YASKAWA AC Drive 1000-Series Option CANopen Installation Manual
Contents
1. Figure 11 Models with Terminal Cover YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 21 5 Installation Procedure 4 Reattach the bottom 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 tabs should line up Figure 12 Attach CANopen Option 6 Connect the ground wire from the drive ground terminal to the CANopen Option ground When wiring the CANopen Option pass the ground wire through the inside of the drive bottom cover then pass the ground wire into the through hole at the front of the CANopen Option drive ground terminal ground wire through hole for ground wire Pass the ground wire through the bottom cover of the drive Figure 13 Ground Wire Connection 7 Connect the communications cable to the terminal block 22 YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 5 Installation Procedure 8 Attach the CANopen Option cover to the front of the CANopen Option Figure 14 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 Option2. Communication Cable Specifications To ensure proper performance Yaskawa recommends using CANopen dedicated communication cables only EDS Files For easy network implementation of drives equipped with a CANopen Option an EDS file can be obtained from Europe http www yaskawa eu com Japan http www e mechatronics com Other areas contact a Yaskawa representative YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 23 6 Related Parameters 6 Related Parameters The following parameters are used to set up the drive for operation with the option Confirm proper setting of the all parameters in Table 5 before starting network communications Table 5 Related Parameters Description Values 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 Modbus communications 3 Option Card 4 Pulse Input Terminal RP Default 2 Range 0 to 4 Run Command Selection Selects the run command input source 0 Digital Operator RUN and STOP keys 1 Digital input terminals SO 2 MEMOBUS Modbus communications 3 Option Card Default Range Motor 1 Motor Poles Set the number of motor poles described on the motor nameplate Default Min 2 Max 4 Operation Selection after Communications Error Determines drive re
3. 2 0000 cece eene 4 2 PRODUCT OVERVIEW sese 10 3 RECEIVING ini ace aos dein o are eC aad rat uta 11 4 CANOPEN OPTION COMPONENTS 12 5 INSTALLATION PROCEDURE aaa 17 6 RELATED PARAMETERS esee 24 7 BIT RATE AND NODE ID SETUP 26 8 COMMUNICATION OBJECTS OVERVIEW 28 9 FAULT DIAGNOSIS AND POSSIBLE SOLUTIONS 34 10 SPECIFICATIONS 0 00 00 cece eA 38 YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T 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 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 Yaskaw
4. MANUAL Quantity Tool Requirements A Phillips screwdriver M3 M3 5 to M6 lt gt metric or 1 2 15 U S standard size is required to install the CANopen Option 1 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 ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 11 4 CANopen Option Components 4 CANopen Option Components CANopen Option CANopen with cover attached CANopen with cover removed underside A LED RUN s75 G Function Earth wire connection FE B LED ERR 1 H Mounting clip C Option cover Wire 2 D CANopen PCB J Through hole for wire E Attachment screw K Communication cable connector hole for option cover 9 pin D sub F Nameplate L Option board connector lt 1 gt Refer to CANopen Option Status LEDs on page 15 for details on the LEDs 2 Wires are not connected to the CANopen Option and are packaged separately in the box Figure 2
5. 44 1236 458182 http www yaskawa co uk YASKAWA ELECTRIC KOREA CORPORATION 7F Doore Bldg 24 Yeoido dong Yeoungdungpo gu Seoul 150 877 Korea Phone 82 2 784 7844 Fax 82 2 784 8495 http www yaskawa co kr YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 01 New Tech Park 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3003 http www yaskawa com sg YASKAWA ELECTRIC SHANGHAI CO LTD No 18 Xizang Zhong Road 17F Harbour Ring Plaza Shanghai 200001 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 http www yaskawa com cn YASKAWA ELECTRIC SHANGHAI CO LTD BEIJING OFFICE Room 1011 Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 YASKAWA ELECTRIC TAIWAN CORPORATION 9F 16 Nanking E Rd Sec 3 Taipei 104 Taiwan Phone 886 2 2502 5003 Fax 886 2 2505 1280 y YASKAWA 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
