6-21

<5>

F6-23

<5> <7>

F6-24

<5> <8>

F6-25

Frequency Reference Selection

Run Command Selection

Operation Selection after Communications Error

External Fault Detection Conditions (EF0)

Stopping Method for External Fault from the Communication Option

Torque Reference/Torque Limit Selection from the Communication Option

NetRef/ComRef Selection Function

Reset Communication Related Parameters

MECHATROLINK Station Address

MECHATROLINK Frame Size

MECHATROLINK Monitor Selection (Code 0EH)

MECHATROLINK Monitor Selection (Code 0FH)

Operation Selection at Watchdog Error (E5)

Name Description Val ues

Selects the frequency reference input source. 0: Operator - Digital preset speed d1-01 to d1-17 1: Terminals - Analog input terminal A1 or A2 2: MEMOBUS/Modbus communications 3: Option

Default: 1 Range: 0 to 4 (Set to 3)

4: Pulse Input (Terminal RP)

Selects the run command input source. 0: Digital Operator - RUN and STOP keys 1: Digital input terminals S1 to S8 2: MEMOBUS/Modbus communications

Default: 1 Range: 0 to 3 (Set to 3)

3: Option

Determines drive response when a bUS error is detected during communications with the option. 0: Ramp to Stop 1: Coast to Stop

Default: 1

Range: 0 to 3 2: Fast-Stop 3: Alarm Only

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

<2>

Default: 0

Range: 0, 1

Determines drive response for external fault input (EF0) detection during option communications. 0: Ramp to Stop 1: Coast to Stop

Default: 1

Range: 0 to 3 2: Fast-Stop 3: Alarm Only

<2>

0: Torque Reference/Torque Limit via network communications are disabled. 1: Torque Reference/Torque Limit via network communications are enabled.

<4>

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

Default: 0

Range: 0, 1

Default: 0

Range: 0, 1 Determines if communication-related parameters F6- and F7-

are set back to original default values when the drive is initialized using parameter A1-03. 0: Do not reset parameters

Default: 0

Range: 0, 1

1: Reset parameters

Sets the station number.

Sets the frame size. 0: 64 byte 1: 32 byte

Set MEMOBUS/Modbus register to monitor SEL_MON of INV_CTL and INV_CTL.

Default: 21H

Range: 20 to 3FH

Default: 0

Range: 0, 1

Default: 0H

Range: 0 to FFFFH

Default: 0H

Range: 0 to FFFFH

0: Ramp to stop. Decelerate to stop using the deceleration time in C1-02. 1: Coast to stop. 2: Fast Stop. Decelerate to stop using the deceleration time in C1-09.

Default: 1

Range: 0 to 3 3: Alarm only.

YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual 17

Page 18

6 Related Drive Parameters

No.

(Addr.

Hex)

F6-26

<1> To start and stop the drive with the MECHATROLINK-III 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> If set to 3, then the drive will continue to operate when a fault is detected. Take proper measures such as installing an emergency stop switch. <3> Enabled in CLV, AOLV/PM, and CLV/PM control modes (A1-02 = 3, 6, or 7). When enabled, d5-01 determines whether the value is read as the

Torque Limit value (d5-01 = 0) or read as the Torque Reference value (d5-01 = 1). In CLV/PM, this value is read as the Torque Limit. <4> The setting specifies that the Torque Reference or Torque Limit is to be provided via network communications (F6-06 = 1). The motor may

rotate if no torque reference or Torque Limit is supplied from the PLC. <5> Power must be cycled in order for any setting changes to take affect. <6> All station addresses must be unique. If set to 20 or 3F, a Station Address Error (AEr) will occur and the ERR light will turn on. <7> Setting byte 10 of INV_CTL to 0EH enables the register set by F6-23. Byte 11 and 12 of the response data enable the register content set by

F6-23. Refer to the drive instruction manual for details on the register that can be set. <8> Setting byte 10 of INV_CTL to 0FH enables the register set by F6-24. Byte 11 and 12 of the response data enable the register content set by

F6-24. Refer to the drive instruction manual for details on the register that can be set.

MECHATROLINK bUS Errors Detected

Name Description Value s

Sets the number of option communication errors (bUS).

Default: 2 Range: 2 to 10

18 YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual

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7 Transmission Interface

A1000

7 Transmission Interface

 MECHATROLINK-III Cyclic Transmissions

As a MECHATROLINK-III station, the SI-ET3 exchanges control data and I/O data with a control device, such as a controller. Communications with the master are executed by sending response data timed to the reception of command data for the local station address from the master in each transmission cycle. The formats for the command and response data follow the specifications for the MECHATROLINK Drive commands.

Master: MP2300S

Controller (Example)

4&;

470

;#5-#9#

470

'44

#./

'44

.-

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/6:

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64:

5612

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+06

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thernet

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YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual 19

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7 Transmission Interface

 Command Format of the Standard Profile Common Commands

This section describes the specifications of the standard profile common commands.

Tab le 7 shows the data format and the list of common commands of the commands and responses.

For standard inverter profile commands, the data length is fixed at 32 bytes for main commands and sub-commands.

Table 7 Command Format of the Standard Profile Common Commands

– Byte Command Response Reference

0 CMD RCMD

1 WDT RWDT

Main Commands

Sub-Commands

32 SUBCMD RSUBCMD

x x

CMD_CTRL CMD_STAT

CMD_DATA RSP_DATA

SUB_CTRL SUB_STAT34

SUB_CMD_DATA SUB_RSP_DATA

• CMD/RCMD Command code specified for individual commands. Refer to Main Command on page 26.

•WDT/RWDT Watchdog data is usually set automatically.

•CMD_CTRL Refer to Command Control (CMD_CTRL) on page 24.

•CMD_STAT Refer to Command Status (CMD_STAT) on page 24.

• CMD_DATA/RSP_DATA Specified for individual commands. Refer to Main Command on page 26.

• SUBCMD/RSUBCMD Command code specified for individual commands. Refer to Sub-Commands on page 39.

• SUB_CTRL Refer to SUB_CTRL (Sub-Command Control Field) on

page 39.

• SUB_STAT Refer to SUB_STAT (Sub-Command Status) on

page 39.

• SUB_CMD_DATA/SUB_RSP_DATA Specified for individual commands. Refer to

Sub-Commands on page 39.

20 YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual

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7 Transmission Interface

 Communications Phases

The SI-ET3 changes status as described here when a command code or fault is received from the master.

Figure 10

Power ON

Phase 1 (Initial status)

Connecting:

CONNECT command

(Asynchronous communications)

Disconnecting:

DISCONNECT command

Disconnecting:

DISCONNECT command

Phase 2 (Asynchronous communications status)

Set Synchronization

(SYNC_SET command)

Connecting:

CONNECT command

(Synchronous communications)

Communications fault

Watchdog timer fault

Phase 3 (Synchronous communications status)

Figure 11 Communication phases

 Phase 1: Initial status after power ON

Operation proceeds with a default transmission cycle of 2 ms. The transmission cycle is changed to the time indicated in the synchronous frame when a CONNECT command is received from the master. Then the phase moves to phase 2 or phase 3 after a response to the CONNECT command is returned.

Even if a transfer fault is detected in phase 1, no fault notification is provided.

 Phase 2: Asynchronous communications

All SI-ET3 commands can be used. Phase 2 starts to count the watchdog timer in the communications frame. The phase moves to phase 3 when a SYNC_SET command is received, and it moves to phase 1 when a DISCONNECT command is received.

