EtherCAT A1000 Installation Manual 140x182
Contents
1. 50 ms on flickering off on an 200 200 blinking K 5 ms ms off on single 200 1000 s4 200 gt flash ms ms ms off on double 200 200 200 1000 lt flash ms ms ms ms off on inverted 200 200 200 1000 double Be flash ms ms ms ms off on triple 200 _ 200 200 200 200 1000 lt pe gt flash ms ms ms ms ms ms off 1 2 Bg n on VN 200 200 200 200 1000 n flashes pie ple gt oii ie ms ms ms i 4 ms ms off i LED Flash Rates and Meaning EN 14 YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual 5 EtherCAT Option Components DSP402 functionality This part manages the DSP402 drive profile functionality in the option and converts the control status data into drive specific control status data Vendor specific CANopen objects This part integrates the vendor specific CANopen object model into EtherCAT Error management This part processes drive and EtherCAT specific errors and assures that all faults process and propagate properly to the drive EtherCAT network EtherCAT processing stack The EtherCAT Slave example code from the EtherCAT technology group ETG is used as a main base in this project It is internally adopted to fit the product YAS2. 0602 0022 Hex Object 2155 Hex is tried to be read while the SI ES3 option is not in Operational state A MEMOBUS Modbus Read or Write command 2040 Hex and 2050 Hex was performed with an invalid MEMOBUS Modbus address YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual EN 31 10 Fault Diagnosis and Possible Solutions Drive Side Error Codes Drive side error codes appear on the drive s digital operator Causes of the errors and corrective actions are listed in Table E 11 and Table E 9 For additional error codes refer to the technical manual for the drive The bUS EtherCAT Option Communication Error and EFO External Fault Input from the EtherCAT Option may appear as an alarm or a fault If they occur as an alarm the ALM LED on the drive digital operator will blink and the alarm code will flash in the display When these occur as a fault the ALM LED will light and the display will show the fault code If communication stops while the drive is running check the following items Is the EtherCAT Option properly installed Is the communication line properly connected to the EtherCAT Option Is it loose s the controller program working Has the controller CPU stopped Did a momentary power loss interrupt communications EN 32 YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual 10 Fault Diagnosis and
3. 3 2 87 1 Communication cable connector 5 LED RUN RJ45 6 LED ERR 2 Ground terminal installation hole 7 LED L A OUT 3 Model number 8 LED L A IN 4 Installation hole 9 Connector CN5 Option Card Refer to EtherCAT Option Status LEDs on page 12 for details on the LEDs YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual EN 11 5 EtherCAT Option Components Communication connector The EtherCAT Option is connected to the network using a RJ45 connector The pin assignment is explained in Table E 5 Table E 5 Communication connector RJ45 EtherCAT Connector Pin Signal Description I Send data 3 RD Receive data 4 N C Pins denoted as N C do not connect to any signal 5 N C Pins denoted as N C do not connect to any signal 6 RD Receive data 7 N C Pins denoted as N C do not connect to any signal 8 N C Pins denoted as N C do not connect to any signal Housing Shield EtherCAT Option Status LEDs The EtherCAT Option has four LEDs that indicate the communication status The indications conform with DS303 Part 3 Indicator Specification W LEDs L A OUT and L A IN Ethernet Link Activity 1 and 2 The Link Activity indicators show the status of the physical link and show activity on the link period m RUN LED A green lit EtherCAT RUN LED indicates the st
4. 3 Replace the drive I F proc timeout Option card has not pro cessed any drive system frames in 1000 ms Possible cause Drive has stopped serving the internal interface to option card or HW failure Option will log FATAL event record in NVS memory and set ERR LED solid RED see Table E 6 Force EtherCAT state to INIT Option ID Error Power up sequence copyright string mismatch EN 36 Drive reported invalid copyright string in power up process Option will log FATAL event record in NVS memory and set ERR LED solid RED see Table E 6 Replace option card YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual 10 Fault Diagnosis and Possible Solutions m Minor Faults and Alarms Table 6 lists up alarms that might occur during operation using a communication option board If a multi function digital output of the drive is programmed for H2 O1O 10 the output will close if these alarms occur Digital Operator Display Minor Fault Name Serial Communication Transmission Error CHE CALL Communication has not yet been established Cause Possible Solution Communication wiring is faulty there is a Check for wiring errors short circuit or something is not connected gt Correct the wiring properly Remove and ground shorts and reconnect loose wires Programming error on the master side Check communications at sta
5. 0x6049 1 4 bytes vl Decel delta speed OxlA17 Sub index 2 0x6049 2 2 bytes vl Decel delta time 25 Sub index 1 0x604A 1 4 bytes vl quick stop delta speed Ox1A18 Sub index 2 0x604A 2 2 bytes vl quick stop delta time 26 Sub index 1 0x604C 1 4 bytes vl Dimension factor 0x1A19 Sub index 2 0x604C 2 4 bytes vl Dimension factor 36 Sub index 1 0x2100 1 2 bytes Drive status 0x1A23 37 Sub index 1 0x2110 1 2 bytes Output frequency Ox1A24 38 Sub index 1 0x2120 1 2 bytes Output current 0x1A25 39 Sub index 1 0x2130 1 2 bytes Output torque reference 0x1A26 40 Sub index 1 0x2140 1 2 bytes MEMOBUS Modbus read response 0x1A27 4l Sub index 1 0x2150 1 2 bytes MEMOBUS Modbus write response Ox1A28 YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual EN 27 9 Process Data Objects PDO W Receive PDOs RxPDO The Receive PDOs have a default mapping according to the table below The end user can re map Receive PDOs by writing to the map objects 0x1600 1628 refer to n Communication Profile Objects DSP 301 Receive PDO Mapping FEC mumbes Mapped objects Hex Index Hex 1 Sub index 1 0x6040 0 2 bytes DSP402 control word 0x1600 2 Sub index 1 0x6040 0 2 bytes DSP402 control word 0x1601 Sub index 2 0x6060 0 1 bytes DSP402 Modes of operation 6 Sub index 1 0x6040 0 2 bytes DSP402 control word