6. CANopen Option may appear as an alarm or a fault When a fault occurs the digital operator LEDs will remain lit When an alarm occurs the digital operator LEDs will flash and the ALM light will illuminate If communication stops while the drive is running check the following items s the CANopen Option properly installed s the communication line properly connected to the CANopen Option Is it loose s the controller program working Has the controller CPU stopped Did a momentary power loss interrupt communications Table 7 Fault Display and Possible Solutions LED Operator Display Fault Name CANopen Option Communication Error bUS 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 Possible Solution Master controller PLC has stopped communicating Check for faulty wiring Communication cable is not connected gt Correct any wiring problems properly Check the various options available to minimize the effects of noise Take steps to counteract noise in the control circuit wiring main circuit lines and ground wiring A data error occurred due to noise Ifa magnetic contactor is identified as a source of noise install a surge absorber to the contactor coil gt Make sure the cable used fulfills the CANopen requirements Ground the shield on the contr
7. Option Unit 12 YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T 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 a I _ I II I Figure 3 Dimensions YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 13 4 CANopen Option Components Communication connector The CANopen Option is connected to the network using a 9 pin D sub connector The connector location is illustrated in Figure 4 the pin assignment is explained in Table 3 Figure 4 Communication connector location Table 3 Communication connector 9 pin D sub CANopen Connector i Signal Description Bottom View CAN L CAN L bus line dominant low CAN GND CAN Ground CAN SHLD CAN shield CAN H CAN H bus line dominant high OlolsrnIl as Mm BR wl Nl CAN_SHLD CAN shield l 14 YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 4 CANopen Option Components CANopen Option Status LEDs The CANopen Option 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 Understanding the Status LEDs Display
8. improvements 2007 2011 YASKAWA ELECTRIC CORPORATION All rights reserved MANUAL NO TOBP C730600 24D Published in Japan April 2011 07 8 lt gt 0 10 10 6
9. DSP 402 Ver 1 1 Velocity Mode Connector 9 pin D sub connector 74 40 UNC thread Communications Speed 10 kbps to 1 Mbps Ambient Temperature 10 C to 50 C Humidity up to 95 RH no condensation Communication Profile Storage Temperature 20 C to 60 C allowed for short term transport of the product Area of Use Indoor free of corrosive gas airborne particles etc Altitude up to 1000 m 38 YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 10 Specifications Revision History The revision dates and the numbers of the revised manuals appear on the bottom of the back cover MANUAL NO TOBP C730600 24B Published in Japan June 2008 07 8 Revision number Date of n publication Date of original publication Date of Revision Publication Number Section Revised Content April 2011 amp Pawi Addition SI S3 T added along with corresponding data February 2011 d Japanese version only Front cover Revision Format back cover December 2010 KS Chapter 6 Revision Parameter table Chapter 7 Addition Bit Rate and Node ID Setup Chapter 8 Revision Manufacturer Specific Profile Objects DS 301 Chapter 9 Addition Fault PE1 August 2010 Back cover Revision Address Entire Edited for procedural clarity and readability including table of document contents Chapter 6 Ad
10. Installation Manual 1 Preface and Safety W 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 ee ee Y YASKAWA V1000 Ah WARNING Risk of electric shock Warning information Figure 1 Warning Labels example SI S3 V m Warning Contents A WARN NG Risk of electric shock Read manual before installing A Wait 5 minutes for capacitor discharge after disconnecting power supply To conform to CE requirements make sure to ground the supply neutral for 400V class A Risque de d charge AVERTISSEMENT lectrique 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 CE s assurer que le neutre soit reli la terre pour la s rie 400V YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 9 2 Product Overview 2 Product Overview About This Product The CANopen Option Model SI S3 V SI S3 T is an option unit designed to co
11. Meaning On Operational State Blinking Pre operational State Single flash Stopped Flickering lt gt Automatic bit rate detection in progress alternately flickering with ERR LED On Bus off Blinking Bus initialization failed parameter setting error Single flash Fault has occurred Receiving CAN error frame too many error frames Double flash Guard Heartbeat event has occurred Flickering lt gt Automatic bit rate detection in progress alternately flickering with RUN LED Off Online lt l gt Available in option unit software version 3102 and later YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 4 CANopen Option Components Figure 5 explains the indicator flash rates ERR Blinking 200 ms RUN ERR Single flash RUN Double flash ERR ERR Flickering 50 ms RUN Figure 5 LED Flash Rates and Meaning 16 YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 5 Installation Procedure 5 Installation Procedure Section Safety A 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 indicators are off measure the DC bus voltage to confirm safe level and check for u
12. RIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 9 Fault Diagnosis and Possible Solutions W Minor Faults and Alarms LED Operator Display Minor Fault Name RE AEr Setting Address Error CANopen Option is set to an address outside the allowable setting range Cause Possible Solution Minor Fault H2 O0 10 Address outside the specified address range LED Operator Display Set F6 35 to an address within the specified range Minor Fault Name YES Gi i CALL r LIILL Serial Communication Transmission Error Communication has not yet been established Cause Possible Solution Minor Fault H2 O0 10 Communication wiring is faulty there is a short circuit or something is not connected properly Check for wiring errors Correct the wiring Remove and ground shorts and reconnect loose wires Programming error on the master side Check communications at start up and correct programming errors Communication circuitry is damaged Perform a self diagnostics check gt Replace the drive if the fault continues to occur YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 37 10 Specifications 10 Specifications Specifications Table 8 Option Unit Specifications Specifications Model SI S3 V SI S3 T PCB model SI S3 DS 301 Ver 4 02
13. Y YASKAWA YASKAWA AC Drive 1000 Series Option CANopen Installation Manual Type SI S3 V SI S3 T To properly use the product read this manual thoroughly and retain for easy reference inspection and maintenance Ensure the end user receives this manual Z N f VIN F1000Y U AAPyY ay CANopen 3843 ABE Tx SI SIN SI SS T ene eC BUB EOC CORRA E A dad LITE dc BEZHFTIRBL CVC eECBIC IBI AERE TERI I D ROSFTICERICRIFSNSKS SROASUMVIET MANUAL NO TOBP C730600 24D 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 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 TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual Table of Contents 1 PREFACE AND SAFETY
14. a 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 ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 1 Preface and Safety Applicable Documentation The following manuals are available for CANopen Option unit Option Unit YASKAWA AC Drive 1000 Series Option Read this manual first CANopen The installation manual is packaged with the Installation Manual CANopen Option and contains a basic overview of Manual No TOBPC73060024 wiring settings functions and fault diagnoses this book YASKAWA AC Drive The technical manual contains detailed information 1000 Series Option To obtain the technical manual access these sites CANopen Europe http www yaskawa eu com Technical Manual Japan http www e mechatronics com Manual No SIEPC73060024 Other areas contact a Yaskawa representative YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 5 1 Preface and Safety For the drive setup refer to one of the documentation listed below Yaskawa Drive V1000 Yaskawa AC Drive V1000 Technical Manual This manual descr
15. back is disabled H6 01 3 then the motor speed will be 0 30 YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 8 Communication Objects Overview Drives and Motion Profile Objects DSP 402 The drive supports the Drive and Motion 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 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 Object Type Index Hex Common 60FD Digital Inputs lt gt Entries 60FE Digital Outputs 2 6040 Controlword 6041 Statusword 6061 Modes of operation display 6042 vl target velocity Device Control 6043 vl velocity demand 6044 vl control effort 6046 velocity min max amount Velocity Mode 6048 velocity acceleration 6049 velocity deceleration 604A velocity quick stop 604C dimension factor 604D pole number 1 YASKAWA specifies this object as the drive digital output monitor Input from the network 2 YASKAWA specifies this object as the drive digital inputs Output to the network YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 31 8 Comm
16. ccording to the instructions described in this manual Any illustrations photographs or examples used in this manual are provided as examples only and may not apply to all products to which this manual is applicable The products and specifications described in this manual or the content and presentation of the manual may be changed without notice to improve the product and or the manual When ordering a new copy of the manual due to damage or loss contact your Yaskawa representative or the nearest Yaskawa sales office and provide the manual number shown on the front cover 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 NOTICE 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 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 ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T