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7 Transmission Interface

 Phase 3: Synchronous communications

Watchdog timer faults in the communications frame are detected. If the DISCONNECT command is received, the phase moves to phase 1. If a reception fault or a watchdog timer fault is detected, the phase moves to phase 2.

Available command is determined by communication phases. For details, refer to Ta bl e 8 and Ta bl e 9 .

Table 8 Main Command Communication Phases

Command

NOP 00 No Operation Command – {{

PRM_RD 01 Read Parameter Command – {{

PRM_WR 02 Write Parameter Command – {{

ID_RD 03 Read ID Command – {{

CONFIG 04 Setup Device Command – {{

ALM_RD 05 Read Alarm or Warning Command – {{

ALM_CLR 06 Clear Alarm or Warning Command – {{

SYNC_SET 0D Start Synchronous Communication Command – { Δ

CONNECT 0E Establish Connection Command { ΔΔ

DISCONNECT 0F Release Connection Command {{{

INV_CTL 50 Inverter Operation Control Command – {{

{: Can be executed Δ: Ignored –: Cannot be executed (phase error)

Code

[HEX]

Contents

Communication Phase

1 2 3

Table 9 Sub-Command Communication Phases

Command

NOP 00 No Operation Command – {{

PRM_RD 01 Read Parameter Command – {{ PRM_WR 02 Write Parameter Command – {{ ALM_RD 05 Read Alarm or Warning Command – {{

INV_IO 51 Drive I/O Control Command – {{

{: Can be executed Δ: Ignored –: Cannot be executed (phase error)

Code

[HEX]

Contents

Communication Phase

1 2 3

22 YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual

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7 Transmission Interface

 Application Layer Specifications

The data format for the application layer conforms to the MECHATROLINK-III command specifications for standard inverter profile.

SI-ET3 has the following main commands and sub-commands.

Table 10 Main Commands

Code

[HEX]

00 NOP No Operation Command

01 PRM_RD Read Parameter Command

02 PRM_WR Write Parameter Command

03 ID_RD Read ID Number Command

04 CONFIG RAM Write and EEPROM Write Command

05 ALM_RD Read Alarm and Warning Command

06 ALM_CLR Clear Alarm and Warning Command

0D SYNC_SET Start Synchronous Communications Command

0E CONNECT Connect Command

0F DISCONNECT Disconnect Command

50 INV_CTL Inverter Operation Control Command

Name Function

Table 11 Sub-Commands

Code

[HEX]

00 NOP No Operation Command

01 PRM_RD Read Parameter Command

02 PRM_WR Write Parameter Command

05 ALM_RD Read Alarm and Warning Command

51 INV_I/O Inverter I/O Control Command

Name Function

The sub-commands can be used only when the 64-byte data transmission (F6-21 = 0) has been selected. If a conflict occurs between a request for a main command and a request for a sub-command, the request for the main command is processed. If either a main command or a sub-command is already being processed, the command being processed is given priority. If an INV_CTL main command and an INV_I/O sub-command conflict, the sub-command is given priority.

For details on command formats, refer to MECHATROLINK-III Commands on page 24.

Tab le 1 2 shows the combination of main commands and sub-commands.

Table 12 Main Commands and Sub-Commands

Code

[HEX]

00 NOP OK OK OK OK OK

01 PRM_RD OK – – OK OK

02 PRM_WR OK – – OK OK

03 ID_RD OKOKOKOKOK

04 CONFIGOK––––

05 ALM_RDOK––––

06 ALM_CLR OK – – – –

0D SYNC_SET OK OK OK OK OK

0E CONNECT OK – – – –

0F DISCONNECT OK – – – –

50 INV_CTL OKOKOKOKOK

Note: CMD_ALM = BH (sub-command combination error) will result if a main command and sub-command conflict with one

another.

Main Command

NOP (00H) PRM_RD (01H) PRM_WR (02H) ALM_RD (05H) INV_I/O (51H)

Sub-Command

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8 MECHATROLINK-III Commands

 Command Control (CMD_CTRL)

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

CMD_ID Reserved (0) Reserved (0) ALM_CLR Reserved (0) Reserved (0) Reserved (0)

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

Reserved (0)

Command Description

CMD_ID This is not used with standard inverter profile commands.

0: Clear alarm/warning disabled

ALM_CLR

 Command Status (CMD_STAT)

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

RCMD_ID Reserved (0) Reserved (0) ALM_CLR_CMP CMDRDY D_WAR D_ALM

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

1: Clear alarm/warning triggered The same processing as when ALM_CLR_MODE = 0 for the ALM_CLR command (the current alarm/warning state is cleared) is performed.

COMM_ALM CMD_ALM

Command Description

RCMD_ID The slave returns the echo of the CMD_ID as the RCMD_ID.

ALM_CLR_CMP

CMDRDY

D_WAR

D_ALM

COMM_ALM

CMD_ALM

ALM_CLR_CMP = 1 means that CMD_CTRL.ALM_CLR = 1 has been received and alarm clear processing has been completed.

1: Command reception enabled 0: Other

0: Normal operation 1: The device is in the warning state.

0: Normal operation 1: The device is in the alarm state.

Notifies the communication error state. COMM_ALM is independent of CMD_ALM, D_ALM and D_WAR. COMM_ALM is cleared at the leading edge of CMD_CTRL.ALM_CLR or by the ALM_CLR command. Refer to

COMM_ALM on page 24 for details.

Notifies the command error state. If a normal command is received after the occurrence of a command error, CMD_ALM is automatically cleared. Refer to

COMM_ALM on page 24 for details.

 COMM_ALM

Code

[HEX]

–0Normal

1 Frame Check Sequence (FCS) error

Warn in g

Alarm

2 Command data not received

3 Synchronous frame not received

8 Frame Check Sequence (FCS) error

9 Command data not received

A Synchronous frame not received

B Synchronization interval error

CWDT error

Contents

24 YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual

Page 25

 CMD_ALM

8 MECHATROLINK-III Commands

Code [HEX]

–0Normal

Warning 1 Invalid data

8 Unsupported command received

9 Invalid data

Alarm

A Command execution condition error

B Sub-command combination error

C Phase error

Contents

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9 Main Command

 NOP: 00H (No Operation Command)

The NOP command is used for network control. The current state is returned as a response. The command can be used in all communication phases.

NOP command

Byte Command Description

0 NOP (00H) Command code

1 WDT Watchdog data

x x

Byte Response Description

0 NOP (00H) Command code

1 RWDT Watchdog data

x x

CMD_CTRL Refer to Command Control (CMD_CTRL) on page 24.

Reserved (0) Not used

NOP Response

CMD_STAT Refer to Command Status (CMD_STAT) on page 24.

Reserved (0) Not used

 PRM_RD: 01H (Read Parameter Command)

The PRM_RD command is used to read a parameter by specifying the parameter number and the data size.

The command can be used in communication phases 2 and 3. Refer to the drive instruction manual for details of MEMOBUS/Modbus register numbers.

PRM_RD command

Byte Command Description

0 PRM_RD (01H) Command code

1 WDT Watchdog data

5 MEMOBUS/Modbus register number (Upper)

6 SIZE

7 Reserved (0)

x x

CMD_CTRL Refer to Command Control (CMD_CTRL) on page 24.

Reserved (0)

MEMOBUS/Modbus register number (Lower)

Data size to read [units: byte] Available setting values are 2, 4, 6, and 8.

