CANopen 通信
Contents
1. ER o 8 ee e2. 6 TOBP C730600 24A V1000 CANopen 1 e BL
3. eS Be ee melo i ee K ALD AKT IDY PEERS 56 C 30
4. YASKAWA au AWS ttt BABS TOBP C730600 24A 2007 8A 07 8 06 12 YASKAWA AC Drive V1000 Option CANopen Communications Installation Manual V1000 _ CANopen Any inquiries related to the product can be directed to the address listed at the end of each section in the related language ayn E E In the event that the end user of this product is to be the military and said product is to zz be employed in any weapons systerls or the manufacture thereof the DOR 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 YASKAWA Specifications are subject to change without notice for ongoing pr
5. 16 TOBP C730600 24A V1000 CANopen 5 ESD
6. 36 TOBP C730600 24A V1000 CANopen _TOBP C730600 24A 2007 8 07 8 pas EER 2007 8 V1000 _ CANopen YASKAWA gg TEL 0120 114616 rax 0120 114537 A 79 00 12 00 13 00 17 00 FAX 24 URL http www yaskawa co jp TEL 03 5402 4502 FAX 03 5402 4580 1 16 1 105 6891 TEL 052 581 2761 FAX 052 581 2274 3
7. ZARES CANopen ET EE EE WW LED EFO
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9. chlo TOBP C730600 24A V1000 CANopen 17 5 5 9 D SUB CANopen CANopen 5 lt 1 gt ene CANopen 1200 6 lt 1 gt 0 TI CANopen Riga eR 6 ao FE
10. Itt 2 MB M3 5 M6 lt 1 gt lt 1 gt M3 5 M6 10 TOBP C730600 24A V1000 CANopen 4 KORE 4 Le C A LED RUN G FE B LED ERR H c 1
11. 1 lt i gt CIMR VHHAHHI 5010 1010 CIMR VODA 5010 1010 CIMR VODA 5010 1010 lt 1 gt PRG TOBP C730600 24A V1000 CANopen 4 plas 3 3 SLLS3 2
12. TOBP C730600 24A V1000 CANopen o 1 2 8 TOBP C730600 24A V1000 CANopen
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14. LED ofaga orao MEZIRE naiiai TOBP C730600 24A V1000 33 CANopen 8 LED oFA01 OFF LED gt i Been ofA oaos SAR a E oFA04 Flash
15. 2 8 22 ZIEK TOBP C730600 24A V1000 CANopen 5 CANopen CANopen ore CANopen EDS EDS CANopen EDS https www e mechatronics com TOBP C730600 24A V1000 CANopen 23 6 CANopen 6 CANopen
16. OHF OH OH OnE oH 0H 30 ZIE TOBP C730600 24A V1000 CANopen 7 PDO PDO PDO PDO Mapping COB_p la F Hex Hex Hex 1 180 Node ID 1800 Subindex1 6041 1A00 Subindex1 6041 2 280 Node ID 1801 Se eae 1A01 EE Subindex1 6041 6 1909 Subindex2 6044 1A05 PER Subindex1 6041 7 RER 1808 Subindex2 60FD 1A06 21 REA 1814 Subindex1 6042 1A14 22 1815 Subingex1 6043 1A15 Subindex1 6048 sub1 23 1816 Subindex2 6048 sub2 1A16 er pear Subindex1 6049 sub1 24 REA 1817 Subindex2 6049 sub2 ails n yae Subindex1 604A sub1 25 1918 Subindex2 604A sub2 0 ara Subindex1 604C sub1 26 REA 1819 Subindex2 604C sub2 1819 36 1823 Subingex1 2100 1A23 37 1824
17. 18 TOBP C730600 24A V1000 CANopen 5 1 OFF See on CHARGE LIE 50 V L 5 aL 2 7 lee oe o 7
18. A WARNING Risk of electric shock Read manual before installing A Wait 5 minutes for capacitor discharge after disconnecting power supply To conform to C requirements make sure to ground the supply neutral for 400V class A Risque de d charge AVERTISSEMENT lectrique a Lire le manuel avant l installation A Attendre 5 minutes apr s la coupure de l alimentation pour permettre la d charge des condensateurs Pour r pondre aux exigences C s assurer que le neutre soit reli a la terre pour la s rie 400V 2 2 CANopen CANopen DS 301 Ver 4 02 DSP 402 Ver 1 1 Velocity Mode
19. 10 4 5 11 TOBP C730600 24A V1000 CANopen 21 5 6 poo 0 Cc o SH aM v a set see S hae 12 7 13 jo
20. 3 KIo V1000 V1000 CANopen CANopen CAN in Automation CiA TOBP C730600 24A V1000 CANopen 1
21. tZ E5 04 lt 3 gt 3 EF0 H J EF0 0 1 J EF0 i EF0 0 1 2 3 lt 5 gt 24 TOBP C730600 24A V1000 CANopen 6 CANopen bUS bUS 0 05 sec 0 00 5 00 sec 0 F6 35 lt 6 gt Node 0 127 1012 lt 7 gt 10 kbps 0 1 2 20 kbps 3 50 kbps 4 125 kbps 5 6 7 8 250 kbps 500 kbps 800 kbps 1 Mbps
22. DSP 402 DSP 402 Velocity Mode 1 E2 04 2 E4 04 PM E5 04 o1 03 amp 2 min 1 VAs Common Entries Hex 60FD Digital Input lt 1 gt Digital Output lt 2 gt lt 1 gt o As 28 TOBP C730600 24A V1000 CANopen 7 m Device Control Hex 6040 Controlword 6041 Statusword 6060 Modes_of_operation 6061 Modes_of_operation_display 2 only Velocity Mode m Velocity Mode Hex 6042 vi_target_velocity 6043 vi_velocity_dema
23. TOBP C730600 24A V1000 CANopen 19 5 3 8 4 A M3 FA B M3 5 M6 FA 9 20 TOBP C730600 24A V1000 CANopen 5 GE 549 200 V CIMR V BA0006 BA0018 200 V CIMR VO2A0008 2A0069 48 400 V
24. ERR LED lt 7 gt 5010 1010 1011 99 lt 8 gt o1 03 2200 Hex o or OZZIE TOBP C730600 24A V1000 CANopen 25 7 7 DS 301 Hex 1000 Device Type 1001 Error Register 1003 Pre defined Error Field 1005 COB ID SYNC Message 1008 Manufacturer Device Name 1009 Manufacturer Hardware Version 100A Manufacturer Software Version 100C Guard Time 100D Life Time Factor 100E Node Guarding Identifier 1010 Store Parameters 1011 Restore Default Parameters 1014 COB ID Emergency Object
25. 0 0 01Hz ES 1 0 01 100 01 03 lt 8 gt AARTEEN 2 min 1 3 01 10 01 11 lt 1 gt CANopen CANopen b1 02 3 b1 01 3 lt 2 gt 1010 b1 01 3 b1 02 3 oPE07 JE ce 04 E5 04 DSP402 N o lt 4 gt E5 01 lt 5 gt F6 03 3 lt 6 gt Node SS Node 23 mi 0 128 LOBED Se