6. 0x1605 Sub index 2 0x6042 0 2 bytes vl target velocity 7 Sub index 1 0x6040 0 2 bytes DSP402 control word 0x1606 Sub index 2 0x60FE 1 4 bytes Physical digital outputs 8 Sub index 1 0x6040 0 2 bytes DSP402 control word 0x1607 Sub index 2 0x6060 0 1 bytes DSP402 Modes of operation 21 Sub index 1 0x6048 1 4 bytes vl Accel delta speed 0x1614 Sub index 2 0x6048 2 2 bytes vl Accel delta time 22 Sub index 1 0x6049 1 4 bytes vl Decel delta s peed 0x1615 Sub index 2 0x6049 2 2 bytes vl Decel delta time 23 Sub index 1 0x604A 1 4 bytes vl quick stop delta speed 0x1616 Sub index 2 0x604A 2 2 bytes vl quick stop delta time 24 Sub index 1 0x604C 1 4 bytes vl Dimension factor 0x1617 Sub index 2 0x604C 2 4 bytes vl Dimension factor 36 Sub index 1 0x2000 1 2 bytes Operation command 0x1623 37 Sub index 1 0x2010 1 2 bytes Speed reference limit 0x1624 38 Sub index 1 0x2020 1 2 bytes Torque reference limit 0x1625 39 Sub index 1 0x2030 1 2 bytes Torque compensation 0x1626 40 Sub index 1 0x2040 1 4 bytes MEMOBUS Modbus read request 0x1627 41 Sub index 1 0x2050 1 4 bytes MEMOBUS Modbus write request 0x1628 EN 28 YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual 10 Fault Diagnosis and Possible Solutions 10 Fault Diagnosis and Possible Solutions EtherCAT Option Card Error Codes The following error codes will be shown in object 1003 subindex 01 i
7. Y YASKAWA YASKAWA AC Drive A1000 Option e EtherCAT Installation Manual Type SI ESS for A1000 Series To properly use the product read this manual thoroughly and retain for easy reference inspection and maintenance Ensure the end user receives this manual ATTENTION This product can only be used on A1000 drives with firmware version V8A901017 to VSA901099 installed MANUAL NO YEU TOEP C710616 99A Copyright 2011 YASKAWA EUROPE GMBH All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of YASKAWA No patent liability is assumed with respect to the use of the information contained herein Moreover because YASKAWA is constantly striving to improve its 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 EN2 YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual A1000 Option EtherCAT Installation Manual Table of Contents 1 Preface and Safety 0 ccc eee ee eee eee 4 2 Product Overview 2000
8. wiring operation procedures functions troubleshooting and maintenance information It also includes important information on parameter settings and how to tune the drive A Quick Start Guide is included with the drive For the more detailed technical manual visit YASKAWA s homepage Europe http www yaskawa eu com Japan http www e mechatronics com USA http www yaskawa com Other areas contact a YASKAWA representative Terms Note Indicates supplemental information that YASKAWA highly recommends be followed Content identified by Note is not related to personnel safety or equipment damage safety messages EtherCAT Option YASKAWA AC Drive SI ES3 EtherCAT option card EtherCAT Ethernet for Control Automation Technology an open Ethernet based network NOID Network Option Interface Driver YASKAWA Interface driver Online DRV NOID processing mode process ctrl resp data is active NOID processing mode process resp data is active ctrl data is on hold Until MEMOBUS Online DRVMB g process is complete Online PRG NOID processing mode NO process ctrl resp data is active Host YASKAWA drive 1000 series JTAG Joint Test Action Group an IEEE standard interface test port for test and programming purposes LED Light Emitting Diode OPT Option The unit described in this document INV Inverter Host application to OPT PCB Printed Circuit Board SPI Serial P
9. 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 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 Europe GmbH In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations Therefore be sure
10. Possible Solutions WB Faults Table E 11 lists possible faults when using a communication option The drive s fault contact will close if one of these faults occur Table E 11 Fault Display and Possible Solutions Digital Operator Display Fault Name bUS EtherCAT Option Communication Error 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 Cause Possible Solution Master controller PLC has stopped communicating Communication cable is not connected properly Check for faulty wiring 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 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 EtherCAT requirements Ground the shield on the controller side and on the EtherCAT Option side EtherCAT Option is damaged Digital Operator Display If there are no problems with the wiring and the error continues to occur replace the EtherCAT Option Fault Name rci EFO LIL External Fault Input from EtherCAT Option The alarm function for an external device h
11. TxPDOs are used to transfer data from the option card and RxPDOs are used to transfer data to the option card The module supports at least 8 parameters mapped to RxPDO and 8 parameters mapped to TxPDO PDOs and Default PDO Setup The drive supports 15 Receive and 16 Transmit PDOs The tables below show available PDOs their default settings and the objects required to set up when changing the PDO configuration or the PDO mapping W Transmit PDOs TxPDO The Transmit PDOs have a default mapping according to the table below The transmit PDOs can be re mapped by the end user by writing to map objects 0x1A00 0x1A28 please see page 24 Transmit PDO Mapping FD number Mapped objects Hex Index Hex 1 Sub index 1 0x6041 0 2 bytes DSP402 status word 0x1A00 2 Sub index 1 0x6041 0 2 bytes DSP402 status word Ox1AO1 Sub index 2 0x6061 0 2 bytes DSP402 Modes of operation display 6 Sub index 0x6041 0 2 bytes DSP402 status word Ox A0S Sub index 2 0x6044 0 2 bytes vl control effort 7 Su b index 0x604140 2 bytes DSP402 status word 0x1 A06 Sub index 2 0x60FD 0 4 bytes Digital inputs 21 Sub index 1 0x6042 0 2 bytes vl target velocity 0x1A14 22 Sub index 1 0x6043 0 2 bytes vl velocity demand 0x1A15 23 Sul b index 0x6048 1 4 bytes vl Accel delta speed 0x1A16 Sub index 2 0x6048 2 2 bytes vl Accel delta time 24 Sub index