Not used

26 YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual

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PRM_RD Response

Byte Response Description

0 PRM_RD (01H) Command code

1 RWDT Watchdog data

5 MEMOBUS/Modbus register number (Upper) set in the command.

6 SIZE The SIZE is the same as the register number set in MEMOBUS/Modbus transfers.

7 Reserved (0) 0 is set.

x x

CMD_STAT

PA RA ME TE R

Refer to Command Status (CMD_STAT) on page 24. If the SIZE data is invalid or MEMOBUS/Modbus register number does not exist, “9” is set for CMD_ALM.

MEMOBUS/Modbus register number (Lower) set in the command.

Sets the data read in the byte set in the command. The option stores the data read for PARAMETER from lower byte (LSB) to upper byte (MSB). 0 is stored when the field is not used. 0 is stored in PARAMETER when command error occurs.

Example: Reading C1-01 (200H)

Byte Command Response

4 00H 00H

5 02H 02H

6 02H 02H

7 00H 00H

8 00H Value set to C1-01 (Lower)

9 00H Value set to C1-01 (Upper)

9 Main Command

 PRM_WR: 02H (Write Parameter Sub-Command)

The PRM_WR command is used to write a parameter by specifying the parameter number, data size, and parameter data. The command can be used in communication phases 2 and 3. The CONFIG command must be sent to set up after the parameters are written. Refer to the drive instruction manual for details of MEMOBUS/Modbus register numbers.

PRM_WR Command

Byte Command Description

0 PRM_WR (02H) Command code

1 WDT Watchdog data

5 MEMOBUS/Modbus register number (Upper)

6 SIZE

7 Reserved (0) Not used

x x

CMD_CTRL Refer to Command Control (CMD_CTRL) on page 24.

PARAMETER Specify the lower byte (LSB) before the upper byte (MSB) in the size set in the SIZE.

MEMOBUS/Modbus register number (Lower)

Set the data size in byte. Available setting values are 2, 4, 6, and 8

PRM_WR Response

Byte Response Description

0 PRM_WR (02H) Command code

1 RWDT Watchdog data

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9 Main Command

PRM_WR Response

Byte Response Description

5 MEMOBUS/Modbus register number (Upper) set in the command.

6 SIZE The value set in the command.

7 Reserved (0) 0 is set.

x x

CMD_STAT

PA RA ME TE R

Refer to Command Status (CMD_STAT) on page 24. If the SIZE data is invalid, “9” is set for CMD_ALM.

MEMOBUS/Modbus register number (Lower) set in the command.

The value set in the command. 0 is stored when the field is not used.

In the following status, an alarm is detected and the command goes into error.

Error Response

Bit Count Error “9” is set for CMD_ALM.

Data Setting Error “9” is set for CMD_ALM.

Write Mode Error “9” is set for CMD_ALM.

Writing Error during Under Voltage “9” is set for CMD_ALM.

Writing Error during Parameter Processing “9” is set for CMD_ALM.

Example: Writing C1-01 (200H)

Byte Command Response

4 00H 00H

5 02H 02H

6 02H 02H

7 00H 00H

8 Value set to C1-01 (Lower) Value set to C1-01 (Lower)

9 Value set to C1-01 (Upper) Value set to C1-01 (Upper)

 ID_RD: 03H (Read ID Command)

The ID_RD command is used to read the ID of a device. This command reads the product information as ID data.

ID_RD command

Byte Command Description

0 ID_RD (03H) Command code

1 WDT Watchdog data

4 ID_CODE

5 OFFSET Set the offset in byte.

7 Set the size in byte. (Upper)

x x

CMD_CTRL Refer to Command Control (CMD_CTRL) on page 24.

Specifies the ID_CODE. Refer to Table 13 for details.

SIZE

Reserved (0) Not used

Set the size in byte. (Lower)

28 YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual

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9 Main Command

ID_RD Response

Byte Response Description

0 ID_RD (03H) Command code

1 RWDT Watchdog data

4 ID_CODE MEMOBUS/Modbus register number (Lower) set in the command.

5 OFFSET MEMOBUS/Modbus register number (Upper) set in the command.

x x

ID_CODE Name Size Description

01H Vendor ID Code 4 byte 0000H

02H Device Code 4 byte A code specific to each device.

03H Device Version 4 byte Version information of device

04H Device Definition File Version 4 byte 0000H

05H Extended Address Setting 4 byte 0001H (Multi-slave is not available)

10H Profile type 1 (Primary) 4 byte 0020H (Inverter profile)

11H Profile Version 1 (Primary) 4 byte 0100H

12H Profile Type 2 4 byte 00FFH (Not available)

13H Profile Version 2 4 byte 0000H (Not available)

14H Profile Type 3 4 byte 00FFH (Not available)

15H Profile Version 3 4 byte 0000H (Not available)

16H Minimum Value of Transmission Cycle 4 byte 25000 (250 µs) [unit: 0.01 μs]

17H Maximum Value of Transmission Cycle 4 byte 800000 (8 ms) [unit: 0.01 μs]

18H

19H Minimum Value of Communication Cycle 4 byte 25000 (250 µs) [unit: 0.01 μs]

1AH Maximum Value of Communication Cycle 4 byte 3200000 (32 ms) [ms: 0.01 μs]

1BH Number of Transmission Bytes 4 byte 00000014H (64 byte, 32 byte)

1CH

1DH Profile Type (Current Selection) 4 byte This is the profile selected with the CONNECT command.

20H Supported Communication Mode 4 byte

30H List of Supported Main Commands 32 byte The list of the main commands that the device supports.

38H List of Supported Sub-Commands 32 byte The list of the sub-commands that the device supports.

40H List of Supported Common Parameters 32 byte 0

48H Speed reference unit/Output reference unit 4 byte

49H Torque Reference Unit 4 byte 0: 0.1% units

4AH Output Current Unit 4 byte 0: 0.1 A units

CMD_STAT Refer to Command Status (CMD_STAT) on page 24.

SIZE The value set in the command.

ID data is stored. Refer to Table 13 for details.

Table 13 ID_CODE

Transmission Cycle Increment (Granularity)

Number of Transmission Bytes (Current Setting)

4 byte

03H (Supports 31.25 [μs], 62.5 [μs], 125 [μs], 250 [μs], 500 [μs], 750 [μs], 1 to 64 [ms] (0.5 ms increment))

The number of transmission bytes for cyclic communication that is currently set for the device.

00000003H (Cyclic communication/event driven communication)

0: 0.01 Hz units 1: 0.01% units

-1

(r/min) units

2: min 3: Units in the product specifications 4 and above: Reserved

Access the MECHATROLINK Members Association web site http://www.mechatrolink.org/ for details on the ID_CODE.

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9 Main Command

 CONFIG: 04H (Setup Device Command)

The CONFIG command is used to force the parameters written using PRM_WR to become effective, and optionally store the parameters into EEPROM. The command can be used in communication phases 2 and 3.

CONFIG Command

Byte Command Description

0 CONFIG (04H) Command code

1 WDT Watchdog data

4 CONFIG_MOD

x x

CMD_CTRL Refer to Command Control (CMD_CTRL) on page 24

Specify the type of setup. Refer to Table 14 for details.

Reserved (0) Not used

CONFIG Response

Byte Command Description

0 CONFIG (04H) Command code

1 RWDT Watchdog data

4 CONFIG_MOD The value set in the command

x x

CMD_STAT Refer to Command Status (CMD_STAT) on page 24.

Reserved (0) Not used

The values available in CONFIG_MOD are listed in Ta bl e 1 4.

Table 14 CONFIG_MOD

CONFIG_MOD Description

RAM Write The setting value is not stored in EEPROM.

The setting value is stored in EEPROM.

Note: The EEPROM can only be written to 100,000 times, so it is recommended to limit the number of

times writing to the EEPROM. Issue the CONFIG command after changing all the parameters.