26. lt gt D E K 9 D SUB F L 1 lt 1 gt WII TOBP C730600 24A V1000 CANopen 11 4 27mm 27 mm 2 12 TOBP C730600 24A V1000 CANopen 4 KORK 0 ea CANopen 3 3 CAN_GND CAN_SHLD WII CAN_H ey iii CAN_SHLD oo0 NI OD On AJ wl rm 22 EBRE TOBP C730600 24A V1000 CANopen 13 4
27. D SUB Connector Figure 5 Wiring Diagram lt 1 gt The FE terminal on the CANopen Option must be connected to the drive ground terminal using one of the 4 delivered ground wires Termination Both ends of a CANopen bus system have to be terminated with a 120Q resistor As the SI S3 V has no build in terminating resistor make sure to apply a terminating resistor as shown in Figure 6 if the SI S3 V is the last node in the network vi000 4 ee lee TT K CANopen Cable CANopen Cable Connector D SUB Connector For the last node on the network apply a terminating resister Figure 6 Terminating Diagram lt 1 gt The FE terminal on the CANopen Option must be connected to the drive ground terminal using one of the 4 delivered ground wires 20 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 5 Installation Procedure Installing the Option Unit Remove the front cover of the drive before installing the CANopen Option Follow the directions below for proper installation 1 Switch off the power supply to the drive DANGER Electrical Shock Hazard Do not connect or disconnect wiring while the power is on Failure to comply will result in death or serious injury Before installing the CANopen Option disconnect all power to the drive The internal capacitor remains charged even after the power supply is turned off The charge indicator LED will extinguish when the DC bus voltage is
28. o SN o PLC CPU 32 TOBP C730600 24A V1000 CANopen 6 LED bus bUS _ Hirit _ URED SRR TIRE
29. 1 V1000 CANopen TOBP C730600 24 V1000 CANopen SIJP C730600 24 eet https www e mechatronics com V1000 SIJP C710606 16
30. 34 TOBP C730600 24A V1000 CANopen 9 9 7 SI S3 V SI S3 DS 301 Ver 4 02 DSP 402 Ver 1 1 Velocity Mode 9 D SUB 4 40 UNC thread 10 kbps 1 Mbps 10 C 50 C 95 Rh RESETE 20 C 60 C TOBP C730600 24A V1000 1000 m CANopen s 35 38 9 1 18 REEDE e
31. LED 2 LED LED DS303 part 3 mw LED 4 LED me ie Gi ig Single Flash Double Flash LED 4 ERR Blink RUN ERR Single flash RUN Double flash ERR 4 LED 14 ZIEK TOBP C730600 24A V1000 CANopen 4 KORE Node F6 35 1 127 Node Node 0 ERR LED TOBP C730600 24A V1000 CANopen 15 5 5
32. abo 5 0 LED LCD b1 01 II 1 lt 7 gt lt 2 gt 2 MEMOBUS 3 4 0 LED LCD nee 1 2 MEMOBUS 3 1 1 2 2 PM bUS 0 C1 02 1 2 C1 09 E2 04 lt 3 gt a Si E4 04 lt 3 gt
33. lt 2 gt When b1 01 3 and or b1 02 3 is selected and the communication option is not installed V1000 detects oPE07 instead of oPE05 with software version 1010 lt 3 gt E2 04 E4 04 and E5 04 are necessary to set up when the Drive Profile DSP402 objects are used lt 4 gt Default setting value is dependent on parameter ES 01 Motor Code Selection lt 5 gt If F6 03 is set to 3 then the drive will continue to operate when an EFO fault is detected Take proper safety measures such as installing an emergency stop switch lt 6 gt All node addresses must be unique The ERR light will illuminate when 0 or greater than 127 is entered lt 7 gt Default setting is 99 for software versions 5010 1010 and 1011 lt 8 gt The setting of 01 03 affects the data format in Object 2200 Hex Motor Speed YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 27 7 Communication Objects Overview 7 Communication Objects Overview The following tables list up the communication objects supported by the SI S3 V option unit For details about the object content refer to the SI S3 V Technical Manual Communication Objects DS 301 Index Hex Object Name 1000 Device Type 1001 Error Register 1003 Pre defined Error Field 1005 COB ID SYNC Message 1008 Manufacturer Device Name 1009 Manufacturer Hardware Version 100A Manufacturer Software Version 100C Guard Time 100D Life Time Factor 100E Node Guarding
34. B LED ERR red H Mounting clip C Option cover 1 Cable lt 1 gt D CANopen PCB J Through hole for cable E Attachment screw K Communication cable connector hole for option cover 9 pin D SUB F PCB part number L Option board connector Figure 1 Option Unit lt 1 gt Cables are not connected to the CANopen and are packaged separately in the box 12 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 4 CANopen Option Components Dimensions The installed CANopen Option adds 27 mm 1 06 in to the total depth of the drive 27 mm 1 06 in Figure 2 Dimensions YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 13 4 CANopen Option Components Communication Connector The SI S3 V CANopen option is connected to the network using a 9 pin D SUB connector The connector location is illustrated in Figure 3 the pin assignment is explained in Table 3 Figure 3 Communication connector location Table 3 Communication connector 9 pin D SUB CANopen Connector i Signal Description CAN_L CAN L bus line dominant low CAN_GND CAN Ground Bottom View CAN_SHLD CAN shield CAN_H CAN_H bus line dominant high OL OAT ADI Mm 1 CAN_SHLD CAN shield 14 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 4 CANopen Option Components CANopen Option LED Display The SI S3