12. analog input option AI A3 or a digital input option DI A3 or a communication option card Never use two of these cards at the same time YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual 10 Fault Diagnosis and Possible Solutions W Option board error management This section describes the errors managed by the option board and the linked actions taken Table E 12 Option Board Error Management Option Error Description Error Indication Possible Solution OP gt SAFEOP PREOP when Drive running When an EtherCAT state transition from OP gt SAFEOP PREOP was made when the drive was in OPERATION enabled BUS error is triggered in drive Note Error against drive will be cleared when the next lower to higher EtherCAT state transition is made Check and correct state machine transitions in control word OP gt SAFEOP 1 EtherCAT WD timeout If the EtherCAT watchdog timeout is enabled Default in native XML description file and output data from PLC to the drive isn t updated in time an error will be trigged BUS error is triggered in drive Note Error against drive will be cleared when the next lower to higher EtherCAT state transition is made Check network connection e g if cables plugged in at each node Check telegram timing Are telegrams sent to the slave the error occurred on OP gt SAFEOP 1 Drive FCS error 2 Drive COMID error 1 Dri
13. to their original default values when the drive is initialized 0 Do not reset F6 LIL and F7 LILI parameters when the drive is Reset initialized using parameter A1 03 Communication 1 Rest F6 LIL and F7 O0 parameters when the drive is initialized using F6 08 Related parameter A1 03 0 Parameters Note Setting this parameter does not affect communication related parameters Setting this parameter only determines if communication related parameters F6 LIL and F7 OD are also reset when A1 03 is used to initialize the drive Sets the units to display the frequency reference and output frequency s 0 0 01 Hz 01 03 Digital Operator 1 0 01 100 E1 04 du ESSI splay Selection 2 r min enter the number of motor poles to E2 04 E4 04 E5 04 3 User defined by parameters 01 10 and o1 11 lt 1 gt To start and stop the drive from an EtherCAT master device using serial communications set b1 02 to 3 To control the frequency reference of the drive via the master device set b1 01 to 3 lt 2 gt E2 04 is necessary to set up when the Drive Profile DSP402 objects are used lt 3 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 lt 4 gt This parameter might not appear in certain drives Furthermore its availability is limited to depending on the control mode selection For details refer to the tech
14. 3 Software Parts NOID Network Option Interface Driver This section explains communication sequences provided by the SI ES3 option to startup and control the drive Functionality provided Startup initialization of option with the drive Option and drive compatibility acceptance management Process data parameter register mapping Drive lt gt Option re initialization management remap of process data MEMOBUS channel Error management Drive lt gt Option basic control response data in Online DRV mode Drive lt gt Option operation mode W Drive Option Identification Information This section specifies the option drive specific identification information exchanged during power up state of the application driver Table E 2 Drive Option Identification Information Setting Value Description Option mode code 4 digot ASCII string Value SES3 0x53455333 Used by drive to identify what kind of option that is mounted Option model code 0x53455333 Last 5 decimal digits of decimal option firmware revision Def VST9242zz VST9 A1000 option card 2 European product 42 Product code Option software version DEC 24201 zz Minor revision Drive model codes accepted by option NOID driver Ifthe provided drive model code does not match the list the Du Modelicodek option will raise the OFx31 drive error Option will accept any drive model code YASK
15. 9A A1000 Option EtherCAT Installation Manual 6 Installation Procedure 1 Connector CN5 C 7 Ground wire 2 Connector CN5 B 8 Use with cutters to create an opening for cable lines 3 Connector CN5 A 9 Operator 4 Drive grounding terminal FE 10 LED label 5 Insert connector CN5 here 11 Front cover 6 Option card Installing the Option Card 3 Prepare RJ45 network cable connectors In the drives CIMR AL12A0004 to 0040 and 4A0002 to 0023 the network cable must be routed to the outside through the drive top cover Use a pair of diagonal cutters to cut out the perforated openings at the left side of the top cover Make sure no sharp edges that can damage the cable remain Drives 2A0056 to 0211 and 440031 to 0165 have enough space to keep all wiring inside the unit 1 Opening for network cables 2 Space for wiring CIMR AL12A0004 to 0040 CIMR AL12A0056 to 0211 4A0002 to 0023 4A0031 to 0165 Wiring Routing 4 Plugin the RJ45 network cable connector into the option 5 Reinstall the front cover back onto the drive as it was before Note 1 Take care when wiring the option card so that the front cover easily fits back onto the drive 2 Install Cable Cover option to maintain the drive Enclosure Type integrity YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual EN 19 6 Installation Procedure Attach the LED label J packaged with t
16. AWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual EN9 4 Receiving 4 Receiving Please perform the following tasks after receiving the EtherCAT Option Inspect the EtherCAT Option for damage If the EtherCAT Option appears damaged upon receipt contact the shipper immediately Verify receipt of the correct model by checking the information on the PCB see Figure E 2 f you have received the wrong model or the EtherCAT Option does not function properly contact your supplier Contents and Packaging Table E 3 Option Package Contents Description Option Card Ground Cable Screws M3 TTF i Quantity 1 3 Table E 4 Option Package Contents cont d Description LED Label Installation Manual MANUAL RUN O O ERR L AIN O O L A OUT Quantity 1 1 Tool Requirements A Phillips screwdriver PH1 1 or PH2 2 is required to install the EtherCAT option Note Tools required to prepare EtherCAT cables for wiring are not listed in this manual EN 10 YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual 5 EtherCAT Option Components 5 EtherCAT Option Components EtherCAT Option enon OOOO Underside 5 O SI ES3 ne 6 Looking from the connector
17. KAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual EN 15 6 Installation Procedure 6 Installation Procedure Section Safety DANGER Electric Shock Hazard Power to the drive must be shut off when installing this option card Even though the power has been shut off voltage still remains in the drive s DC bus Wait before removing the front cover once the drive has been turned off The CHARGE light on the drive will go out after voltage in the DC bus drops below 50 V at which point it is safe to remove the front cover Due to the risk of electric shock be sure that all LEDs have gone out and that the DC bus voltage has reached a safe level prior to performing any work on the drive Electrical Shock Hazard Do not remove the front cover of the drive while the power is on Failure to comply could result in death or serious injury The diagrams in this section may include drives without covers or safety shields to show details Be sure to reinstall covers or shields before operating any devices The option board should be used according to the instructions described in this manual Do not allow unqualified personnel to use equipment Failure to comply could result in death or serious injury Maintenance inspection and replacement of parts must be performed only by authorized personnel familiar with installation adjustment and maintenance of this product Do not touch the option card wh
18. as 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 Digital Operator Display Check the program used by the upper controller PLC and make the appropriate corrections Fault Name oFA00 EtherCAT Option Card Fault The drive does not support the option board plugged in Possible Solution Non compatible option connected to the drive YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual Check the drive option board compatibility Replace the option card ifthe fault persists even though the drive should support it EN 33 10 Fault Diagnosis and Possible Solutions Digital Operator Display Fault Name oFA01 EtherCAT Option Card Fault Option card is not properly connected Cause Possible Solution Problem with the connectors between the drive and EtherCAT Option Digital Operator Display gt Turn the power off and check the connectors between the drive and EtherCAT Option Fault Name oFA30 to oFA43 EtherCAT Option Card Fault Communication ID error Possible Solution Option card hardware Digital Operator Display Replace the EtherCAT Option Co
19. ation of the product made by the user This product must not be modified YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual EN7 2 Product Overview 2 Product Overview About This Product The EtherCAT Option Model SI ES3 is an option card designed to connect the YASKAWA AC drive to an EtherCAT network Using this option card and an EtherCAT master can operate the drive monitor the drive operation status read or modify drive parameters The SI ES3 option provides instant connectivity to an EtherCAT network for the YASKAWA A1000 drive The option contains support for the Velocity mode according the CANopen Device Profile and Motion Control DSP402 profile It also contains YASKAWA vendor specific CANopen objects based on the present CANopen option board specification The EtherCAT Option supports the following communication profiles DS 301 Ver 4 02 DSP 402 Ver 3 0 Velocity Mode a EtherCAT EtherCAT Conformance tested Applicable Models The option can be used with the drive models in Table E 1 Table E 1 Applicable Models Drive Series Drive Model Number Software Version 1 CIMR ALI2ALILILILI A1000 CIMR APMAFIEIEIEI VSA901017 to VSA901099 lt 1 gt See PRG on the drive nameplate for the software version number EN8 YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual 3 Software Parts
20. atus of the EtherCAT network state machine A red lit EtherCAT RUN LED is only used by the NOID firmware loader refer to Table E 6 m EtherCAT ERROR indicator The red EtherCAT error LED indicates the presence of any errors EN 12 YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual 5 EtherCAT Option Components Table E 6 UNDERSTANDING THE STATUS LEDS LED Color Display Meaning Link Activity 1 2 Continuously Off No link The communication cable is not physically connected The EtherCAT controller is not started up Green Continuously On The module is connected to Ethernet A communication cable is physically connected but no data are being exchanged Flickering There is traffic on Ethernet data are being exchanged RUN Continuously Off The device is in Init state Green Blinking The device is in Pre Operational State flashing rate about 2 5 Hz Single flash The device is in Safe Operational State one short flash approximately 200 ms followed by a long off condition approximately 1000 ms Continuously On The device is in Operational State Red Blinking 1 Hz or 6 Hz The Option BOOT or APP firmware is executing the NOID firmware loader 1 Hz Firmware loader protocol in IDLE state waiting for commands from the drive 6 Hz Firmware loader protocol is processing commands ERR Red Conti
21. ble default Analog input 1 monitor 21A0 Selectable default none Output 21B0 Selectable default none 21C0 Selectable default none 21E0 Selectable default none 21D0 Selectable default none 21F0 Selectable default none 2200 Motor Speed 2210 DC Bus Voltage 2220 Analog input monitor A1 2240 Analog input monitor A2 2260 Analog input monitor A3 2270 Inverter DI Input 4000 Option NVS FATAL Record 4001 Option Info Status Record YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual EN 25 8 Object Dictionary m Drives and Motion Profile Objects DSP 402 Object Type Index Hex Name Common 60FD Digital Inputs Entries 60FE Digital Outputs 6040 Controlword Device 6041 Statusword Control 6060 Modes of operation 6061 Modes of operation display 6042 vl target velocity 6043 vl velocity demand 6044 vl control effort A 6046 vl velocity min max amount rd 6048 vl velocity acceleration 6049 vl velocity deceleration 604A vl velocity quick stop 604C vl dimension factor 604D vl pole number EN 26 YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual 9 Process Data Objects PDO 9 Process Data Objects PDO PDOs Process Data Object will be used for I O exchange PDOs are mapped to objects during configuration PRE OPERATIONAL state
