YASKAWA CIMR-V7AM Technical Manual
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YASKAWA CIMR-V7AM Technical Manual

V7 ethernet/ip option cm093
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V7 EtherNet/IP™ Option CM093
Technical Manual
Document Number: TM.V7.26
Models: CIMR-V7AM* (software versions 8340 and 8350 only)

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Summary of Contents for YASKAWA CIMR-V7AM

  • Page 1 V7 EtherNet/IP™ Option CM093 Technical Manual Document Number: TM.V7.26 Models: CIMR-V7AM* (software versions 8340 and 8350 only)
  • Page 2 Any warnings provided by YASKAWA must be promptly provided to the end user. YASKAWA offers an express warranty only as to the quality of its products in conforming to standards and specifications published in the YASKAWA manual.

  • Page 3: Introduction

    Introduction This manual explains the specifications and handling of the Yaskawa V7 EtherNet/IP Option Kit for the Yaskawa V7 drives with software ID 8340 or 8350 only. The V7 EtherNet/IP Option Kit connects the drive to an EtherNet/IP network and facilitates the exchange of data. In this document, the word "inverter", "AC drive"...

  • Page 4: Table Of Contents

    Supported Output Instances ................3-2 Yaskawa Output Instances.................. 3-4 Supported Input Instances................... 3-6 Yaskawa Input Instances..................3-8 CIP Supported Objects..................3-11 Yaskawa Supported Objects ................3-18 Fault Code Conversions..................3-21 Chapter 4 Product Specification.................. 4-1 Product Specification ..................4-2 Firmware Description ..................4-2...
  • Page 5 Chapter 5 Parameter Tables..................5-1 Class/Instance/Attribute Tables ................5-2 Hexadecimal/Decimal Conversion ..............5-7...

  • Page 6: Chapter 1 Installation

    Chapter 1 Installation This section describes how to install and set up the V7 EtherNet/IP Option Kit. Installation Check Sheet ..................1-2 Unpack and Inspect..................... 1-3 Installation and Wiring ..................1-4 Network and Web Access Configuration ............1-9 Important Notes ....................1-14 Resetting V7 EtherNet/IP Option Kit to its Default .........

  • Page 7: Installation Check Sheet

    Installation Check Sheet The following is a quick reference check list to install and configure the V7 EtherNet/IP Option Kit. Make a copy of this page and check-off each item as it is completed. For detailed information please refer to the detailed sections that follow. Unpack the V7 EtherNet/IP Option Kit and verify that all components are present and undamaged.

  • Page 8: Unpack And Inspect

    Unpack and Inspect Prior to unpacking, check the package label and verify that the product received matches the product ordered. Unpack the option and verify that the following items are included in the product package and are undamaged. Fig 1.1 – V7 Ethernet/IP Option Kit CM093 Table 1.1 –...

  • Page 9: Installation And Wiring

    Installation and Wiring Verify Drive Operation Connect power to the drive and verify that the drive functions properly. This includes running the drive from the operator keypad. Refer to the V7 Drive Technical Manual, TM.V7.01, for information on connecting and operating the drive. Remove power from the drive and wait for the charge lamp to be completely extinguished.
  • Page 10 Install the V7 EtherNet/IP Option Kit Wire the V7 Drive I/O terminals prior to mounting the V7 EtherNet/IP Option Kit, as the option will obscure the terminals when mounted. Mount the V7 EtherNet/IP Option Kit on the V7 Drive. Do NOT connect a ground wire to the screw on the back of the option kit. Align the CN1 connector on the back of the option with its mating CN2 connector on the front of the V7 Drive.
  • Page 11 Diagnostic LED Power-up Sequence A power-up test is performed each time the AC drive is powered-up after the initial boot-up sequence. The initial boot-up sequence may take several seconds. When this sequence is complete, the LEDs will assume their normal conditions. Table 1.2 - LED Power-up Sequence MS/RUN NS/CON...
  • Page 12 LED Sequence Table 1.3 - LED States Label Description GREEN - Card Functioning Normally GREEN BLINK - Standby/Initializing (500ms cycle) MS/RUN RED BLINK - Minor Fault (500ms cycle) RED - Major Fault GREEN/RED BLINK - Module Test (500ms cycle) GREEN - Connected GREEN BLINK - Waiting for Connections (500ms cycle) NS/CON RED BLINK - Connection Timeout (500ms cycle)
  • Page 13 LED Reference Table 1.4 - Option LED States Indicator Behavior Description Steady No Power No power is applied to the option card the LED remains OFF. Green Normal Operation The option card is operating correctly with all initialization checks complete. Steady Green Standby / Initializing...