35. 1016 Consumer Heartbeat Time 1017 Producer Heartbeat Time 1018 Identity Object 26 Z TOBP C730600 24A V1000 CANopen 7 DS 301 e Hex 2000 2010 2020 2030 2040 MEMOBUS 2050 MEMOBUS 2060 MEMOBUS 2070 22 B TOBP C730600 24A V1000 CANopen MEMOBUS 27 7 Hex 2100 2110 2120 2130 2140 MEMOBUS 2150 MEMOBUS 2160 MEMOBUS 2200 lt gt lt 1 gt o1 03 V f 0
36. SIEP C710606 16 This manual describes installation wiring operation procedures functions troubleshooting maintenance and inspections to perform before operation To obtain instruction manuals for Yaskawa products access these sites Europe http www yaskawa eu com Japan https www e mechatronics com Other areas contact a Yaskawa representative V1000 Series AC Drive Quick Start Guide This guide is packaged together with the product It contains basic information required to install and wire the drive This guide provides basic programming and simple set up and adjustment Terms Note Indicates a supplement or precaution that does not cause drive damage Drive Yaskawa AC Drive V1000 Series CANopen Option Yaskawa AC Drive SI S3 V CANopen option unit for the Yaskawa V 1000 drive YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 5 1 Preface and Safety Registered Trademarks e CANopen is a registered trademark of the CAN in Automation CiA Other company names and product names listed in this manual are registered trademarks of those companies YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 1 Preface and Safety Supplemental Safety Information Read and understand this manual before installing operating or servicing this option unit The option unit must be installed according to this manual and local codes The following conventi
37. 25 9 9 450 0002 TEL 06 6346 4500 FAX 06 6346 4555 2 4 27 4 530 0003 TEL 092 714 5331 FAX 092 714 5799 4 1 1 7 7 810 0001 9 http www e mechatronics com URL http www yaskawa eng co jp top html TEL 04 2931 1810 FAX 04 2931 1811 142 3 358 0055 TEL 052 331 5811 FAX 052 331 5373 4 1 7 2 460 0012 TEL 06 6378 6500 FAX 06 6378 6531 7 10 37 566 0001 TEL 093 288 4430 FAX 093 288 4431 2 3 805 0058 http www e mechatronics com
38. CANopen Option LED Operator Display Fault Name CANopen Option Fault oFA03 CANopen Option self diagnostics error Cause Possible Solution CANopen Option hardware fault gt Replace the CANopen Option LED Operator Display Fault Name CANopen Option Fault oFA04 CANopen Option Flash write mode Possible Solution CANopen Option hardware fault gt Replace the CANopen Option 36 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 9 Specifications 9 Specifications Table 7 Option Unit Specifications Model SI S3 V PCB model SI S3 DS 301 Ver 4 02 DSP 402 Ver 1 1 Velocity Mode Connector 9 pin D SUB connector 4 40 UNC thread Communication Speed 10 kbps to 1 Mbps Ambient Temperature 10 C to 50 C Communication Profile Humidity up to 95 Rh no condensation Storage Temperature 20 C to 60 C allowed for short term transport of the product Area of Use Indoors free of corrosive gas airborne particles etc Altitude Up to 1000 m YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 37 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover MANUAL NO TOBP C730600 24A Printed in Japan August 2007 07 8 Date of printing Date of original publication Date of Priting Rev No Section Revised Content August 2007 First
39. V has two LEDs that indicate the Option unit or communication status The indications are conform with the DS303 Part 3 Indicator Specification m Checking LED Operation Table 4 LED Display Display Meaning On Operational State Blinking Pre operational State Single flash Stopped On Bus off Bus initialization failed parameter setting error Blinking Fault has occurred Single flash Receiving CAN error frame too many error frames Double flash Guard Heartbeat event has occurred Off Online Figure 4 explained the indicator flash rates 1s 2s ERR Blinking RUN ERR Single flash RUN Double flash ERR ON Figure 4 LED Flash Rates and Meaning YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 15 4 CANopen Option Components Setting Node Address Set the node address in the drive parameter F6 35 The node address can be set between 1 and 127 but has to be unique in the network If the Node ID is set to 0 communications will not be possible and the ERR LED will flash 16 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 5 Installation Procedure 5 Installation Procedure Section Safety DANGER Electrical Shock Hazard Do not connect or disconnect wiring while the power is on Failure to comply will result in death or serious injury Disconnect all power to the drive wait at least five minutes after all indica