22. borne particles etc Altitude up to 1000 m Internal Scan Cycle A1000 1 ms Revision History The revision dates and the numbers ofthe revised manuals appear on the bottom of the back cover MANUAL NO YEU TOEP C710616 99A Published in Germany July 2011 11 7 Date of Date of original publication publication Date of Publication Revision Number Section Revised Content July 2011 First Edition EN 38 YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual 11 Specifications YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual EN 39 YASKAWA AC Drive A1000 Option a EtherCAT lt 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
23. cece eee eee ees 8 3 Software Parts eee 9 A Receiving eenhenIem b ete RR PS 10 5 EtherCAT Option Components 11 6 Installation Procedure lsss us 16 7 EtherCAT Option Related Drive Parameters 22 8 Object Dictionary lessen 24 9 Process Data Objects PDO ssee 27 10 Fault Diagnosis and Possible Solutions 29 11 Specifications leeessslsuee 38 YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual 1 Preface and Safety 1 Preface and Safety YASKAWA manufactures products used as components in a wide variety of industrial systems and equipment The selection and application of YASKAWA products remain the responsibility of the equipment manufacturer or end user YASKAWA accepts no responsibility for the way its products are incorporated into the final system design Under no circumstances should any YASKAWA product be incorporated into any product or design as the exclusive or sole safety control Without exception all controls should be designed to detect faults dynamically and fail safely under all circumstances All systems or equipment designed to incorporate a product manufactured by YASKAWA must be supplied to the end user with appropriate warnings and instructions as to the safe use and operation of that part Any warnings provided by YASKAWA must be promptly provided to the end user YASKAWA offe
24. e operating any devices The option board should be used according to the instructions described in this manual Any illustrations photographs or examples used in this manual are provided as examples only and may not apply to all products to which this manual is applicable The products and specifications described in this manual or the content and presentation of the manual may be changed without notice to improve the product and or the manual When ordering a new copy of the manual due to damage or loss contact your YASKAWA representative or the nearest YASKAWA sales office and provide the manual number shown on the front cover EN 6 YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual 1 Preface and Safety 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 expose the drive to halogen group disinfectants Failure to comply may cause damage to the electrical components in the option card Do not pack the drive in wooden materials that have been fumigated or sterilized Do not sterilize the entire package after the product is packed Do not modify the drive circuitry Failure to comply could result in damage to the drive and will void warranty YASKAWA is not responsible for any modific
25. eripheral Interface Bus FCS Frame Check Sequence INVR Drive register number ESI EtherCAT Slave Information Registered Trademarks BtherCAT is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual EN 5 1 Preface and Safety Other company names and product names listed in this manual are registered trademarks of those companies Supplemental Safety Information Read and understand this manual before installing operating or servicing this option card The option card must be installed according to this manual and local codes The following conventions are used to indicate safety messages in this manual Failure to heed these messages could result in serious or possibly even fatal injury or damage to the products or to related equipment and systems 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 W General Safety General Precautions The diagrams in this section may include drives without covers or safety shields to illustrate details Be sure to rein stall covers or shields befor
26. f the correspondent error occurred on the drive m Inverter and CANopen EtherCAT Faults WB Emergency Object EMCY The emergency object is used for sending fault information from the communication module to the CANopen EtherCAT network The emergency object is triggered by a fault event from the host or the option card itself An emergency object is transmitted only once per error event Emergency error codes are specified for a number of events Emergency word specification Table E 8 Emergency Word Specification Byte Error Emergency register error code object 0x1001 Content Manufacturer specific error info Not used Set to zero m Emergency Messages DSP301 amp DSP402 The error codes specified in the list below can be read from CANopen object 0x1003 Pre defined error field Table E 9 Error Codes INVR 0x0080 Error Code Hex Meaning Drive Display Enum Value 0000 No error No error 0x00 3220 DC bus undervoltage Uvl 0x02 5200 Control power supply undervoltage Uv2 0x03 3221 DC bus charging circuit fault Uv3 0x04 2330 Ground fault GF 0x06 2220 Over current oC 0x07 3210 DC bus overvoltage ov 0x08 4280 Heatsink overheat oH 0x09 4210 Heatsink overheat Ox0A YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual EN 29 10 Fault Diagnosis and Possible Solutions INVR 0x0080 Enum Value 2310 Motor overload oL1 0x0B 2221 Drive over