 ALM_RD: 05H (Read Alarm or Warning Command)

The ALM_RD command is used to read the alarm or warning state. The command can be used in communication phases 2 and 3.

The current alarm or warning state is read from ALM_DATA as an alarm or warning code. Refer to the drive instruction manual for details about ALM_DATA.

ALM_RD Command

Byte Command Description

0 ALM_RD (05H) Command code

1 WDT Watchdog data

30 YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual

Page 31

ALM_RD Command

Byte Command Description

5 Specify the alarm or warning state. (Upper)

x x

Byte Response Description

0 ALM_RD (05H) Command code

1 RWDT Watchdog data

x x

CMD_CTRL Refer to Command Control (CMD_CTRL) on page 24.

ALM_RD_MOD

ALM_INDEX

Reserved (0) Not used

CMD_STAT Refer to Command Status (CMD_STAT) on page 24.

ALM_RD_MOD The value set in the command

ALM_INDEX The value set in the command

ALM_DATA ALM_DATA specifies an alarm using 2 bytes.

Specify the alarm or warning state. (Lower)

Specify the alarm index. The command is enabled when ALM_RD_MODE is 2. (Lower)

Specify the alarm index. The command is enabled when ALM_RD_MODE is 2. (Upper)

ALM_RD Response

9 Main Command

Table 15 ALM_RD_MOD

Byte ALM_RD_MOD = 0 ALM_RD_MOD = 1 ALM_RD_MOD = 2

4 00H 01H 02H

5 00H 00H 00H

6 – – ALM_INDEX (Lower)

7 – – ALM_INDEX (Upper)

ALM_INDEX = 0: U2-01 (Lower)

8 U2-01 (Lower) U3-01 (Lower)

9 U2-01 (Upper) U3-01 (Upper)

10 U2-02 (Lower) U3-02 (Lower) –

11 U2-02 (Upper) U3-02 (Upper) –

12 – U3-03 (Lower) –

13 – U3-03 (Upper) –

14 – U3-04 (Lower) –

15 – U3-04 (Upper) –

16 – U3-05 (Lower) –

17 – U3-05 (Upper) –

18 – U3-06 (Lower) –

19 – U3-06 (Upper) –

20 – U3-07 (Lower) –

ALM_INDEX ≠ 0: U3-(ALM_INDEX)

(Lower)

ALM_INDEX = 0: U2-01 (Upper)

ALM_INDEX ≠ 0: U3-(ALM_INDEX)

(Upper)

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9 Main Command

Byte ALM_RD_MOD = 0 ALM_RD_MOD = 1 ALM_RD_MOD = 2

21 – U3-07 (Upper) –

22 – U3-08 (Lower) –

23 – U3-08 (Upper) –

24 – U3-09 (Lower) –

25 – U3-09 (Upper) –

26 – U3-10 (Lower) –

27 – U3-10 (Upper) –

Table 16 A LM_ D ATA

ALM_RD_MOD Description

0 Present fault (Byte 6), Fault history Byte 8 to 11 U2-01, U2-02

1 Alarm status list (Byte 8 to 27) U3-01 to U3-10

2 Fault history (Alarms are not saved in the history.) (Byte 8 to 9) U2-01, U3-01 to U3-10

 ALM_CLR: 06H (Clear Alarm or Warning Command)

The ALM_CLR command is used to clear the alarm or warning state. The command can be used in communication phases 2 and 3.

This command changes the state of a slave station, it does not remove the cause of a fault. After the cause of the alarm or warning has been removed, this command is then used to clear the status of the alarm or warning.

ALM_RD Command

Byte Command Description

0 ALM_RD (06H) Command code

1 WDT Watchdog data

x x

Byte Command Description

0 ALM_RD (06H) Command code

1 RWDT Watchdog data

x x

CMD_CTRL Refer to Command Control (CMD_CTRL) on page 24.

ALM_CLR_MOD 0: Clears the status of present faults and alarms.

Reserved (0) Not used

ALM_RD Response

CMD_STAT Refer to Command Status (CMD_STAT) on page 24.

ALM_CLR_MOD The value set in the command

Reserved (0) Not used

 SYNC_SET: 0DH (Start Synchronous Communication Command)

The SYNC_SET command is used to start synchronous communications. After this command is issued, synchronous communications are carried out. If communications become asynchronous due to any fault such as a communications fault, this command can be used to restore synchronous communications. The command can be used in communication phases 2 and 3. Watchdog data error detection commences when this command has been completed.

32 YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual

Page 33

SYNC_SET command

Byte Command Description

0 SYNC_SET (0DH) Command code

1 WDT Watchdog data

x x

Byte Command Description

0 SYNC_SET (0DH) Command code

1 RWDT Watchdog data

x x

CMD_CTRL Refer to Command Control (CMD_CTRL) on page 24.

Reserved (0) Not used

SYNC_SET Response

CMD_STAT Refer to Command Status (CMD_STAT) on page 24.

Reserved (0) Not used

9 Main Command

 CONNECT: 0EH (Establish Connection Command)

The CONNECT command is used to establish a MECHATROLINK connection. After the connection is established, the phase moves to communication phase 2 and 3.

CONNECT Command

Byte Command Description

0 CONNECT (0EH) Command code

1 WDT Watchdog data

4 VER Specify 30H.

5 COM_MOD

6 COM_TIM

7 PROFILE_TYPE Specify PROFILE_TYPE = 20H.

x x

Byte Command Description

0 CONNECT (0EH) Command code

1 RWDT Watchdog data

CMD_CTRL Refer to Command Control (CMD_CTRL) on page 24.

Specify the Communication Mode (COM_MOD). Refer to Table 17 for details.

1 to 255 Sets multiples of the transmission cycle as the communication cycle.

Reserved (0) Not used

CONNECT Response

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9 Main Command

CONNECT Response

Byte Command Description

4 VER The value set in the command

5 COM_MOD The value set in the command

6 COM_TIM The value set in the command

7 PROFILE_TYPE The value set in the command

x x

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

SUBCMD 0 0 0 DTMODE SYNCMODE 0

Bit Name Va l ue Description

SUBCMD Sub-command setting

DTMODE Data transfer method 0 Single transmission

SYNCMODE Synchronization setting

CMD_STAT Refer to Command Status (CMD_STAT) on page 24.

Reserved (0) Not used

Table 17 COM_MOD

Table 18 COM_MOD Bits

0 Sub-command disabled

1 Sub-command enabled

0 Performs synchronous communication

1 Performs asynchronous communication

 DISCONNECT: 0FH (Release Connection Command)

The DISCONNECT command is used to release the connection. When this command is completed, the communication phase shifts to communication phase 1.

DISCONNECT Command

Byte Command Description

0 DISCONNECT (0FH) Command code

x x

Byte Response Description

0 DISCONNECT (0FH) Command code

x x

Reserved (0) Not used

DISCONNECT Response

Reserved (0) Not used

 INV_CTL: 50H (Inverter Operation Control Command)

The INV_CTL command is used to set the drive operation signals, speed references, and so on. Units for speed reference and output frequency are determined by parameter o1-03. This command can be used in communication phases 2 and 3.