40. cover 5 Connect the CANopen Option to the drive Properly secure the tabs on the left and right sides of the CANopen Option to the drive case Figure 11 Attach CANopen Option Connect the ground cable from the drive ground terminal to the CANopen Option ground When wiring the CANopen Option pass the ground cable through the inside of the drive bottom cover then pass the ground cable into the through hole at the front of the CANopen Option oo 10 0 O drive ground ground cable pp terminal through hole for ground cable ground cable Pass the ground cable through the bottom cover of the drive Figure 12 Ground Cable Connection YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 23 5 Installation Procedure 7 Attach the CANopen Option cover to the front of the CANopen Option Figure 13 Attach Cover Note When using the drive in an area that may require displaying warning information in Japanese or Chinese a sticker has been provided with the CANopen Option This sticker can be placed over the English and French warnings on the front of the CANopen Option 24 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 5 Installation Procedure Communication Cable Specifications Use a CANopen dedicated communication cable only To ensure proper performance Yaskawa recommends using CANopen dedicated communication ca
41. 2 YASKAWA ELECTRIC TAIWAN CORPORATION 9F 16 Nanking E Rd Sec 3 Taipei Taiwan Phone 886 2 2502 5003 Fax 886 2 2505 1280 YASKAWA ELECTRIC CORPORATION YASKAWA 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 2007 YASKAWA ELECTRIC CORPORATION All rights reserved MANUAL NO TOBP C730600 24A Printed in Japan August 2007 07 8 07 70 Copyright 2007 eee ra 1 4 2 LA 9 3 10 EOE A 11 5 16 6 CANopen LL 24 7 fay 26 eee 32 9 ee 35 TOBP C730600 24A V1000 CANopen 3 1
42. 6 Subindex 2 60FD A06 21 Not assigned 1814 Subindex 1 6042 A14 22 Not assigned 1815 Subindex 1 6043 A15 23 Not assigned 1816 Subinde Fi C048 SUb 1A16 Subindex 2 6048 sub2 Subindex 1 6049 sub1 24 Not assigned 1817 Subindex 2 6049 sub2 A17 gt Subindex 1 604A sub1 25 Not assigned 1818 Subindex 2 604A sub2 1A18 Subindex 1 604C sub1 26 Not assigned 1819 Subindex 2 604C sub2 A19 36 Not assigned 1823 Subindex 1 2100 A23 37 Not assigned 1824 Subindex 1 2110 A24 38 Not assigned 1825 Subindex 1 2120 A25 39 Not assigned 1826 Subindex 1 2130 A26 40 Not assigned 1827 Subindex 1 2140 sub1 A27 41 Not assigned 1828 Subindex 1 2150 sub1 A28 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 33 8 Fault Diagnosis and Possible Solutions 8 Fault Diagnosis and Possible Solutions Drive Side Error Codes Drive side error codes appear on the drive LED operator Causes of the errors and Possible Solutions are listed in Table 6 For additional error codes that may appear on the LED operator screen refer to the instruction manual for the drive m Faults bUS CANopen Option Communication Error and EFO External Fault Input from the CANopen Option may appear as an alarm or a fault When a fault occurs the digital operator LEDs remain lit When an alarm occurs the digital operator LEDs flash and the ALM light illuminates If communication stops while t
43. A YASKAWA YASKAWA AC Drive V1000 Option CANopen Communications Installation Manual Type SI S3 V To properly use the product read this manual thoroughly and retain for easy reference inspection and maintenance Ensure the end user receives this manual V1000 _ CANopen SI S3 V MANUAL NO TOBP C730600 24A Copyright 2007 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 elec tronic photocopying recording or otherwise without the prior written permission of Yaskawa No patent liability is assumed with respect to the use of the informa tion contained herein Moreover because Yaskawa is constantly striving to improve its high quality products the information contained in this manual is sub ject to change without notice Every precaution has been taken in the preparation of this manual Yaskawa assumes no responsibility for errors or omiss
44. Identifier 1010 Store Parameters 1011 Restore Default Parameters 1014 COB ID Emergency Object 1016 Consumer Heartbeat Time 1017 Producer Heartbeat Time 1018 Identity Object 28 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 7 Communication Objects Overview Manufacturer Specific Objects DS 301 m Input Objects Index Hex Object Name 2000 Operation Command 2010 Speed Command 2020 Torque Limit 2030 Torque Compensation 2040 MEMOBUS Read Command 2050 MEMOBUS Write Command 2060 MEMOBUS Not Limited Enter Command 2070 MEMOBUS Limited Enter Command m Output Objects Index Hex Object Name 2100 Drive Status 2110 Output Frequency 2120 Output Current 2130 Output Torque 2140 MEMOBUS Read Command Response 2150 MEMOBUS Write Command Response 2160 MEMOBUS Not Limited Enter Command Response 2200 Motor Speed lt 1 gt lt 1 gt Unit depends on the setting of 01 03 Digital Operator Display Scaling The register content is zero if the drive is set for V f control YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 29 7 Communication Objects Overview Drives and Motion Profile DSP 402 The drive supports the Drive Profile DSP 402 Velocity Mode Before using the Velocity Mode objects the following parameters have to be set up in the drive The motor pole number must be set up in E2 04 fo