17. dition Parameter F6 07 F6 08 Revision Reviewed and corrected Manufacturer Specific Objects June 2008 Chapter 7 DS 301 Drive and Motion Control DSP 402 and Drive Error List Addition Fault oFA30 to oFA43 Monitor Faults and Alarms AEr CALL Back cover Revision Address August 2007 First Edition Chapter 8 YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 39 YASKAWA AC Drive 1000 Series Option CANopen Installation 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 800 YASKAWA 927 5292 or 1 847 887 7000 Fax 1 847 887 7310 http www yaskawa com YASKAWA ELETRICO DO BRASIL LTDA Avenda Fagundes Filho 620 Bairro Saude Sao Paulo SP04304 000 Brasil Phone 55 11 3585 1100 Fax 55 11 5581 8795 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 UK LTD 1 Hunt Hill Orchardton Woods Cumbernauld G68 9LF United Kingdom Phone 44 1236 735000 Fax
18. dress Select the node address of a CANopen Option Min 0 Max 126 Automatic Bit Rate Detection 9 10 kbps 20 kbps 50 kbps 125 kbps 250 kbps 500 kbps 800 kbps 8 1 Mbps Sets the units to display the frequency reference and output frequency pa 0 0 01 Hz Digital Operator Display F of Default lt 2 gt Selection 1 0 01 10075 1 04 Range 0 to 3 2 mir enter the number of motor poles to E2 04 E4 04 E5 04 3 User defined by parameters 01 10 and 01 11 Default 107 Communication Speed Range 0 to 8 ADNAPWNK SO 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 2 The default value depends on the drive used and the drive software version For details refer to the technical manual for the drive 3 E2 04 is necessary to set up when the Drive Profile DSP402 objects are used lt 4 gt If 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 5 Drive software versions 1012 and later have F6 07 and F6 08 both set to 1 s65 Power must be cycled in order to activate the setting after changes XT All node addresses must be unique If a node address is set to 0 then the ERR light will flash and AEr will appear on the keypad scr
19. e 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 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 18 YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 5 Installation Procedure Wiring the CANopen Option The CANopen option must be connected to the network using a 9 pin D sub connector like shown in Figure 6 Drive CANopen Cable Connector oiee Sa a N CNS D sub Connector 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 Figure 6 Wiring Diagram Termination Both ends of a CANopen bus system have to be terminated with a 120 Q resistor As the CANopen Option has no build in terminating r
20. een to indicate that an address setting error has occurred s85 Default setting is 99 for drive software versions 5010 1010 and 1011 0 for software version 1012 or later 9 7 Disabled in option unit software versions up to 3101 Automatic bit rate detection is available in option unit software versions 3102 and later lt 10 gt For the V1000 drive localized for Europe the default value is 0 when using the drive software version S1018 and later For other models the default value is 6 For the T1000V drive localized for Europe the default value is 0 when using the drive software version S6002 and later For other models the default value is 6 lt 11 gt Changing 01 03 changes the units for input object 2010 Hex frequency reference output object 2110 Hex output frequency and 2200 Hex motor speed YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 25 7 Bit Rate and Node ID Setup 7 Bit Rate and Node ID Setup Bit Rate Setup In order to communicate with the drive the bit rate set in the CANopen Option must match the bit rate used in the network The bit rate can be selected manually by using a drive parameter The CANopen Option can also be set up for automatic bit rate detection m Setting the Bit Rate Manually Select the correct bit rate in drive parameter F6 36 After changing F6 36 cycle the drive power supply to enable the changes Table 6 Bit Rate Setting Descr
21. esistor make sure to apply a terminating resistor as shown in Figure 7 if the CANopen Option is the last node in the network CANopen Cable CANopen Cable Connector CANopen Shell D sub Connector For the last node on the network apply a terminating resister 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 Figure 7 Terminating Diagram YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 19 5 Installation Procedure Prior to Installing the Option Unit Prior to installing the CANopen Option wire the drive and make necessary connections to the drive terminals Refer to the Yaskawa drive manual for information on wiring and connecting the drive Verify that the drive runs normally without the option installed Installing the CANopen Option 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 vol
