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YASKAWA CANopen SI-S3 Installation Manual

Ac drive-option card
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YASKAWA AC Drive-Option Card
CANopen
Installation Manual
Type SI-S3
To properly use the product, read this manual thoroughly and retain
for easy reference, inspection, and maintenance. Ensure the end user
receives this manual.
安川インバータ オプションカー ド
CANopen
取扱説明書
形式 
SI-S3
製品を安全にお使い頂くために， この取扱説明書を必ずお読みください。
また， 本書をお手元に保管していただくとともに， 最終的に本製品をご使用になる
ユーザー様のお手元に確実に届けられるよう， お取り計らい願います。
MANUAL NO. TOBP C730600 45A
通信

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Summary of Contents for YASKAWA CANopen SI-S3

  • Page 1 YASKAWA AC Drive-Option Card CANopen Installation Manual Type SI-S3 To properly use the product, read this manual thoroughly and retain for easy reference, inspection, and maintenance. Ensure the end user receives this manual. 安川インバータ オプションカー ド 通信 CANopen 取扱説明書 形式  SI-S3 製品を安全にお使い頂くために，...
  • Page 2 This Page Intentionally Blank...

  • Page 3: Table Of Contents

    9 SPECIFICATIONS ....... . . 32 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual...
  • Page 4 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.

  • Page 5: Preface And Safety

    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.
  • Page 6 • CANopen is a registered trademark of the CAN in Automation (CiA). • Other company names and product names listed in this manual are registered trademarks of those companies. YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual...
  • Page 7 Indicates a hazardous situation, which, if not avoided, could result in death or serious injury. CAUTION 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 45A YASKAWA AC Drive-Option Card CANopen Installation Manual...
  • Page 8 • 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.

  • Page 9: Product Overview

    About This Product The CANopen Option Card (Model: SI-S3) is an option card designed to connect the Yaskawa AC drive to a CANopen network. Using this option card a CANopen master can • Operate the drive • Monitor the drive operation status •...

  • Page 10: Receiving

    A Phillips screwdriver PH1(#1) or PH2(#2) is required to install the CANopen option card. Note: Tools required to prepare CANopen cables for wiring are not listed in this manual. YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual...

  • Page 11: Canopen Option Components

    G – Connector (CN5) (installation hole) C – Model number D – Installation hole Figure 1 Option Card For details on the LEDs, Refer to CANopen Option LED Display on page YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual...
  • Page 12 Bus initialization failed (parameter setting error) Fault has occurred Single flash Receiving CAN error frame (too many error frames) Double flash Guard / Heartbeat event has occurred Online YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual...
  • Page 13 126 but has to be unique in the network. If the node address is set to 0, then the ERR light will flash, and AEr will appear on the keypad screen to indicate that an address setting error has occurred. YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual...

  • Page 14: Installation Procedure

    Failure to comply could result in death or serious injury. Maintenance, inspection, and replacement of parts must be performed only by authorized personnel familiar with installation, adjustment, and maintenance of this product. YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual...
  • Page 15 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. YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual...
  • Page 16 (Shell) D-sub Connector <1> The FE terminal on the CANopen Option must be connected to the drive ground terminal using the delivered ground wire. Figure 3 Wiring Diagram YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual...
  • Page 17 For more information on wiring and connecting the drive, refer to the technical manual for the drive the CANopen option card is connected to. Verify that the drive runs normally without the option installed. YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual...
  • Page 18 D – Drive grounding terminal (FE) J – LED label E – Insert connector CN5 here K – Front cover F – Option card Figure 5 Installing the Option Card YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual...
  • Page 19 An “AEr” Alarm message indicating that the node address is set to 0 will appear on the display. Set the node address in parameter F6-35. Set the communication speed in parameter F6-36. Cycle the power supply to activate the changed settings. Installation completed. YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual...
  • Page 20 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 45A YASKAWA AC Drive-Option Card CANopen Installation Manual...

  • Page 21: Canopen Option Drive Parameters

    Torque reference/torque limit via network <4> Communications Option communications are enabled. <5> NetRef/ComRef Selection 0: Multi-step speed reference disabled (F7 mode) F6-07 Function 1: Multi-step speed reference allowed (V7 mode) YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual...
  • Page 22 <8> Changing o1-03 changes the units for input object 2010H (frequency reference), output object 2110H (output frequency) and 2200H (motor speed). YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual...

  • Page 23: Communication Objects Overview

    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 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual...
  • Page 24 Output Frequency 2120 Output Current 2130 Output Torque 2140 MEMOBUS/Modbus Read Command Response 2150 MEMOBUS/Modbus Write Command Response 2160 MEMOBUS/Modbus Not Limited Enter Command Response 2200 Motor Speed YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual...
  • Page 25 Digital Inputs <1> 60FE Digital Outputs <2> <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) Device Control ■ Index (Hex)
  • Page 26 1425 Subindex 1: 2020 1625 Not assigned 1426 Subindex 1: 2030 1626 Not assigned 1427 Subindex 1: 2040 sub1 1627 Not assigned 1428 Subindex 1: 2050 sub1 1628 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual...
  • Page 27 1825 Subindex 1: 2120 1A25 Not assigned 1826 Subindex 1: 2130 1A26 Not assigned 1827 Subindex 1: 2140 sub1 1A27 Not assigned 1828 Subindex 1: 2150 sub1 1A28 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual...

  • Page 28: Fault Diagnosis And Possible Solutions

    CANopen Option side. ⇒ If there are no problems with the wiring and the error continues to occur, CANopen Option is damaged. replace the CANopen Option. YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual...
  • Page 29 Option Card Fault at Connector CN5-A oFA30 to oFA43 Communication ID error Cause Possible Solution ⇒ Replace the CANopen Option. Contact Yaskawa for assistance. Option card hardware fault YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual...
  • Page 30 (analog, digital or communication) or a communication option card. Never use two of these cards at the same have been connected to the drive at the time. same time. YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual...
  • Page 31 Store Parameter command (Index = EEPROM checksum error 1010H). => If the object dictionary has not been changed, execute a Restore Parameter command (Index = 1011H). YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual...

  • Page 32: Specifications

    MANUAL NO. TOBP C730600 45A Published in Japan July 2008 08-7 Date of Date of original publication publication Date of Revision Section Revised Content Publication Number − − July 2008 First Edition YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual...
  • Page 33 No.18 Xizang Zhong Road. Room 1702-1707, Harbour Ring Plaza Shanghai 200001, China Phone 86-21-5385-2200 Fax 86-21-5385-3299 YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE Room 1011A, Tower W3 Oriental Plaza, No.1 East Chang An Ave., Dong Cheng District, Beijing 100738, China...

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