45. Subingex1 2110 1A24 38 1825 Subingex1 2120 1A25 39 1826 Subingex1 2130 1A26 40 1827 Subingex1 2140 sub1 1A27 41 1828 Subingex1 2150 sub1 1A28 TOBP C730600 24A V1000 31 CANopen 8 8 LED CANopen LED bUS EFO MERNED e aT LED ss a al 7 lt
46. below 50 Vdc To prevent electric shock wait at least five minutes after all indicators are off and measure the DC bus voltage level to confirm safe level 2 Remove the front cover The original drive front cover may be discarded because it will be replaced by the CANopen Optio Ss Figure 7 Remove Front Cover 3 Remove the bottom cover and connect the CANopen Option ground cable to the ground terminal ground terminal ground cable bottom cover Figure 8 Connect Ground Cable YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 21 5 Installation Procedure Note The four different ground cables packaged with the CANopen Option connect the unit to different models Select the proper ground cable from the CANopen Option kit depending on drive size A Option unit connection screw size M3 B Drive side connection screw size M3 5 to M6 Figure 9 Ground Cable Note Cover removal for certain larger models with a Terminal Cover Single Phase 200 V Class CIMR VHBA0006 to BA0018 Three Phase 200 V Class CIMR VH2A0008 to 2A0069 Three Phase 400 V Class All models Remove the terminal cover before removing the bottom cover to install the CANopen Option ground cable Replace the terminal cover after wiring the CANopen Option ground cable Figure 10 Models with Terminal Cover 22 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 5 Installation Procedure 4 Reattach the bottom
47. bles only EDS Files For easy network implementation of drives equipped with a SI S3 V an EDS file can be obtained from Europe http www yaskawa eu com Japan https www e mechatronics com Other areas contact a Yaskawa representative YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 25 6 CANopen Parameters 6 CANopen Parameters Confirm the proper setting of all parameters in Table 5 before starting network communications Table 5 Parameter Settings Description Default b1 01 lt 1 gt lt 2 gt Frequency Reference Selection Selects the frequency reference input source 0 Operator Digital preset speed d1 01 to d1 17 1 Terminals Analog input terminal Al or A2 2 MEMOBUS communications 3 Option PCB 4 Pulse Input Terminal RP b1 02 lt 1 gt lt 2 gt Run Command Selection Selects the run command input source 0 Digital Operator RUN and STOP keys 1 Digital input terminals S1 to S7 2 MEMOBUS communications 3 Option PCB E2 04 lt 3 gt Motor 1 Motor Poles Set the number of motor poles described on the motor nameplate E4 04 lt 3 gt Motor 2 Motor Poles Sets the number of poles of motor 2 E5 04 lt 3 gt PM Motor Pole Number Sets the number of motor poles for PM motors Operation Selection after Communications Error Determines drive response when a bUS error is detected during communications with the CANopen Op
48. d the error continues to occur replace the CANopen Option CANopen Option is not properly connected to the drive LED Operator Display The connector pins on the CANopen Option are not properly seated with the connector pins on the drive gt Reinstall the CANopen Option Fault Name ru EFO External Fault Input from CANopen Option The alarm function for an external device has been triggered Cause Possible Solution An external fault is being sent from the upper controller PLC Remove the cause of the external fault gt Reset the external fault input from the upper controller PLC device Problem with the upper controller PLC program LED Operator Display Check the program used by the upper controller PLC and make the appropriate corrections Fault Name oFA00 CANopen Option Fault CANopen Option is not properly connected Cause Possible Solution Non compatible option connected to the drive YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual gt Connect an option that is compatible with the drive 35 8 Fault Diagnosis and Possible Solutions LED Operator Display Fault Name CANopen Option Fault oFA01 CANopen Option is not properly connected Possible Solution Problem with the connectors between Turn the power off and check the connectors between the drive and the drive and CANopen Option
49. e eee F EE Ri er er ARENDE