22. hnical Manual Communication Profile Objects DS 301 Index 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 1016 Consumer Heartbeat Time 1017 Producer Heartbeat Time 1018 Identity Object 28 YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 8 Communication Objects Overview Manufacturer Specific Profile Objects DS 301 Index Hex 2000 Operation Command 2010 Speed Command 2020 Torque Limit 2030 Torque Compensation 2040 MEMOBUS Modbus Read Command 2050 MEMOBUS Modbus Write Command 2060 MEMOBUS Modbus Unlimited Enter Command 2070 MEMOBUS Modbus Limited Enter Command 2080 s15 Freely selectable default none 2090 lt I gt Freely selectable default none 20A0 1 Freely selectable default none 20B0 lt I gt Freely selectable default none 20C0 lt I gt Freely selectable default none 3000 lt I gt Freely selectable default none 3100 lt I gt Freely selectable default none YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Opti
23. ibes 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 http www e mechatronics com Other areas contact a Yaskawa representative Yaskawa AC Drive V1000 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 Yaskawa Drive T1000V Yaskawa AC Drive T1000V Technical Manual This manual describes installation wiring operation procedures functions troubleshooting maintenance and inspections to perform before operation To obtain this manual contact the local Yaskawa sales office or the nearest Yaskawa representative Yaskawa AC Drive T1000V Safety Precautions This guide is packaged together with the product Covers safety precautions areas to check upon receiving your new T1000V and standards compliance Terms highly recommends be followed even Note Indicates supplementary information that Yaskawa though equipment may not be at risk Drive Yaskawa AC Drive V1000 Series Yaskawa AC Drive T1000V Series CANopen Option Yaskawa AC Drive 1000 Series Option CANopen SI S3 V SI S3 T YASKAWA ELECTRIC TOBP C730600 24D 1000 Series O
24. iption Default Automatic Bit Rate Detection lt gt 10 kbps 20 kbps 50 kbps 125 kbps 250 kbps 500 kbps 800 kbps 1 Mbps Communication Speed FIAUARWNHO lt l gt Disabled in option unit software versions up to 3101 Automatic bit rate detection is available in option unit software versions 3102 and later 2 For the V1000 drive localized for Europe the default value is 0 when using the drive software version S1018 and later For other models the default value is 6 For the T1000V drive localized for Europe the default value is 0 when using the drive software version S6002 and later For other models the default value is 6 26 YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 7 Bit Rate and Node ID Setup W Using Automatic Bit Rate Detection Note This function is available in option unit software version 3102 and later Set drive parameter F6 36 to 0 to enable automatic bit rate detection and cycle the drive power supply When set to automatic bit rate detection after power up the CANopen Option will listen to messages on the bus and adjust its bit rate setting automatically When the bit rate is found the CANopen Option will enter pre operational status and transmit a boot up message containing the drive s node ID The CANopen Option will not send any messages until the bit rate is detected As long as the automatic bit rate detection is in progres
25. it PDO TxPDO Transmit PDO Parameter Transmit PDO Mapping COB ID Hex Index Hex Mapped objects Index Hex 180 Node ID 1800 Subindex 1 6041 1A00 Subindex 1 604 280 Node ID 1801 Subindex 2 606 1A01 X Subindex 1 604 Not assigned 1805 Subindex 2 604 1A05 Subindex 1 604 Not assigned 1806 Subindex 2 60F 1A06 Not assigned 1814 bindex 1 604 Not assigned 1815 bindex 1 6043 bindex 1 6048 subl bindex 2 6048 sub2 bindex 1 6049 subl bindex 2 6049 sub2 bindex 1 604A subl bindex 2 604A sub2 bindex 1 604C subl bindex 2 604C sub2 assigned 1823 bindex 1 2100 assigned 1824 bindex 1 2110 assigned 1825 bindex 1 2120 assigned 1826 bindex 1 2130 assigned 1827 bindex 1 2140 subl assigned 1828 bindex 1 2150 subl Not assigned 1816 Not assigned 1817 Not assigned 1818 Not assigned 1819 YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 33 9 Fault Diagnosis and Possible Solutions 9 Fault Diagnosis and Possible Solutions Drive Side Error Codes Drive side error codes appear on the drive s LED operator Causes of the errors and corrective actions are listed in Table 7 For additional error codes that may appear on the LED operator screen refer to the technical manual for the drive W Faults bUS CANopen Option Communication Error and EFO External Fault Input from the