  • Page 14: Network And Web Access Configuration

    DHCP Server connected to the network in order to set the IP address of the EtherNet/IP Option Kit. For detailed information on how to setup the Rockwell BOOTP/DHCP Server on a PC refer to the appropriate Rockwell document or Yaskawa's Application Note AN.AFD.10.
  • Page 15 Accessing the EtherNet/IP Option Kit Web Pages The browser interface to the EtherNet/IP Option Kit can be used for configuring the card or for network and drive information and diagnostics. To access the web pages: Obtain the IP address of the desired drive and enter that IP address in the browser address bar. Hit Enter. The IP address of the desired drive is 192.168.1.20 in this example.
  • Page 16 Configuring a PC with a Static IP Address Select an existing connection or create a new network connection for communication with the EtherNet/IP Option Kit. Select Start ==> Settings ==> Network Connections from the task bar in the Windows OS. Select the network connection to be used.
  • Page 17 Configuring the EtherNet/IP Option Kit Select Configuration from the main web page. After the Configuration page has been displayed, select the method in which the EtherNet/IP Option Kit will obtain its IP address. User: The EtherNet/IP Option Kit will use the network address as entered in the IP, Subnet and Gateway fields. Check with the system schematic or network administrator to insure that the IP address is valid and unique and that the subnet mask and gateway are correct.
  • Page 18 Finish the V7 EtherNet/IP Option Kit Installation Remove power from the AC drive and wait for the charge lamp to be completely extinguished. Wait at least five additional minutes for the drive to be completely discharged. Measure the AC drive DC bus voltage and verify that it is at a safe level. WARNING! Dangerous voltages in excess of 400VDC (230V drives) or 800VDC (460V drives) are present at the DC bus terminals of the drive.

  • Page 19: Important Notes

    The maximum number of simultaneous connections is: 1 for I/O, 4 for Explicit, 2 for Drive Wizard. To simplify the drive configuration, EDS files can be obtained at www.yaskawa.com. From the Yaskawa web site, select Downloads ==> By Inverter Drives ==> By Product ==> Network Comms-Ethernet. Then select the appropriate EDS file based on the drive series and the latest version of those listed.

  • Page 20: Resetting V7 Ethernet/Ip Option Kit To Its Default

    Resetting V7 EtherNet/IP Option Kit to its Default Fig 1.9 – EtherNet/IP Option Kit Reset Switch The factory default settings: Configure Network Parameters: DHCP IP Address:192.168.1.20 Subnet: 255.255.255.0 Gateway: 192.168.1.1 Gateway Usage: Disabled Symptom: The V7 EtherNet/IP Option Kit main web page does not display on the PC web browser screen. Corrective Action: Check that the PC is setup, properly connected and that an IP address has been assigned to both the node and DHCP server and that they are both on the same local network.

  • Page 21: Drive Fault Messages

    Drive Fault Messages EtherNet/IP Drive Fault Messages The table of EtherNet/IP fault codes returned by the drive is shown below. Refer to the appropriate drive user and/or programming manual(s) for drive specific information on the fault returned. Table 1.6 – Fault Code Conversions EtherNet/IP EtherNet/IP Drive Fault...
  • Page 22 Operator Keypad Fault Messages The following is a table of faults that could be caused by the V7 EtherNet/IP Option Kit that will be displayed on the Operator Keypad only. For any fault displayed on the operator that is not listed in the following table, please see TM.V7.01, V7 Drive technical manual. Table 1.7–...
  • Page 23 Notes Installation 1-18...

  • Page 24: Chapter 2 Browser Interface

    Chapter 2 Browser Interface This section describes the web server or browser interface to the V7 EtherNet/IP Option Kit. Main Web Page....................2-2 Configuration Web Page..................2-3 Submit Page ......................2-4 Network Diagnostics Web Page ................. 2-5 Drive Diagnostics Web Page ................2-6 Installation 2-1...