27. he option as shown in Figure E 4 Switch on the drive power supply An AEr Alarm message indicating that the node address is set to 0 will appear on the drive display Set the node address in parameter F6 35 Set the communication speed in parameter F6 36 8 Cycle the power supply to activate the changed settings Installation complete ako Communication Cable Specifications To ensure proper performance YASKAWA recommends using EtherCAT dedicated Cat5e communication cables Network Termination The EtherCAT network does not require a termination resistor if the drive is the last node in the network Network termination is realized by the ASIC of the EtherCAT option card ESI File For easy network implementation of drives equipped with an EtherCAT Option the ESI file can be obtained from Europe http www yaskawa eu com Japan http www e mechatronics com USA http www yaskawa com Other areas contact a YASKAWA representative EN 20 YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual 6 Installation Procedure Identification of Drive Firmware Version 1 Read out firmware version from drive digital operator Check monitor parameter U1 25 when the drive is switched ON The display shows the last four digits of the firmware version and the value should be in the range of 1017 1099 2 Verifying firmware version on drive nameplate AC drive model Inp
28. heck wiring to ensure that all connections are correct after installing the option card and connecting any other devices Failure to comply may result in damage to the option card YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual EN 17 6 Installation Procedure Prior to Installing the Option Card Prior to installing the EtherCAT Option wire the drive and make necessary connections to the drive terminals For more information on wiring and connecting the drive refer to the manual packaged with the drive Verify that the drive runs normally without the option installed Installing the Option 1 Shut off power to the drive wait the appropriate amount of time for voltage to dissipate then remove the operator I and front cover K Refer to the drive manual for direction on removing the front cover 2 Insert the CN5 connector on the option E into the CN5 A connector on the drive C then fasten it into place using one of the screws included with the option Connect the ground wire G to the ground terminal D using one of the Screws provided with the option Note There are only two screw holes on the drive for ground terminals If three option cards are connected two of the ground wires will need to share the same ground terminal RUN O O ERR LIAIN O L AOUT EN 18 YASKAWA Europe YEU TOEP C710616 9
29. ile the power supply to the drive is switched on Failure to comply could result in death or serious injury Do not use damaged wires place excessive stress on wiring or damage the wire insulation Failure to comply could result in death or serious injury NOTICE Damage to Equipment Observe proper electrostatic discharge procedures ESD when handling the option card drive and circuit boards Failure to comply may result in ESD damage to circuitry Never shut the power off while the drive is outputting voltage Failure to comply may cause the application to operate incorrectly or damage the drive EN 16 YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual 6 Installation Procedure NOTICE Do not operate damaged equipment Failure to comply may cause further damage to the equipment Do not connect or operate any equipment with visible damage or missing parts Tighten all terminal screws to the specified tightening torque Loose electrical connections could result in death or serious injury by fire due to overheating of electrical connections Do not use unshielded cable for control wiring Failure to comply may cause electrical interference resulting in poor system performance Use shielded twisted pair wires and ground the shield to the ground terminal of the drive Properly connect all pins and connectors Failure to comply may prevent proper operation and possibly damage equipment C
30. l input terminals SO 1 2 MEMOBUS Modbus communications 3 Option card E2 04 Motor 1 Motor Set the number of motor poles described on the motor nameplate 4 2 Poles 2 to 48 Determines drive response when a bUS error is detected during Operation communications with the EtherCAT Option Selection after 0 Ramp to Stop F6 01 Seat 1 Communications 1 Coast to Stop Error 2 Fast Stop 3 Alarm Only lt 3 gt External Fault Sets the condition for external fault detection EF0 F6 02 Detection 0 Always detected 0 Conditions EF0 1 Detected only during operation Stopping Method Determines drive response for external fault input EF0 detection during EtherCAT communication for External Fault 0 R to St F6 03 from rep duc 1 NE 1 Coast to Stop Communication Option Board 2 Fast Stop P 3 Alarm Only lt 3 gt Torque Reference 0 Torque reference torque limit via network communications are Torque Limit F6 06 R disabled selection from ES M 0 lt 4 gt C Ra 1 Torque reference torque limit via network communications are ommunications Onti enabled lt 5 gt ption F6 07 NetRef ComRef 0 Multi step speed reference disabled F7 mode 0 Selection Function 1 Multi step speed reference allowed V7 mode EN 22 YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual 7 EtherCAT Option Related Drive Parameters No Name Description Default Determines if communication related parameters are set back
31. load oL2 0x0C 2311 Overtorque detection 1 oL3 0x0D 2312 Overtorque detection 2 oL4 OxOE 5420 Braking transistor fault IT OxOF Error Code Hex Meaning Drive Display 4410 Internal braking resistor overheat rH 0x10 5441 External fault 3 0x11 5442 External fault 4 EF4 0x 5443 External fault 5 0x 5444 External fault 6 0x 7 8 5445 External faul 0x 5480 External faul 0x FF17 Cooling FAN fault 7180 Motor over speed control mode using PG 8321 Speed deviation control mode using PG 7305 PG fault control mode using PG 3130 Input phase loss PF 3300 Output phase loss LF FF01 Motor overheat alarm oH3 5300 Digital operator disconnected oPr 5530 EEPROM error Err 4310 Motor overheat PTC input oH4 FF08 MEMOBUS Modbus Error CE FF07 BUS error bUS FF06 Control fault CF 8313 Zero servo fault SvE 5481 Fault input from option card EFO FF02 PID feedback lost FbL FF03 Undertorque detected 1 UL3 FF04 Undertorque detected 2 ULA FF05 High slip braking OL oL7 6000 Hardware fault DPRAM CPSDPRAM FF31 Intermediary voltage fault VCF Z phase pulse fall detection Closed Loop FF32 Vector for PM motors dv1 EN 30 YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual 10 Fault Diagnosis and Possible Solutions INVR 0x0080 Enum Value Error Code Hex Meaning Drive Display Z phase noise fa