26. me ron ar Hu oFA03 rj CANopen Option Fault CANopen Option self diagnostics error Cause Possible Solution CANopen Option hardware fault Replace the CANopen Option Contact Yaskawa for assistance YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 35 9 Fault Diagnosis and Possible Solutions LED Operator Display Fault Name CANopen Option Fault oFA04 CANopen Option Flash write mode Cause Possible Solution CANopen Option hardware fault gt Replace the CANopen Option Contact Yaskawa for assistance LED Operator Display Fault Name CANopen Option Fault port A oF AID to oFA30 to oFA43 EOS of Hug Communication ID error Cause Possible Solution CANopen Option hardware fault gt Replace the CANopen Option Contact Yaskawa for assistance LED Operator Display Fault Name Programming Error PEI Object content mapping was changed from the default and Node Reset was sent while the drive was running Possible Solution The object dictionary settings were different from the settings stored in the Stop the drive before performing Node Reset EEPROM of the CANopen Option Save the object dictionary settings using Store Parameters object 1010 and Node Reset NMT 81h xxh was hex before performing Node Reset performed while the drive was running 36 YASKAWA ELECT
27. nnect the Yaskawa AC 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 CANopen Option supports the following communication profiles DS 301 Ver 4 02 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 Option Unit Software Version 1 5010 1010 and later SI S3 V 5010 1010 and later 5010 1010 and later SI S3 T 6000 and later lt 1 gt See PRG on the drive nameplate for the software version number 10 YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 3 Receiving 3 Receiving Please perform the following tasks after receiving the CANopen Option nspect 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 nameplate see Figure 2 Ifyou 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 Wires Warning Labels Installation Manual o
28. nsafe 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 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 YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 17 5 Installation Procedure 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 Failur
29. oller side and on the CANopen Option side If there are no problems with the wiring and the error continues to occur replace the CANopen Option CANopen Option is damaged 34 YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 9 Fault Diagnosis and Possible Solutions LED Operator Display Fault Name ron Li L 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 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 Possible Solution Non compatible option connected to the drive LED Operator Display Connect an option that is compatible with the drive Fault Name oFA01 CANopen Option Fault CANopen Option is not properly connected Possible Solution Problem with the connectors between the drive and CANopen Option LED Operator Display Turn the power off and check the connectors between the drive and CANopen Option Fault Na
30. on SI S3 V SI S3 T Installation Manual 29 8 Communication Objects Overview Index Hex Name 2100 Drive Status 2101 lt I gt Drive Status Change of State filter support 2110 Output Frequency 2111 lt I gt Output Frequency Change of State filter support 2120 Output Current 2121 lt I gt Output Current Change of State filter support 2130 Output Torque 2131 lt I gt Output Torque Change of State filter support 2140 MEMOBUS Modbus Read Command Response 2150 MEMOBUS Modbus Write Command Response 2155 lt I gt PDO Parameter Write Response 2160 MEMOBUS Modbus Not Limited Enter Command Response 2180 lt I gt Freely selectable default Input terminal status Output 2190 lt I gt Freely selectable default Analog input 1 monitor 21A0 I Freely selectable default none 21B0 15 Freely selectable default none 21C0 lt i gt Freely selectable default none 21D0 lt gt Freely selectable default none 21E0 s15 Freely selectable default none 21F0 lt I gt Freely selectable default none 2200 Motor Speed lt 2 gt 2201 lt I gt Motor Speed Change of State filter support lt 2 gt lt l gt Available in option unit software version 3102 and later lt 2 gt Units for motor speed are determined by 01 03 If the control mode for the drive is set to V f control A1 02 0 and V f control with simple PG feed
31. ption SI S3 V SI S3 T Installation Manual 1 Preface and Safety Registered Trademarks 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 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 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 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 an equipment damage message YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T 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 a