INV_CTL Response

Byte Response Description

0 INV_CTL (50H) Command code

1 WDT Watchdog data

34 YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual

Page 35

INV_CTL Response

Byte Response Description

13 Speed Reference (Upper)

14 Not used (Set to 0.)

15 Not used (Set to 0.)

17 Torque Reference (Upper)

18 Not used (Set to 0.)

19 Not used (Set to 0.)

20 SEL_REF1/2

21 SEL_MON1/2

25 Reference selected with SEL_REF1 (Upper)

26 Not used (Set to 0.)

27 Not used (Set to 0.)

29 Reference selected with SEL_REF2 (Upper)

30 Not used (Set to 0.)

31 Not used (Set to 0.)

CMD_CTRL Refer to Command Control (CMD_CTRL) on page 24

INVCMD_CTRL Refer to INVCMD_CTRL on page 35.

INVCMD_IO Refer to INVCMD_IO Command on page 36.

Speed Reference (Lower)

Speed reference

Torque Reference (Lower)

Torque reference

Use the SEL REF1/2 command to select the contents of REF1 with bits 0 to 3 and to select the contents of REF2 with bits 4 to 7. Refer to Table 20 for the selection ranges for SEL REF1/2 and SEL MON1/2.

Use the SEL MON1/2 command to select the contents of MON1 with bits 0 to 3 and to select the contents of MON2 with bits 4 to 7.

Reserved (0) Not used (Set to 0.)

Reference selected with SEL_REF1 (Lower)

Reference selected with

SEL_REF1

Reference selected with SEL_REF2 (Lower)

Reference selected with

SEL_REF2

9 Main Command

 INVCMD_CTRL

Vender Specific

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2

Not used

Vender Specific

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10

Not used Refer to Table 19. Fault reset Reserved (0)

Vender Specific

bit 23 bit 22 bit 21 bit 20 bit 19 bit 18 bit 17 bit 16

Not used Multi-Function Input Terminal 3 to 8

bit 31 bit 30 bit 29 bit 28 bit 27 bit 26 bit 25 bit 24

Reserved (0)

Table 19 INVCMD_CTRL Bits

Bit Name Description

0 Forward operation

1 Reverse operation

9 Fault reset 1: Fault reset

0: Stop 1: Forward operation

0: Stop 1: Reverse operation

bit 1 bit 0

Reverse

operation

bit 9 bit 8

Forward

operation

YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual 35

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9 Main Command

Bit Name Description

10 External fault (EF0) 1: External fault input (EF0)

11 Clear the fault history 1: Clear fault history

12 External base block reference 1: External base block reference ON

Multi-function input terminal S3

16 Multi-function input terminal 3

17 Multi-function input terminal 4

18 Multi-function input terminal 5

19 Multi-function input terminal 6

20 Multi-function input terminal 7

21 Multi-function input terminal 8

0: Multi-function input terminal S3 is OFF 1: Multi-function input terminal S3 is ON

Multi-function input terminal S4 0: Multi-function input terminal S4 is OFF 1: Multi-function input terminal S4 is ON

Multi-function input terminal S5 0: Multi-function input terminal S5 is OFF 1: Multi-function input terminal S5 is ON

Multi-function input terminal S6 0: Multi-function input terminal S6 is OFF 1: Multi-function input terminal S6 is ON

Multi-function input terminal S7 0: Multi-function input terminal S7 is OFF 1: Multi-function input terminal S7 is ON

Multi-function input terminal S8 0: Multi-function input terminal S8 is OFF 1: Multi-function input terminal S8 is ON

 INVCMD_IO Command

Vender Specific

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

Not used

Vender Specific

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

Not used

Vender Specific

bit 23 bit 22 bit 21 bit 20 bit 19 bit 18 bit 17 bit 16

Not used

bit 31 bit 30 bit 29 bit 28

Reserved (0) Not used

bit 27 bit 26 bit 25 bit 24

Table 20 SEL_REF Reference Data Codes

Selection Code Monitor Name Contents

0 Nothing Selected –

1 Torque Compensation Unit: 0.1%

2 Analog Output Terminal 1 Output Enabled when H4-01 = 000

3 Analog Output Terminal 2 Output Enabled when H4-01 = 000

4 Terminal Output –

5 PID Setpoint Unit: 0.01%

6 Pulse Output Unit: 1 Hz

7 V/f Gain –

8 Not used –

9 Control Selection Setting Bit 1: PID setpoint enabled

Vender Specific

Table 21 SEL_MON Monitor Data Codes

Selection Code Monitor Name Contents

0 Nothing Selected –

1 Motor Speed Displayed in U1-05 and determined by o1-03.

2 Torque Reference (Monitor) Displayed in U1-09 (0.1%).

3 Not used –

4 Frequency Reference Displayed in U1-01 and determined by o1-03.

5 Analog Input Terminal A2 Displayed in U1-14 (0.1%).

36 YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual

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Selection Code Monitor Name Contents

6 DC Bus Voltage Displayed in U1-07 (1 V).

7 Inverter Alarm –

8 Inverter Warning –

9 Multi-Function Output Terminal Status Displayed in U1-11.

A Analog Input Terminal Displayed in U1-15 (0.1%).

C Analog Input Terminal Displayed in U1-13 (0.1%).

D Speed Detection PG2 Counter –

E Monitor Data Set to F6-23 –

F Monitor Data Set to F6-24 –

Multi-Function Input Terminal Status

S1 to S8

Displayed in U1-10.

 INV_CTL Response

INV_CTL Response

Byte Response Contents

0 INV_CTL (50H) Command code

1 RWDT Watchdog data

13 Output Frequency (Upper)

14 Not used (Set to 0.)

15 Not used (Set to 0.)

17 Output current (Upper)

18 Not used (Set to 0.)

19 Not used (Set to 0.)

20 SEL_REF1/2 The value set in the command.

21 SEL_MON1/2 The value set in the command.

25 Monitor data set to SEL_MON1 (Upper)

26 Not used (Set to 0.)

27 Not used (Set to 0.)

29 Monitor data set to SEL_MON2 (Upper)

30 Not used (Set to 0.)

31 Not used (Set to 0.)

CMD_STAT Refer to Command Status (CMD_STAT) on page 24.

INVCMD_STAT Refer to INVCMD_CTRL on page 35.

INVCMD_IO Refer to INVCMD_IO Command on page 36.

Output Frequency (Lower)

Output Frequency

Output current (Lower)

Output Current

Reserved (0) Not used (Set to 0.)

Monitor data set to SEL_MON1 (Lower)

Monitor data set to

SEL_MON1

Monitor data set to SEL_MON2 (Upper)

Monitor data set to

SEL_MON2

9 Main Command

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9 Main Command

 INVCMD_STAT

Vender Specific

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2

oPE Error Drive Ready Speed Agree Zero Servo

Vender Specific

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10

Not used Zero Servo

bit 23 bit 22 bit 21 bit 20 bit 19 bit 18 bit 17 bit 16

bit 31 bit 30 bit 29 bit 28 bit 27 bit 26 bit 25 bit 24

Reserved (0)

Bit Name Description

0 Forward Operation

1 Reverse Operation

2 Baseblock Released

3 Main Power Supply ON

4 Zero speed 1: Zero Speed

5 Speed Agree 1: Speed agree 6 Drive Ready 1: Drive ready 7 oPE Error 1: oPE error

9 Fault Reset Signal being Input 1: Fault reset signal being input

11 LOCAL/REMOTE

12 Motor 2 Selection

13 Zero Servo 1: Zero servo

24 SEL_MON1 Status

25 SEL_MON2 Status

Power Loss Recovery/

Momentary Power Loss Recovery

Motor 2

Selection

Vender Specific

0: Stop 1: Forward operation in progress

0: Stop 1: Reverse operation in progress

0: Baseblock 1: Baseblock released

0: Main power supply OFF 1: Main power supply ON

0: Power loss recovery 1: Momentary power loss recovery

0: LOCAL 1: REMOTE

0: Motor 1 1: Motor 2

0: Disabled 1: SEL_MON1 enabled

0: Disabled 1: SEL_MON2 enabled

Main Power

Supply ON

LOCAL/

REMOTE

Not used

Basblock Released

Power Loss

Recovery/ Momentary Power Loss

Recovery

bit 1 bit 0

Reverse

Operation

bit 9 bit 8

Fault reset Signal

Input

SEL_MON2

Status

Forward

Operation

Reserved (0)

SEL_MON1

Status

 INVCMD_IO Response

Vender Specific

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

Not used

Vender Specific

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

Not used

Vender Specific

bit 23 bit 22 bit 21 bit 20 bit 19 bit 18 bit 17 bit 16

Not used

bit 31 bit 30 bit 29 bit 28

Reserved (0) Not used

38 YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual

bit 27 bit 26 bit 25 bit 24

Vender Specific

Page 39

10 Sub-Commands

Sub-commands can be used when the 64-byte data transmission (F6-21 = 0) has been selected.