  • Page 25: Main Web Page

    Speed: Connection Speed: Current connection speed. Either 10 or 100 will be displayed. IP Address: The IP address of the current V7 EtherNet/IP Option Kit. Standard Footer The standard footer contains information on how to contact Yaskawa for technical support. Installation 2-2...

  • Page 26: Configuration Web Page

    Configuration Web Page The configuration page contains the standard header and footer along with a method of configuring the EtherNet/IP server and web server interfaces of the V7 EtherNet/IP Option Kit. Fig 2.2 – Local Network Setup Web Server Configuration The web server configuration allows for the setting of the IP Address, Subnet Mask, Gateway and EtherNet/IP server type.

  • Page 27: Submit Page

    Submit Page After any of the configuration parameters shown above have been changed, the submit button must be pressed to store the changed data. The V7 Drive must then be power cycled for the new data to take affect. Verify that the data on the submit page is correct. Fig 2.3 –...

  • Page 28: Network Diagnostics Web Page

    Network Diagnostics Web Page The network diagnostics page displays the standard header and footer along with information relative to network and V7 EtherNet/IP Option Kit performance. Fig 2.4 – Network Diagnostics Web Page Message Tx OK: Transmit Message Count: The number of messages sent from the V7 EtherNet/IP Option Kit. Message Rx OK: Receive Message Count: The number of messages received by the V7 EtherNet/IP Option Kit.

  • Page 29: Drive Diagnostics Web Page

    Drive Diagnostics Web Page The drive diagnostics page contains the standard header and footer along with diagnostic information specific to the current drive. Fig 2.5 – Drive Diagnostics Web Page Freq Ref: Frequency Reference – Monitor Parameter U-01. Motor Speed: Motor Speed –...

  • Page 30: Chapter 3 Ethernet/Ip Objects

    This section describes the V7 EtherNet/IP Option Kit supported objects. Supported Output Instances ................3-2 Yaskawa Output Instances.................. 3-4 Supported Input Instances................... 3-6 Yaskawa Input Instances..................3-8 CIP Supported Objects..................3-11 Yaskawa Supported Objects ................3-18 Fault Code Conversions..................3-21 EtherNet/IP 3-1...

  • Page 31: Supported Output Instances

    Supported Output Instances Basic Speed Control Output Instance 20 (14h) Output Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Fault Instance Reset Forward 20 (14h) Speed Reference (Low Byte) [n035 Scaled] Speed Reference (High Byte) [n035 Scaled] Run Forward: Forward RUN Command...
  • Page 32 Speed and Torque Control Output Instance 22 (16h) Output Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Fault Instance Reset Forward Speed Reference (Low Byte) [n035 Scaled] 22 (16h) Speed Reference (High Byte) [n035 Scaled] Reserved Reserved...

  • Page 33: Yaskawa Output Instances

    Yaskawa Output Instances Yaskawa Standard Speed/Torque Control Output Instance 101 (65h) Output Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Terminal Terminal Terminal Terminal Terminal Reverse Forward Instance Terminal Terminal Terminal...
  • Page 34 Yaskawa Extended Speed/Torque Control Output Instance 115 (73h) Output Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Terminal Terminal Terminal Terminal Terminal Reverse Forward Instance Terminal Terminal Terminal Fault External P2-PC...

  • Page 35: Supported Input Instances

    Supported Input Instances Basic Speed Control Input Instance 70 (46h) Input Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Running 1 Instance Faulted (FWD) 70 (46h) Speed Actual (Low Byte) [n035 Scaled] Speed Actual (High Byte) [n035 Scaled] Faulted: Drive Fault...
  • Page 36 Speed and Torque Control Input Instance 72 (48h) Input Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Running 1 Instance Faulted (FWD) Speed Actual (Low Byte) [n035 Scaled] 72 (48h) Speed Actual (High Byte) [n035 Scaled] Reserved Reserved Faulted:...