32. s the RUN and ERR LEDs on the CANopen Option will flicker alternatingly Note 1 There must be bus traffic that the CANopen Option can listen to in order to detect the bit rate If there is low traffic the bit rate detection might take a long time 2 The bit rate detected by the CANopen Option is not automatically saved When cycling the drive power supply the CANopen Option will perform bit rate detection again 3 Besides the master there must be at least one other node in the network that is set to the correct bit rate For example the bit rate cannot be detected if the network consists of a master that is set up for a certain bit rate controller and one or multiple drives with a CANopen Option set to auto bit rate detection Node ID Setup The node ID can be set in drive parameter F6 35 The value range is 1 to 126 Each node ID may only be used once in the network After changing F6 35 cycle the drive power supply to enable the changes Note When the node is set to 0 the ERR light will flash and AEr will appear on the drive digital operator to indicate that an address setting error has occurred YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 27 8 Communication Objects Overview 8 Communication Objects Overview The following tables list up the communication objects supported by the CANopen option unit For details about the object content refer to the CANopen Option Tec
33. sponse when a bUS error is detected during communications with the CANopen Option 0 Ramp to Stop 1 Coast to Stop 2 Fast Stop 3 Alarm Only 4 Default 1 Range 0 to 3 External Fault Detection Conditions EF0 Sets the condition for external fault detection EF0 0 Always detected 1 Detected only during operation Default 0 Range 0 1 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 4 gt Default 1 Range 0 to 3 NetRef ComRef Selection Function 24 YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 0 Multi step speed reference disabled F7 mode 1 Multi step speed reference allowed V7 mode Default 1 Range 0 1 6 Related Parameters Description Values Determines which communication related parameters are set back to their original default values when the drive is initialized 0 Do not reset F6 LIL and F7 LILI parameters when the drive is initialized using parameter Default 0 A1 03 1 Rest F6 O10 and F7 OO parameters when the drive is initialized using parameter A1 03 Note Setting this parameter does not affect communication related parameters Reset Communication Related Parameters Range 0 1 Default 8 Node Ad
34. tage is below 50 Vdc To prevent electric shock wait at least five minutes after all indicators are off and measure the DC bus voltage level to confirm safe level 2 Remove the front cover The original drive front cover may be discarded because it will be replaced by the CANopen Option cover in step 8 Figure 8 Remove Front Cover 20 YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 5 Installation Procedure 3 Remove the bottom cover and connect the CANopen Option ground wire to the ground terminal ground terminal ground wire bottom cover Figure 9 Connect Ground Wire Note The four different ground wires packaged with the CANopen Option connect the unit to different models Select the proper ground wire from the CANopen Option kit depending on drive size B A A Option unit connection screw size M3 B Drive side connection screw size M3 5 to M6 Figure 10 Ground Wire Note Cover removal for certain larger models with a Terminal Cover Single Phase 200 V Class CIMR VLIBAO0006 to BA0018 CIMR TLIBVO0006 to BV0018 Three Phase 200 V Class CIMR VL12A0008 for Japan and Asia CIMR VL12A0010 for the other regions to 2A0069 CIMR TL12V0008 to 2V0069 Three Phase 400 V Class All models Remove the terminal cover before removing the bottom cover to install the CANopen Option ground wire Replace the terminal cover after wiring the CANopen Option ground wire
35. unication Objects Overview PDO Mapping The drive supports 15 Receive and 16 Transmit PDOs The tables below show the available PDOs their default settings and the objects that need to be set when changing the PDO configuration or the PDO mapping m Receive PDOs RxPDO PDO Receive PDO Parameter Receive PDO Mapping number COB ID Hex Index Hex Mapped objects Index Hex 1 200 Node ID 1400 Subindex 1 6040 1600 2 300 Node ID 1401 Subindex Oe 1601 Subindex 2 6060 F Subindex 1 6040 6 Not assigned 1405 Subindex 2 6042 1605 F Subindex 1 6040 7 Not assigned 1406 Subindex 2 60FE subl 1606 Subindex 1 6040 8 Not assigned 1407 Subindex 2 6060 1607 Subindex 1 6048 sub1 21 Not assigned 1414 Subindex 2 6048 sub2 1614 Subindex 1 6049 sub1 22 Not assigned 1415 Subindex 2 6049 sub2 1615 3 Subindex 1 604A subl 23 Not assigned 1416 Subindex 2 604A sub 1616 Subindex 1 604C subl 24 Not assigned 1417 Subindex 2 604C sub2 1617 36 Not assigned 1423 Subindex 1 2000 1623 37 Not assigned 1424 Subindex 1 2010 1624 38 Not assigned 1425 Subindex 1 2020 1625 39 Not assigned 1426 Subindex 1 2030 1626 40 Not assigned 1427 Subindex 1 2040 sub1 1627 41 Not assigned 1428 Subindex 1 2050 sub1 1628 32 YASKAWA ELECTRIC TOBP C730600 24D 1000 Series Option SI S3 V SI S3 T Installation Manual 8 Communication Objects Overview m Transm
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