50. edition 38 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual YASKAWA AC Drive V1000 Option CANopen Communications Installation Manual IRUMA BUSINESS CENTER SOLUTION CENTER 480 Kamifujisawa Iruma Saitama 358 8555 Japan Phone 81 4 2962 5696 Fax 81 4 2962 6138 YASKAWA ELECTRIC AMERICA INC 2121 Norman Drive South Waukegan IL 60085 U S A Phone 1 847 887 7000 Fax 1 847 887 7370 YASKAWA ELETRICO DO BRASIL LTDA Avenida Fagundes Filho 620 Bairro Saude Sao Paulo SP Brazil CEP 04304 000 Phone 55 11 5071 2552 Fax 55 11 5581 8795 YASKAWA ELECTRIC EUROPE GmbH Am Kronberger Hang 2 65824 Schwalbach Germany Phone 49 6196 569 300 Fax 49 6196 569 312 YASKAWA ELECTRIC UK LTD 1 Hunt Hill Orchardton Woods Cumbernauld G68 9LF United Kingdom Phone 44 1236 735000 Fax 44 1236 458182 YASKAWA ELECTRIC KOREA CORPORATION 7F Doore Bldg 24 Yeoido dong Youngdungpo Ku Seoul 150 877 Korea Phone 82 2 784 7844 Fax 82 2 784 8495 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 01 New Tech Park 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3003 YASKAWA ELECTRIC SHANGHAI CO LTD No 18 Xizang Zhong Road Room 1702 1707 Harbour Ring Plaza Shanghai 200001 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YASKAWA ELECTRIC SHANGHAI CO LTD BEIJING OFFICE Room 1011A Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 408
51. elow show the default PDO Mapping m Receive PDO PDO Receive PDO Parameter Receive PDO Mapping Number COB ID Hex Index Hex Mapped Objects Index Hex 200 Node ID 1400 Subindex 1 6040 1600 Subindex 1 604 300 Node ID 1401 Subindex 2 606 1601 j Subindex 1 604 Not assigned 1405 Subindex 2 604 1605 Subindex 1 Not assigned 1406 Subindex 2 1606 Subindex 1 Not assigned 1407 Subindex 2 1607 Subindex 1 Not assigned 1414 Subindex 2 6048 sub2 1614 5 Subindex 1 6049 sub1 Not assigned 1415 Subindex 2 6049 sub 1615 Subindex 1 604A sub1 Not assigned 6 Subindex 2 604A sub2 1616 g Subindex 1 604C sub1 Not assigned 1417 Subindex 2 604C sub2 1617 Not assigned 1423 bindex 1 2000 1623 Not assigned 1424 bindex 1 2010 1624 Not assigned 1425 bindex 1 2020 1625 Not assigned 1426 bindex 1 2030 1626 Not assigned 1427 bindex 1 2040 sub1 1627 Not assigned 1428 bindex 1 2050 sub1 1628 32 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 7 Communication Objects Overview Transmit PDO PDO Transmit PDO Parameter Transmit PDO Mapping Number COB ID Hex Index Hex Mapped Objects Index Hex il 180 Node ID 1800 Subindex 1 6041 1A00 2 280 Node ID 1801 pub out A01 Subindex 2 6061 x Subindex 1 6041 6 Not assigned 1805 Subindex 2 6044 1A05 F Subindex 1 6041 7 Not assigned 180
52. he drive is running check the following items Is the CANopen Option properly installed Is the communication line properly connected to the CANopen Option Is it loose Is the controller program working Has the controller CPU stopped Did a momentary power loss interrupt communications 34 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 8 Fault Diagnosis and Possible Solutions Table 6 Fault Display and Possible Solutions LED Operator Display Fault Name bUS CANopen Option Communication Error After establishing initial communication the connection was lost Only detected when the run command frequency reference is assigned to the option Cause Possible Solution Master controller PLC has stopped communicating Communication cable is not connected properly Check for faulty wiring gt Correct any wiring problems A data error occurred due to noise Check the various options available to minimize the effects of noise gt Take steps to counteract noise in the control circuit wiring main circuit lines and ground wiring gt Ifa magnetic contactor is identified as a source of noise install a surge absorber to the contactor coil Make sure the cable used fulfills the CANopen requirements Ground the shield on the controller side and on the CANopen Option side CANopen Option is damaged gt If there are no problems with the wiring an
53. ions Neither is any liability assumed for damages resulting from the use of the information con tained in this publication 2 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual Table of Contents 1 Preface and Safety 4 2 Product OvervieW Ln 10 3 RECEIVING 11 4 CANopen Option Components 12 5 Installation Procedure Ln 17 6 CANopen Parameters 0000ce ee eeeee 26 7 Communication Objects Overview 28 8 Fault Diagnosis and Possible Solutions 34 9 Specifications 37 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation 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 Yas
54. kawa 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 4 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 1 Preface and Safet Applicable Documentation The following manuals are available for SI S3 V CANopen Option unit Option Unit V1000 Option CANopen Installation Manual this book Manual No TOBP C730600 24 Read this manual first The installation manual is packaged with the CANopen Option and contains a basic overview of wiring settings functions and fault diagnoses V1000 Option CANopen Technical Manual Manual No SIEP C730600 24 The technical manual contains detailed information and command registers To obtain the technical manual access these sites Europe http www yaskawa eu com Japan https www e mechatronics com Other areas contact a Yaskawa representative For the drive setup refer to one of the documentation listed below Yaskawa Drive V1000 Series AC Drive Technical Manual Manual No