  • Page 37: Yaskawa Input Instances

    Yaskawa Input Instances Yaskawa Standard Speed/Torque Input Instance 151 (97h) Input Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Speed Running Running FAULT ALARM READY Reset Agree Instance Terminal Terminal Terminal...
  • Page 38 Yaskawa Extended Speed/Torque Input Instance 155 (9Bh) Input Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Speed Running Running FAULT ALARM READY Reset Agree Instance Terminal Terminal Terminal Local/ P2-PC P1-PC...
  • Page 39 Local/Remote: 0 = Drive is in Local Control 1 = Drive is in Remote Control Terminal MA/MB-MC: Multi-function Digital Output 1 (n057) Terminal P1-PC: Multi-function Digital Output 2 (n058) Terminal P2-PC: Multi-function Digital Output 3 (n059) Output Frequency: Output frequency of the drive EtherNet/IP 3-10...
  • Page 40 Yaskawa Extended Speed/Torque Input Instance 155 (9Bh) (Details for bytes 10 through 23, Error Alarm Signals 1, 2, and 3) Bytes 12 (Low) and 13 (High) - Bytes 14 (Low) and 15 (High) - Bytes 16 (Low) and 17 (High) -...

  • Page 41: Cip Supported Objects

    Size Default Value Object Software Revision Word Maximum Instances Word Vendor ID Word 44 (YASKAWA) Device Type Word 2 (AC drives) Product/Model Dependant Code- For factory use. Product Code Word Refer to Attribute 7-Product Name, for drive family and model.
  • Page 42 Class 04h – Assembly Object Service Code No. (hex) Service Name Get Attribute Single Set Attribute Single Attributes Instance ID Attribute Description Size Default Value Object Software Revision Word 20 (14h) Data Array 4 Bytes 00 00 00 00 21 (15h) Data Array 4 Bytes 00 00 00 00...
  • Page 43 Class F5h – TCP/IP Object Service Code No. (hex) Service Name Get Attribute All Get Attribute Single Set Attribute Single Attributes Instance ID Attribute Description Size Default Value Object Software Revision Word Maximum Instance Word Bit 0: Not configured Status Long Bit 1: Configured Bit 2~31: Reserved...
  • Page 44 Class F6h - Ethernet Link Object Service Code No. (hex) Service Name Get Attribute All Get Attribute Single Set Attribute Single Get and Clear Attributes Instance ID Attribute Description Size Default Value Object Software Revision Word Maximum Instance Word Interface Speed Long Bit 0: Link Status Bit 1: 0: Half Duplex...
  • Page 45 Class 29h – Control Supervisor Object Service Code No. (hex) Service Name Get Attribute Single Set Attribute Single RESET Attributes Instance ID Attribute Description Size V7 Data Object Software Revision Word Run 1 (Forward Run) Byte Forward Run Command Run 2 (Reverse Run) Byte Reverse Run Command Net Control Command - Parameter n003...
  • Page 46 Class 2Ah – AC Drive Object Service Code No. (hex) Service Name Get Attribute Single Set Attribute Single Attributes Instance Attribute Description Size V7 Data Object Software Revision Word At Reference Byte Speed Agree Net Reference Command - Parameter n004 Net Reference Byte SET: 0 = previous n004 value...
  • Page 47 Class 28h – Motor Object Service Code No. (hex) Service Name Get Attribute Single Set Attribute Single Attributes Instance ID Attribute Description Size V7 Data Object Software Revision Word Motor 1 Type Byte 7 (0 ~ 10) EtherNet/IP 3-18...

  • Page 48: Yaskawa Supported Objects

    255 (FFh) Enter Command Word Yaskawa Command Object – Class 64h, Instance 1, Attribute 1 – Operation Command Definition Forward RUN (1) /Stop (0) Bits 1 and 2 may not be set simultaneously Reverse RUN (1) /Stop (0) Bits 1 and 2 may not be set simultaneously Terminal S3 –...
  • Page 49 Yaskawa Command Object – Class 64h, Instance 1, Attribute 8 – Digital Output Definition Contact Output – Multi-function Digital Output 1 – Parameter n057 setting PHC 1 – Multi-function Digital Output 2 – Parameter n058 setting PHC 2 – Multi-function Digital Output 3 – Parameter n059 setting...
  • Page 50 Class 65, Instance 1, Attribute 1, Drive Status Attribute 1 - Drive Status Word Status Drive Running Reserved Reverse Running Reset Command Received Speed Agree Inverter Ready Alarm Condition Fault Condition Not Used Momentary Power Loss Ride Thru Local / Remote Digital Output 1 Digital Output 2 Digital Output 3...