32. nical manual for the drive the option card is used with lt 5 gt If the drive is set to receive the torque reference limit from the network F6 06 1 make sure the value is set appropriately by the controller If no torque reference limit value is entered the motor will not produce torque lt 6 gt The default value depends on the drive used and or the drive software version For details refer to the technical manual for the drive lt 7 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 Furthermore 01 03 must be set to 2 and E2 04 must be set to the correct value in order to use the Drive Profile DSP402 YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual EN 23 8 Object Dictionary 8 Object Dictionary Object Dictionary Overview The Object Dictionary consists of three sections Communication Profile Objects Manufacturer Specific Profile Objects Drive and Motion Profile Objects The tables below give an overview of the communication objects available in the SI ES3 option Refer to the page references given for further details on each object m Communication Profile Objects DSP 301 Index Hex Name 000 Device Type 1001 Error Register 1003 Pre defined Error Field 008 Manufacturer Device Name 009 Manufacturer Hardware Versi
33. ntact YASKAWA for assistance Fault Name n oFb00 J Option Card Fault at Connector CN5 B Non compatible option card is connected Cause Possible Solution The EtherCAT option card has been plugged into option port CN5 B Digital Operator Display Always use option port CN5 A for communication option cards Fault Name Lr Dro oFb02 Option Card Fault at Connector CN5 B Two of the same option cards are connected at the same time Cause Possible Solution Two or more input option cards analog digital or communication have been connected to the drive at the same time Digital Operator Display gt Use either an analog input option AI A3 or a digital input option DI A3 or a communication option card Never use two of these cards at the same time Fault Name tc JL oFc00 Option Card Fault at Connector CN5 C Non compatible option card is connected Cause Possible Solution The EtherCAT option card has been plugged into option port CN5 C Digital Operator Display Always use option port CN5 A for communication option cards Fault Name oFc02 Option Card Fault at Connector CN5 C Two of the same option cards are connected at the same time Possible Solution Two or more input option cards analog digital or communication have been connected to the drive at the same time EN 34 gt Use either an
34. nuously Off No link The EtherCAT communication is in working condition Blinking General configuration error Single flash The slave device application has changed the EtherCAT state autonomously The parameter Change in the AL status register is set to 0x01 change error Single flash is one short flash approximately 200 ms followed by a long off phase approximately 1000 ms Double flash The sync manager watchdog timeout has occurred Double flash is two short flashes approximately 200 ms each separated by an off condition approximately 200 ms and then a long off phase approximately 1000 ms Continuously On Possible causes 1 An EtherCAT PDI Process Data Interface error has occurred the NOID application interface has failed 2 An option card FATAL event has occurred system has stalled execution see EtherCAT vendor object 0x4000 for the cause Blinking 1 Hz or 6 Hz The option BOOT or APP firmware is executing the NOID firmware loader 1Hz Firmware loader protocol in IDLE state waiting for commands from drive 6Hz Firmware loader protocol is processing commands YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual EN 13 5 EtherCAT Option Components Figure E 3 explains the indicator flash rates
35. on 100A Manufacturer Software Version 1010 Store Parameters 1011 Restore Default Parameters 018 Identity Object 1600 1628 Receive PDO Mapping 1A00 1428 Tranmit PDO mapping 1C00 Sync Manager Communication Type 1C12 Sync Manager RxPDO assign 1C13 Sync Manager TxPDO assign EN 24 YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual 8 Object Dictionary m Manufacturer Specific Profile Objects DS 301 Index Hex Content 2000 Operation Command 2010 Speed Command 2020 Torque Limit 2030 Torque Compensation 2040 MEMOBUS Modbus Read Command 2050 MEMOBUS Modbus Write Command 2060 MEMOBUS Modbus Unlimited Enter Command 2070 MEMOBUS Modbus Limited Enter Command 2080 Selectable default none Input 2090 Selectable default none 20A0 Selectable default none 20B0 Selectable default none 20C0 Selectable default none 20D0 FM analog output 1 20E0 AM analog output 2 20F0 Multi function DO output 3000 Selectable default none 3100 Selectable default none 2100 Drive Status 2110 Output Frequency 2120 Output Current 2130 Output Torque 2140 MEMOBUS Modbus Read Command Response 2150 MEMOBUS Modbus Write Command Response 2155 PDO Parameter Write Response 2160 MEMOBUS Modbus Not Limited Enter Command Response 2180 Selectable default Input terminal status 2190 Selecta
36. rs an express warranty only as to the quality of its products in conforming to standards and specifications published in the YASKAWA manual NO OTHER WARRANTY EXPRESS OR IMPLIED IS OFFERED YASKAWA assumes no liability for any personal injury property damage losses or claims arising from misapplication of its products Applicable Documentation The following manuals are available for SI ES3 EtherCAT Option card Option Card YASKAWA AC Drive A1000 Option EtherCAT Installation Manual this book Manual No YEU TOEP C710616 99A Read this manual first The installation manual is packaged with the EtherCAT Option and contains a basic overview of wiring settings functions and fault diagnoses YASKAWA AC Drive A1000 Option EtherCAT Technical Manual Manual No YEU SIEP C710616 99A The technical manual contains detailed information To obtain the technical manual access these sites Europe http www yaskawa eu com Japan http www e mechatronics com USA http www yaskawa com Other areas contact a YASKAWA representative EN 4 YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual 1 Preface and Safety For the drive setup refer to one of the documentation listed below YASKAWA Drive Refer to the manual of the drive this option card is being used with The instruction manual for the drive covers basic installation