55. l connections NOTICE Damage to Equipment Observe proper electrostatic discharge procedures ESD when handling the option unit 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 18 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 5 Installation Procedure NOTICE Damage to Equipment 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 unit and connecting any other devices Failure to comply may result in damage to the option unit YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 19 5 Installation Procedure Wiring CANopen Option The CANopen option must be connected to the network using a 9 pin D SUB connector like shown in Figure 5
56. minutes for capacitor discharge after disconnecting power supply To conform to C requirements make sure to ground the supply neutral for 400V class Risque de d charge AX AVERTISSEMENT eceue a Lire le manuel avant l installation Attendre 5 minutes apr s la coupure de l alimentation pour permettre la d charge des condensateurs Pour r pondre aux exigences Ce s assurer que le neutre soit reli la terre pour la s rie 400V YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 2 Product Overview 2 Product Overview About This Product The SI S3 V is an option card designed to connect the V1000 drive to a CANopen network Using this option unit a CANopen master can Operate the drive Monitor the drive operation status Read or modify drive parameters The SI S3 V supports the following communication profiles DS 301 Ver 4 02 e DSP 402 Ver 1 1 Velocity Mode Applicable Models The CANopen Option can be used with the drive models in Table 1 Table 1 Applicable Models Software Version lt 1 gt 5010 1010 or later 5010 1010 or later 5010 1010 or later lt 1 gt See PRG on the drive nameplate for the software version number 10 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 3 Receiving 3 Receiving Please perform the following tasks after receivi
57. nd 6044 vi_control_ effort 6046 vi_velocity_min_max_amount 6048 vi_velocity_acceleration 6049 vi_velocity_deceleration 604A vi_velocity_quick_stop 604C vi_dimension_factor 604D vi_pole_number 822 HB E TOBP C730600 24A V1000 29 CANopen 7 PDO Mapping PDO 15 PDO 16 PDO Mapping PDO PDO PDO Mapping Bee aay EE Cay 200 Node ID 1400 Subindex1 6040 1600 Subindex1 6040 Subindex2 6060 Subindex1 6040 Subindex2 6042 Subindex1 6040 Subindex2 60FE Subindex1 6040 JHE 1407 Subindex2 6060 1697 Subindex1 6048 sub1 0 Subindex2 6048 sub2 1614 Subindex1 6049 sub1 Subindex2 6049 sub2 Subindex1 604A sub1 Subindex2 604A sub2 Subindex1 604C sub1 Subindex2 604C sub2 1423 Subindex1 2000 1623 1424 Subindex1 2010 1624 1425 Subindex1 2020 1625 1426 Subindex1 2030 1626 1427 Subindex1 2040 sub1 1627 1428 Subindex1 2050 sub1 1628 300 Node ID 1401 1601 1405 1605 1406 1606 1415 1615 1416 1616 1417 1617 Ohi
58. ng the CANopen Option Inspect the CANopen Option for damage If the CANopen Option appears damaged upon receipt contact the shipper immediately Verify receipt of the correct model by checking the information on the PCB see Figure 1 If you have received the wrong model or the CANopen Option does not function properly contact your supplier Contents and Packaging Table 2 Contents of Package Description Option Unit Ground Cables Warning Labels Installation Manual MANUAL Quantity Tool Requirements A Phillips screwdriver for screw size lt 1 gt 1 or 2 U S standard size is required to install the CANopen Option lt 1 gt Screw sizes vary by drive capacity Select a screwdriver that matches the drive capacity Note Tools required to prepare CANopen cables for wiring are not listed in this manual YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 11 4 CANopen Option Components 4 CANopen Option Components CANopen Option CANopen with cover attached CANopen with cover removed underside A SO A O B C K J A LED RUN green G Function Earth cable connection FE
59. oduct modifications and improvements 2007 YASKAWA ELECTRIC CORPORATION All rights reserved WN Ml MANUAL NO TOBP C730600 24A STORMS 730600 Printed in Japan August 2007 07 8
60. ons 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 A DANGER 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 NOTICE Indicates a property damage message YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 7 1 Preface and Safety m General Safety General Precautions The diagrams in this section may include option units and drives without covers or safety shields to illustrate details Be sure to reinstall covers or shields before operating any devices The option board should be used according to the instructions described in this manual Any illustrations photographs or examples used in this manual are provided as examples only and may not apply to all products to which this manual is applicable The products and specifications described in this manual or the content and presentation of the manual may be changed without notice to improve the product and or the manual When ordering a new copy of the manual due to damage or loss contact your Yaskawa representative or the nearest Yaskawa sales office and provide