 SUB_CTRL (Sub-Command Control Field)

Table 22 SUB_CTRL

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

Reserved (0)

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

Reserved (0)

bit 23 bit 22 bit21 bit 20 bit 19 bit 18 bit 17 bit 16

Reserved (0)

 SUB_STAT (Sub-Command Status)

Table 23 SUB_STAT

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

Not used (Set to 0.) Reserved (0) SUBCMDRDY Not used

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

Reserved (0) SUBCMD_ALM

bit 23 bit 22 bit 21 bit 20 bit 19 bit 18 bit 17 bit 16

Reserved (0)

Command Description

SUBCMDRDY

SUBCMD_ALM

0: Sub-command reception disabled 1: Sub-command reception enabled

Notifies the sub-command error state. If a normal sub-command is received after the occurrence of a sub-command error, SUBCMD_ALM is automatically cleared.

Table 24 SUBCMD_ALM

Code Contents

– 0H Normal

Warning 1H Invalid data

8H Unsupported command received

9H Invalid data

Alarm

AH Invalid data

BH Sub-command combination error

CH Phase error

 NOP: 00H (No Operation Command)

The NOP command is used for network control. The current state is returned as a response. The command can be used in all communication phases.

NOP Command

Byte Command Description

32 NOP (00H) Command code

x x

SUB_CTRL

Reserved (0) Not used

Refer to SUB_CTRL (Sub-Command Control Field) on page 39.

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10 Sub-Commands

NOP Response

Byte Response Description

32 NOP (00H) Command code

x x

SUB_STAT

Reserved (0) Not used

Refer to SUB_STAT (Sub-Command Status) on page 39.

 PRM_RD: 01H (Read Parameter Command)

The PRM_RD command is used to read a parameter by specifying the parameter number and the data size. The command can be used in communication phases 2 and 3. Refer to drive instruction manual for MEMOBUS/Modbus register numbers.

PRM_RD Command

Byte Command Description

32 PRM_RD (01H) Command code

37 MEMOBUS/Modbus register number (Upper)

38 SIZE Specify the parameter data size in bytes. 2, 4, 6, and 8 are available.

x x

SUB_CTRL

Reserved (0) Not used

Refer to SUB_CTRL (Sub-Command Control Field) on page 39.

MEMOBUS/Modbus register number (Lower)

PRM_RD Response

Byte Response Description

32 PRM_RD (01H) Command code

37 The value (Upper) set in the command.

38 SIZE The value set in the command.

39 Reserved (0) 0 is set.

x x

SUB_STAT

PA RA ME TE R

Refer to SUB_STAT (Sub-Command Status) on page 39.

The value (Lower) set in the command.

 PRM_WR: 02H (Write Parameter Sub-Command)

The PRM_WR command is used to write a parameter by specifying the parameter number, data size, and parameter data. The command can be used in communication phases 2 and 3. After the parameters are written, the CONFIG command

40 YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual

Page 41

10 Sub-Commands

must be sent to force the parameters to become effective. Refer to the drive instruction manual for details of MEMOBUS/Modbus register numbers.

PRM_RDA Command

Byte Command Description

32 PRM_WR (02H) Command code

37 MEMOBUS/Modbus register number (Upper)

38 SIZE Specify the parameter data size in bytes. 2, 4, 6, and 8 are available.

39 Reserved (0) Not used

x x

SUB_CTRL Refer to SUB_CTRL (Sub-Command Control Field) on page 39.

PARAMETER Specify the lower byte (LSB) before the upper byte (MSB) in the size set in the SIZE.

MEMOBUS/Modbus register number (Lower)

PRM_WR Response

Byte Response Description

32 PRM_WR (02H) Command code

37 The value (Upper) set in the command.

38 SIZE The value set in the command.

39 Reserved (0) 0 is set.

x x

SUB_STAT Refer to SUB_STAT (Sub-Command Status) on page 39.

PA RA ME TE R

The value (Lower) set in the command.

The value set in the command. 0 is stored when the field is not used.

In the following statuses, an alarm is detected and the command goes into error.

Error Response

Bit Count Error “9” is set for SUBCMD_ALM.

Data Setting Error “9” is set for SUBCMD_ALM.

Write Mode Error “9” is set for SUBCMD_ALM.

Writing Error during Under Voltage “9” is set for SUBCMD_ALM.

Writing Error during Parameter Processing “9” is set for SUBCMD_ALM.

 ALM_RD: 05H (Read Alarm or Warning Command)

The ALM_RD command is used to read the alarm or warning state. The command can be used in communication phases 2 and 3. The current alarm or warning state is read to ALM_DATA as an alarm or warning code. Refer to the drive instruction manual for details about ALM_DATA.

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10 Sub-Commands

ALM_RD Command

Byte Command Description

32 ALM_RD (05H) Command code

37 Specify the alarm or warning state. (Upper)

x x

SUB_CTRL Refer to SUB_CTRL (Sub-Command Control Field) on page 39.

ALM_RD_MOD

ALM_INDEX

Reserved (0) Not used

Specify the alarm or warning state. (Lower)

Specify the alarm index. The command is enable when ALM_RD_MODE is 2. (Lower)

Specify the alarm index. The command is enable when ALM_RD_MODE is 2. (Upper)

ALM_RD Response

Byte Response Description

32 ALM_RD (05H) Command code

x x

SUB_STAT Refer to SUB_STAT (Sub-Command Status) on page 39.

ALM_RD_MOD The value set in the command.

ALM_INDEX The value set in the command.

ALM_DATA ALM_DATA specifies an alarm using 2 bytes.

 INV_I/O: 51H (Inverter I/O Control Command)

The INV_I/O command is used to set the drive I/O, display the monitor value, and execute references.

INV_IO Command

Byte Command Description

32 INV_IO (51H) Command code

36 SEL_REF 3/4

37 SEL_REF 5/6

38 SEL_MON 3/4

SUB_CTRL Refer to SUB_CTRL (Sub-Command Control Field) on page 39.

Use the SEL REF3/4 command to select the contents of REF3 with bits 0 to 3 and to select the contents of REF4 with bits 4 to 7. Refer to Table 20 for the selection ranges for SEL REF3/4 and SEL MON3/4.

Use the SEL REF5/6 command to select the contents of REF5 with bits 0 to 3 and to select the contents of REF6 with bits 4 to 7. Refer to Table 20 for the selection ranges for SEL REF5/6 and SEL MON5/6.

Use the SEL MON3/4 command to select the contents of MON3 with bits 0 to 3 and to select the contents of MON4 with bits 4 to 7. Refer to Table 21 for the selection ranges for SEL REF3/4 and SEL MON3/4.