  • Page 51: Fault Code Conversions

    Fault Code Conversions Table 1.7 – Drive Fault Messages (by EtherNet/IP Communication) EtherNet/IP EtherNet/IP Drive Fault Drive Fault Fault Code Description Fault Code Description Code Code [hex] [hex] 0000h None 5300h OPE Errors 2200h Inverter Overload (OL2) 7500h EtherNet/IP Communication Error (BUS) 2220h Motor Overload (OL1) 7500h...
  • Page 52 Notes EtherNet/IP 3-23...

  • Page 53: Chapter 4 Product Specification

    Chapter 4 Product Specification This appendix describes the specification for the V7 EtherNet/IP Option Kit. Product Specification ..................4-2 Firmware Description ..................4-2 Product Specification 4-1...

  • Page 54: Product Specification

    The following Status Assembly information is available in the EtherNet/IP interface, which is implemented as the normal heartbeat information in CIP. The following states of the device along with the additional flags provide for monitoring the EtherNet/IP enabled Yaskawa drives. Table 4.2 – Status Support...
  • Page 55 Connections The maximum number of simultaneous connections is: 1 for I/O, 4 for Explicit, 2 for Drive Wizard™. Cable Loss and Timeout Timeout is calculated based on RPI configuration parameter on startup. It is specified in seconds. A setting of "0" disables the timeout. The default cable loss timeout is RPI* 4.
  • Page 56 Notes Product Specification 4-4...
  • Page 57 Chapter 5 Parameter Tables Class/Instance/Attribute Tables ................5-2 Hexadecimal/Decimal Conversion ..............5-7 Parameter Tables 5-1...
  • Page 58 Class/Instance/Attribute Tables The following tables list all the drive monitors and parameters that are supported by the V7 EtherNet/IP Option Kit. Instance ID 0 of each of the following tables is the Object Software Revision, Service GET, Data Type Word, 2 Bytes and Default Value 1. Unless otherwise shown, all default values are 0.
  • Page 59 Class 79h, Instance 1 - Initialize/User Object Instance ID 0 of each of the following tables is the Object Software Revision, Service GET, Data Type Word, 2 Bytes and Default Value 1. Unless otherwise shown, all default values are 0. Table cells that do not contain a value either do not exist or are not available. All parameters share the same service (GET/SET), data type (Word) and number of bytes (2).
  • Page 60 Table 5.2 – Parameter Attribute Parameter Description Attribute n042 Decel Time 3 42 (2Ah) n043 Accel Time 4 43 (2Bh) n044 Decel Time 4 44 (2Ch) Not Used 45 (2Dh) Not Used 46 (2Eh) Not Used 47 (2Fh) Not Used 48 (30h) Not Used 49 (31h)
  • Page 61 Table 5.2 – Parameter Attribute Parameter Description Attribute n090 DC Injection Time @ Stop 90 (5Ah) n091 DC Injection Time @ Start 91 (5Bh) n092 Stall Prev During Decel Sel 92 (5Ch) n093 Stall Prev Accel Level 93 (5Dh) n094 Stall Prev Run Level 94 (5Eh) n095...
  • Page 62 Table 5.2 – Parameter Attribute Parameter Description Attribute n138 FBL Delay Time 138 (8Ah) n139 Energy Saving Select 139 (8Bh) n140 Energy Savings Gain 140 (8Ch) n141 V Lower Limit@60Hz 141 (8Dh) n142 V Lower Limit @ 6Hz 142 (8Eh) n143 Time of Avg kW 143 (8Fh)
  • Page 63 Hexadecimal/Decimal Conversion Table B.1 – Hexadecimal/Decimal Conversions Decimal Decimal Decimal Decimal Decimal Parameter Tables 5-7...
  • Page 64 Table B.1 – Hexadecimal/Decimal Conversions Decimal Decimal Decimal Decimal Decimal Parameter Tables 5-8...
  • Page 65 New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo, 105-0022, Japan Phone: 81-3-5402-4511 Fax: 81-3-5402-4580 Internet: http://www.yaskawa.co.jp YASKAWA ELECTRIC EUROPE GmbH Hauptstraße 185,65760 Eschborn, Germany Phone: 49-6196-569-300 Fax: 49-6196-569-398 YEA Document Number: TM.V7.26 05/24/2010 Rev: 10-05 Data subject to change without notice. Yaskawa Electric America, Inc.

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