61. r motor 1 E4 04 for motor 2 and E5 04 for PM motors The frequency reference and output frequency display unit has to be set to min by setting parameter 01 03 2 If these settings are not done properly the Velocity Mode objects can not be used or deliver wrong data Common Entries Index Hex Object Name 60FD Digital Input lt 7 gt 60FE Digital Output lt 2 gt lt 1 gt YASKAWA specifies this object as the drive digital output monitor Input of the network lt 2 gt YASKAWA specifies this object as additional digital inputs of the drive Output of the network m Device Control Index Hex Object Name 6040 Controlword 6041 Statusword 6060 Modes_of_operation 6061 Modes of _operation display 2 only Velocity Mode m Velocity Mode Index Hex Object Name 6042 vl target velocity 6043 vl velocity demand 6044 vl control effort 6046 vl velocity min max amount 30 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 7 Communication Objects Overview Index Hex Object Name 6048 vl_velocity_acceleration 6049 vl_velocity_deceleration 604A vl velocity quick stop 604C vl dimension factor 604D vl pole number YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 31 7 Communication Objects Overview PDO Mapping The drive supports 15 Receive and 16 Transmit PDO s The tables b
62. the manual number shown on the front cover A DANGER Heed the safety messages in this manual Failure to comply will result in death or serious injury The operating company is responsible for any injuries or equipment damage resulting from failure to heed the warnings in this manual Do not expose the drive to halogen group disinfectants Failure to comply may cause damage to the electrical components in the option unit 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 8 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 1 Preface and Safety m Option Unit Label Warnings Warning information is displayed on the option unit as shown in the figure below Follow all warnings and safety instructions when using the product When using the drive in an area that may require displaying warning information in Japanese or Chinese a sticker is provided with the CANopen Option This sticker can be placed over the English and French warnings on the front of the CANopen Option Oo CO Y YASKAWA V1000 WARNING _ Risk of electric shock Avice aa pe its make sur to ground the supply neutral for 400V class Warning information A Risque de d charge trique m Warning Contents A WARN NG Risk of electric shock Read manual before installing A Wait 5
63. tion 0 Ramp to Stop 1 Coast to Stop 2 Fast Stop 3 Alarm Only External Fault Detection Conditions EFO Sets the condition for external fault detection EF0 0 Always detected 1 Detected only during operation Stopping Method for External Fault from Communication Option Board Determines drive response for external fault input EF0 detection during CANopen communication 0 Ramp to Stop 1 Coast to Stop 2 Fast Stop 3 Alarm Only lt 5 gt bUS Error Detection Delay Time Set the maximum time the drive should wait for a communication error to occur bUS Range 0 00 to 5 00 s F6 35 lt 6 gt 26 Node Address 0 to 127 0 1012 or later lt 7 gt YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 6 CANopen Parameters Description Default Disabled 10kbps 20 kbps 50 kbps 125kbps 250kbps 500kbps 800 kbps Mbps Sets the units to display the frequency reference and output frequency Hz 100 E1 04 r min enter the number of motor poles into E2 04 E4 04 ES 04 User defined by parameters 01 10 and o1 11 Communication Speed 0 1 2 3 4 5 6 7 8 Digital Operator Display JRB Str Selection lt 1 gt To start and stop the drive from a CANopen 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
64. tors are off measure the DC bus voltage to confirm safe level and check for unsafe voltages before servicing to prevent electric shock The internal capacitor remains charged even after the power supply is turned off The charge indicator LED will extinguish when the DC bus voltage is below 50 Vdc Electrical Shock Hazard Do not remove option board cover while the power is on Failure to comply could result in death or serious injury The diagrams in this section may include option units and drives without covers or safety shields to show details Be sure to reinstall covers or shields before operating any devices The option board should be used according to the instructions described in this manual Do not allow unqualified personnel to use equipment Failure to comply could result in death or serious injury Maintenance inspection and replacement of parts must be performed only by authorized personnel familiar with installation adjustment and maintenance of this product YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 17 5 Installation Procedure Electrical Shock Hazard 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 electrica
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