42 YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual

Page 43

INV_IO Command

Byte Command Description

Use the SEL MON5/6 command to select the contents of MON5 with bits 0 to 3 and to select the

39 SEL_MON 5/6

41 Reference selected with SEL_REF3 (Upper)

42 Not used (Ignored if a value is set.)

43 Not used (Ignored if a value is set.)

45 Reference selected with SEL_REF4 (Upper)

46 Not used (Set to 0.)

47 Not used (Set to 0.)

49 Reference selected with SEL_REF5 (Upper)

50 Not used (Set to 0.)

51 Not used (Set to 0.)

53 Reference selected with SEL_REF6 (Upper)

54 Not used (Set to 0.)

55 Not used (Set to 0.)

x x

Reference selected with

SEL_REF3

Reference selected with

SEL_REF4

Reference selected with

SEL_REF5

Reference selected with

SEL_REF6

Reserved (0) Not used

contents of MON6 with bits 4 to 7. Refer to Tabl e 2 1 for the selection ranges for SEL REF5/6 and SEL MON5/6.

Reference selected with SEL_REF3 (Lower)

Reference selected with SEL_REF4 (Lower)

Reference selected with SEL_REF5 (Lower)

Reference selected with SEL_REF6 (Lower)

10 Sub-Commands

INV_IO Response

Byte Command Description

32 INV_IO (51H) Command code

36 SEL_REF 3/4 The value set in the command.

37 SEL_REF 5/6 The value set in the command.

38 SEL_MON 3/4 The value set in the command.

39 SEL_MON 5/6 The value set in the command.

41 Monitor data set to SEL_MON3 (Upper)

42 Not used (Set to 0.)

43 Not used (Set to 0.)

45 Monitor data set to SEL_MON4 (Upper)

46 Not used (Set to 0.)

47 Not used (Set to 0.)

49 Monitor data set to SEL_MON5 (Upper)

50 Not used (Set to 0.)

51 Not used (Set to 0.)

53 Monitor data set to SEL_MON6 (Upper)

54 Not used (Set to 0.)

55 Not used (Set to 0.)

x x

SUB_STAT Refer to SUB_STAT (Sub-Command Status) on page 39.

Monitor data set to SEL_MON3 (Lower)

Monitor data set to

SEL_MON3

Monitor data set to SEL_MON4 (Lower)

Monitor data set to

SEL_MON4

Monitor data set to SEL_MON5 (Lower)

Monitor data set to

SEL_MON5

Monitor data set to SEL_MON6 (Lower)

Monitor data set to

SEL_MON6

Reserved (0) Not used

YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual 43

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11 Troubleshooting

 Drive-Side Error Codes

Drive-side error codes appear on the drive digital operator. Causes of the errors and corrective actions are listed in

Tab le 2 5. For additional error codes that may appear on the drive digital operator, refer to the drive Technical Manual.

 Faults

Both bUS (option communication error) and EF0 (External fault input from the option) can appear as an alarm or as a fault. When a fault occurs, the digital operator ALM LED remains lit. When an alarm occurs, the ALM LED flashes.

If communication stops while the drive is running, use the following questions as a guide to help remedy the fault:

• Is the option properly installed?

• Is the communication line properly connected to the option? Is it loose?

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

• Did a momentary power loss interrupt communications?

Table 25 Fault Display and Possible Solutions

LED Operator Display Fault Name

Option Communication Error

bUS

Cause Possible Solution

Master controller (PLC) has stopped communicating

Communication cable is not connected properly

A data error occurred due to electric interference

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

Connection Time-out

Duplicate Station Address

• 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 that power is supplied to the PLC

• Check that PLC is not in program mode

• Check for faulty wiring

• Correct any wiring problems

• Inspect items that can minimize the effects of electrical noise

• Counteract noise in the control circuit, main circuit, and ground wiring

• If a magnetic contactor is identified as a source of noise, install a surge absorber to the

contactor coil

• Make sure the cable used meets the MECHATROLINK-III requirements

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

• The option Requested Packet Interval (RPI) timer timed out

• Make sure that RPI time is set properly

Check if the option shares Station Address with at least one other node. Check the setting values of F6-20.

LED Operator Display Fault Name

Cause Possible Solution

Data has not been received from the PLC, triggering the watchdog timer.

LED Operator Display Fault Name

EF0

Cause Corrective Action

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

Problem with the PLC program Check the program used by the PLC and make the appropriate corrections.

PLC is in the Idle Mode.

44 YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual

MECHATROLINK Watchdog Timer Error

The watchdog has timed out.

⇒ Execute DISCONNECT or ALM_CLR, then issue a CONNECT command or SYNC_SET command and proceed to phase 3.

Option Card External Fault

The alarm function for an external device has been triggered.

• Remove the cause of the external fault

• Reset the external fault input from the PLC device

• Set the PLC to the Run Mode

• Set the drive parameter F6-54 to 0 (Enabled) not to detect errors while the PLC is in the Idle Mode

Page 45

LED Operator Display Fault Name

oFA00

Cause Possible Solution

Non-compatible option connected to the drive Connect an option that is compatible with the drive.

LED Operator Display Fault Name

oFA01

Cause Possible Solution

Problem with the connectors between the drive and option

LED Operator Display Fault Name

Option hardware fault Replace the option.

oFA30 to oFA43

Cause Possible Solution

Option Card Connection Error (CN5-A)

Option is not properly connected.

Option Card Fault (CN5-A)

Option is not properly connected.

Turn the power off and check the connectors between the drive and option.

Option Card Connection Error (CN5-A)

Communication ID error.

11 Troubleshooting

LED Operator Display Fault Name

oFb00

Cause Possible Solution

Non-compatible option connected to the drive. Connect the correct option to CN5-A.

LED Operator Display Fault Name

oFb02

Cause Possible Solution

Options AI-A3 or DI-A3 are connected to the CN5-B port with an option connected to CN5-A.

LED Operator Display Fault Name

oFC00

Cause Possible Solution

Non-compatible option connected to the drive. Connect the correct option to CN5-A.

LED Operator Display Fault Name

oFC02

Cause Possible Solution

Options AI-A3 or DI-A3 are connected to the CN5-B port while an option connected to CN5-A.

Option Fault (CN5-B)

Non-compatible option is connected.

Option Fault (CN5-B)

Two identical options are connected at the same time.

• Only one type of AI-A3, DI-A3 or SI- option can be connected to the drive

• The SI-ET3 option can only be connected to CN5-A

Option Fault (CN5-C)

Non-compatible option is connected.

Option Fault

Option Flash write mode.

• Only one type of AI-A3, DI-A3 or SI- option can be connected to the drive

• The SI-ET3 option can only be connected to CN5-A

YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual 45

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11 Troubleshooting

 Minor Faults and Alarms

LED Operator Display Minor Fault Name

CALL

Cause Possible Solution

Communication wiring is faulty, there is a short circuit, or improper connection.

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

Communication circuitry is damaged.

LED Operator Display Minor Fault Name

CYC

Cause Possible Solution

Transmission cycle of the option set in the master controller (PLC) was out of range.

Serial communication transmission error

Communication is not established.

Check for wiring errors:

• Correct the wiring

• Remove ground shorts and reconnect loose wires

• Perform a self-diagnostics check

• Replace the drive if the fault continues to occur

Transmission Cycle Setting Error

Transmission cycle from the master controller (PLC) was out of range.

Set the transmission cycle of the master controller in the range of 250 μs, 500 μs, 750 μs, and 1 to 32 ms (0.5 ms increment). Make sure to set the communication cycle to 32 ms or less.