37. rt up and correct programming errors Communication circuitry is damaged Replace the drive if the fault continues to occur Digital Operator Display Minor Fault Name Tn EEPROM Error EEP EEP E EEPROM checksum error Cause Possible Solution Communication wiring is faulty there is a Check for wiring errors short circuit or something is not connected Correct the wiring properly Remove and ground shorts and reconnect loose wires If these errors occur the object dictionary will be reset to its default values After the object dictionary has been changed and object dictionary EEPROM checksum error contents are then changed execute a Store Parameter command Index 1010 Hex gt If the object dictionary has not been changed execute a Restore Parameter command Index 1011 Hex YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual EN 37 11 Specifications 11 Specifications Specifications Table E 13 Option Card Specifications Items Specifications Model SI ES3 DS 301 Ver 4 02 DSP 402 Ver 1 1 Velocity Mode Connector RJ45 connector Communications Speed 10 100 MBbps Ambient Temperature 10 C to 50 C Humidity up to 95 RH no condensation Storage Temperature 20 C to 60 C allowed for short term transport of the product Communication Profile Area of Use Indoor free of corrosive gas air
38. to follow all procedures and submit all relevant documentation according to any and all rules regulations and laws that may apply Specifications are subject to change without notice for ongoing product modifications and improvements 2011 YASKAWA Europe GmbH All rights reserved MANUAL NO YEU TOEP C710616 99A Published in Germany July 2011 11 7
39. ult detection Closed Loop Vector for PM motors dq one Inversion detection Closed Loop Vector for PM motors dv3 0334 Inversion prevention detection Closed Loop Vector for PM motors dv4 0x35 Output current imbalance LF2 0x36 Pullout detection 2 STo 0x37 PG Disconnect PGo 0x38 Too many speed search restarts SEr 0x3B PID feedback loss FbH 0x41 External fault at input terminal S1 EF1 0x42 External fault at input terminal S2 EF2 0x43 Mechanical weakening detection 1 oL5 0x44 Mechanical weakening detection 2 UL5 0x45 Current offset fault CoF 0x46 Programming Error 1 PEI 0x47 Current offset fault dWFL 0x49 Error during object content selection SDO Abort Codes SDO abort codes are supported as specified in DS301 Additionally the abort codes listed below are implemented Table E 10 SDO Abort Codes SDO Abort Code Description Consecutive MEMOBUS Modbus Read Write Enter commands are send but the wait time between messages is too short A MEMOBUS Modbus Read or Write Response 2140 Hex and 2150 0602 0010 Hex Hex was attempted but no or an incorrect MEMOBUS Modbus address has been written to object 2040 Hex or 2050 Hex before A MEMOBUS Modbus write request has been sent during DC bus under voltage Drive Profile DSP402 is used and a value is written to object 6042 Hex vl Target Velocity while the drive status is not Operation Enable
40. ut specifications Normal Duty Amps Heavy Duty Amps 5 MODEL CIMR AC2A0021FAA MAX APPLI MOTOR 5 5kW 3 7KW REV A INPUT ACSPH 200 240V 50 60Hz 24A 18 9A Output specifications OUTPUT Lot number Serial number YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual AC3PH 0 240V 0 400Hz 214 17 5A MASS OIN 9 5 kg PRG 1010 SIN C us LISTED IND CONT EQ 7J48B CE Firmware version FILE NO E131457 ACT ZA TYPE 1 ENCLOSURE IP20 ey NY _ YASKAWAELECTRIC CORPORATION MADE INJAPAN RoHS Enclosure type Verifying firmware version on drive nameplate EN 21 7 EtherCAT Option Related Drive Parameters 7 EtherCAT Option Related Drive Parameters The drive parameters listed in Table E 7 have influence on some functions of the SI ES3 option card Check these parameters before starting network communications Table E 7 Parameter Settings No Name Description Default Selects the frequency reference input source 0 Operator Digital preset speed d1 01 to d1 17 Frequency b1 01 Reference 1 Terminals Analog input terminals die lt I gt 2 MEMOBUS Modbus communications Selection 3 Option card 4 Pulse Input Terminal RP Selects the run command input source bl 02 Run Command 9 Digital Operator RUN and STOP keys as Selection 1 Digita
41. ve has detected a Sum check error 2 Drive has detected a Communication Option ID error Possible cause 1 Option card is overloaded 2 Option is not properly processing the state 1 Drive fault OFx32 2 Drive fault OFx30 1 2 Actions a Disable process data OUT sync manager channel b Force EtherCAT state change to SAFE OP OP SAFEOP 1 Option card FCS error 2 Option card COMID error 1 Option card has detected a Sum check error 2 Option card has detected a Communica tion Option card ID error Possible cause 1 Drive system is overloaded 2 Drive is not properly processing the state 1 Drive fault OFx32 2 Drive fault OFx30 YASKAWA Europe YEU TOEP C710616 99A A1000 Option EtherCAT Installation Manual 1 2 Actions a Disable process data IN sync manager channel b Force EtherCAT state change to SAFE OP EN 35 10 Fault Diagnosis and Possible Solutions Option Error Description Error Indication Possible Solution Initial power up sequence not completed within 10 seconds Possible cause Drive is not processing the internal interface protocol Drive does not support EtherCAT option card Drive fault OFx00 Option will log FATAL event record in NVS memory and set ERR LED solid RED see Table E 6 Actions 1 Check drive firmware version as described on page 21 2 If drive firmware version is correct replace option card
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