Minor Fault

(H2- = 10)

YES

Minor Fault

(H2- = 10)

YES

 Prior to Installing the Option

Prior to installing the option, wire the drive, make the necessary connections to the drive terminals, and verify that the drive functions normally. Refer to the Ta ble 26 for information on wiring and connecting the drive.

Tab le 2 6 below lists the number of option cards that can be connected to the drive and the drive connectors for

connecting those option cards.

Table 26 Option Card Installation

Option Card

PG-B3, PG-X3 CN5-C 2

PG-RT3 <2> <3>, PG-F3 <2> <3> CN5-C 1

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

SI-C3, SI-N3, SI-P3, SI-S3, SI-T3, SI-ET3, AI-A3, DI-A3, SI-ES3, SI-B3, SI-M3, SI-W3, SI-EM3, SI-EN3, SI-EP3

<1> If two PG option cards are connected, use both CN5-B and CN5-C. If only one PG option card is connected to the drive, use the CN5-C

connector.

<2> These option cards are not available for the application with Motor 2 Selection. <3> These option cards are not available with models CIMR-A4A0930 and 4A1200. <4> When AI-A3 and DI-A3 are to be used as monitors, the card can be connected to any of CN5-A, CN5-B or CN5-C. The input status of

AI-A3 can then be viewed using U1-21, U1-22, and U1-23, and the input status of DI-A3 can then be viewed using U1-17.

<4>

Connector Number of Cards Possible

<1>

CN5-A 1

46 YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual

Page 47

12 Specifications

 Specifications

12 Specifications

Table 27 Option Specifications

Item Model SI-ET3 Access mode Start-stop synchronization, master/slave method Communication speed 100 Mbps Minimum transmission cycle 250 μs Maximum transmission cycle 8 ms Transmission cycle granularity 03H Minimum wiring distance

between stations Maximum wiring distance

between stations Data length 32-byte data transmission or 64-byte data transmission Event driven communication Va li d Profile Compliant with standard inverter profile Maximum number of stations 62 <1> Ambient temperature -10°C to +50°C (14°F to 122°F) Humidity 95% RH or lower with no condensation Storage temperature -20°C to +60°C (-4°F to 140°F) allowed for short-term transport of the product Area of use Indoor (free of corrosive gas, airborne particles, etc.) Altitude 1000 m (3280 ft.) or lower

<1> The maximum number of connectable stations changes depending on the types and settings of the host controller, baud rate, or communications

cycle. For details, refer to the controller manual.

0.2 m (7.9 in.)

100 m (3937.0 in.)

Specification

YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual 47

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12 Specifications

MANUAL NO.ޓSIEP C730600 62B

Published in Japan August 2013 13-6

Date of publication

Date of original publication

Revision number

A1000

 Revision History

Revision dates and manual numbers appear on the bottom of the back cover.

Date of Publication

August 2013 All Revision: Manual number

June 2013 −−First edition

Revision

Number

Section Revised Content

48 YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual

Page 49

YASKAWA AC Drive 1000-Series Option

MECHATROLINK-III

Technical Manual

DRIVE CENTER (INVERTER PLANT)

2-13-1, Nishimiyaichi, Yukuhashi, Fukuoka, 824-8511, Japan Phone: 81-930-25-3844 Fax: 81-930-25-4369 http://www.yaskawa.co.jp

YASKAWA ELECTRIC CORPORATION

New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo, 105-6891, Japan Phone: 81-3-5402-4502 Fax: 81-3-5402-4580 http://www.yaskawa.co.jp

YASKAWA AMERICA, INC.

2121 Norman Drive South, Waukegan, IL 60085, U.S.A. Phone: 1-800-YASKAWA (927-5292) or 1-847-887-7000 Fax: 1-847-887-7310 http://www.yaskawa.com

YASKAWA ELÉTRICO DO BRASIL LTDA.

Avenida Piraporinha 777, Diadema, São Paulo, 09950-000, Brasil Phone: 55-11-3585-1100 http://www.yaskawa.com.br

YASKAWA EUROPE GmbH

Hauptstrasse 185, 65760 Eschborn, Germany Phone: 49-6196-569-300 Fax: 49-6196-569-398 http://www.yaskawa.eu.com

YASKAWA ELECTRIC KOREA CORPORATION

9F, Kyobo Securities Bldg., 26-4, Yeouido-dong, Yeongdeungpo-gu, Seoul, 150-737, Korea Phone: 82-2-784-7844 http://www.yaskawa.co.kr

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.

151 Lorong Chuan, #04-02A, New Tech Park, 556741, Singapore Phone: 65-6282-3003 http://www.yaskawa.com.sg

YASKAWA ELECTRIC (CHINA) CO., LTD.

12F, Carlton Bld., No.21 HuangHe Road, HuangPu District, Shanghai 200003, China Phone: 86-21-5385-2200 http://www.yaskawa.com.cn

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

Room 1011, Tower W3 Oriental Plaza, No. 1 East Chang An Ave., Dong Cheng District, Beijing, 100738, China Phone: 86-10-8518-4086

YASKAWA ELECTRIC TAIWAN CORPORATION

9F, 16, Nanking E. Rd., Sec. 3, Taipei, 104, Taiwan Phone: 886-2-2502-5003

YASKAWA INDIA PRIVATE LIMITED

#17/A Electronics City, Hosur Road Bangalore 560 100 (Karnataka), India Phone: 91-80-4244-1900 http://www.yaskawaindia.in

Fax: 55-11-3585-1187

Fax: 82-2-784-8495

Fax: 65-6289-3003

Fax: 86-21-5385-3299

Fax: 86-10-8518-4082

Fax: 886-2-2505-1280

Fax: 91-80-4244-1901

YASKAWA ELECTRIC CORPORATION

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.

MANUAL NO. SIEP C730600 62B

Published in Japan August 2013 13-6 13-7-11

1 -0

Yaskawa SI-ET3 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of Contents

1 Preface and Safety

 Applicable Documentation

 Terms

 Registered Trademarks

 Supplemental Safety Information

2 Product Overview

 About This Product

 Applicable Models

3 Receiving

 Option Package Components

 Tools Required for Installation

4 Option Components

 SI-ET3 Option

 Connector

 Option LED Display

5 Installation Procedure

 Section Safety

 Prior to Installing the Option

 Installing the Option

6 Related Drive Parameters

7 Transmission Interface

 MECHATROLINK-III Cyclic Transmissions

 Command Format of the Standard Profile Common Commands

 Communications Phases

 Application Layer Specifications

8 MECHATROLINK-III Commands

 Command Control (CMD_CTRL)

9 Main Command

 NOP: 00H (No Operation Command)

 PRM_RD: 01H (Read Parameter Command)

 PRM_WR: 02H (Write Parameter Sub-Command)

 ID_RD: 03H (Read ID Command)

 CONFIG: 04H (Setup Device Command)

 ALM_RD: 05H (Read Alarm or Warning Command)

 ALM_CLR: 06H (Clear Alarm or Warning Command)

 SYNC_SET: 0DH (Start Synchronous Communication Command)

 CONNECT: 0EH (Establish Connection Command)

 DISCONNECT: 0FH (Release Connection Command)

 INV_CTL: 50H (Inverter Operation Control Command)

10 Sub-Commands

 SUB_CTRL (Sub-Command Control Field)

 SUB_STAT (Sub-Command Status)

11 Troubleshooting

 Drive-Side Error Codes

 Prior to Installing the Option

 Specifications

12 Specifications

 Revision History