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YASKAWA SI-S3 Technical Manual

Ac drive option canopen
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YASKAWA AC Drive Option
CANopen
Technical Manual
Model
SI-S3
To correctly use the product, read this manual thoroughly and keep it for easy
reference, inspection, and maintenance. Make sure that the end user receives
this manual.
MANUAL NO. SIEP C730600 85D

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Summary of Contents for YASKAWA SI-S3

  • Page 1 YASKAWA AC Drive Option CANopen Technical Manual Model SI-S3 To correctly use the product, read this manual thoroughly and keep it for easy reference, inspection, and maintenance. Make sure that the end user receives this manual. MANUAL NO. SIEP C730600 85D...
  • Page 2 This Page Intentionally Blank YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 3 8. Object Dictionary ..........29 YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 4 Selectable Object Content ..........44 YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 5 Revision History........... 56 YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 6 YASKAWA products remain the responsibility of the equipment designer 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 7 • 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. • Contact Yaskawa or a Yaskawa representative and provide the manual number shown on the front cover to order new copies of the manual. DANGER Do not ignore the safety messages in this manual.
  • Page 8 • Refer to the option package labeling in the field designated “PRG (four digit number)” or the option labeling in the field to identify the option software version. • For Yaskawa customers in the North or South America region: If your product is not listed in Table 2.1, refer to the web page below to confirm this manual is correct for your product.
  • Page 9 3 Receiving The Yaskawa warranty does not include damage from shipping. Contact your sales outlet if the option or other parts appear damaged. NOTICE Damage to Equipment. Do not use damaged parts to connect the drive and the option. Failure to comply could damage the drive and option.
  • Page 10 Option LED States Option has two LEDs that identify the option or communication status. ■ Option LED Status Definitions A - 1000-Series C - FP605 B - GA500, GA700, GA800 Figure 4.2 Option LED Labels YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 11 Fire Hazard. Tighten all terminal screws to the correct tightening torque. Connections that are too loose or too tight can cause incorrect operation and damage to the drive. Incorrect connections can also cause death or serious injury from fire. YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 12 Do not operate a drive or connected equipment that has damaged or missing parts. You can cause damage to the drive and connected equipment. NOTICE Use Yaskawa connection cables or recommended cables only. Incorrect cables can cause the drive or option to function incorrectly. NOTICE Damage to Equipment.
  • Page 13 (ESD) procedures. If you do not follow procedures, it can cause ESD damage to the drive circuitry. A - Drive front cover C - Drive terminal cover B - Keypad Figure 5.2 Remove the Keypad, Front Cover, and Terminal Cover YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 14 (D). Use the last remaining included screw (B) to connect the other end of the ground wire (C) to the remaining ground terminal and installation hole on the option (A). Tighten the screws to a correct tightening torque: • 0.5 N∙m to 0.6 N∙m (4.4 lbf∙in to 5.3 lbf∙in) YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 15 Do not connect or disconnect the communication cable while the drive is energized or while the drive is in operation. Failure to obey can cause a static discharge, which will cause the option to stop working correctly. Cycle power on the drive and option to start using the option again. YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 16 Prepare the Drive for the Option Correctly wire the drive as specified by the manual packaged with the drive. Make sure that the drive functions correctly. Refer to the drive manuals for more information. YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 17 (ESD) procedures. If you do not follow procedures, it can cause ESD damage to the drive circuitry. Note: Remove the keypad, then move the keypad connector to the holder on the drive, then remove the front cover. YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 18 • 0.5 N∙m to 0.6 N∙m (4.4 lbf∙in to 5.3 lbf∙in) Note: 1. A ground wire is not necessary. Do not use the ground wire. 2. Only two screws are necessary to install the option on GA700 and GA800 drives. YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 19 Make sure that you set F6-35 [CANopen Node ID Selection] to a node address that is unique on the network. ■ Procedure C This section shows the procedure to install and wire the option on an FP605 drive. YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 20 Damage to Equipment. When you touch the option, make sure that you observe correct electrostatic discharge (ESD) procedures. If you do not follow procedures, it can cause ESD damage to the drive circuitry. YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 21 Put the LED label (B) in the correct position on the drive front cover (A). A - Drive front cover B - LED label Figure 5.16 Put the LED Label on the Drive Front Cover YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 22 Install the option (A) into the CN5-A connector (C) on the drive and use one of the included screws (B) to put it in place. Tighten the screw to a correct tightening torque: • 0.5 N∙m to 0.6 N∙m (4.4 lbf∙in to 5.3 lbf∙in) YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 23 Tighten the screw to a correct tightening torque: • 0.5 N∙m to 0.6 N∙m (4.4 lbf∙in to 5.3 lbf∙in) Note: Refer to Figure 5.20 for instructions about crimp terminal orientation (C) and wire routing. YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 24 Do not pinch cables between the front covers and the drive. Failure to comply could cause erroneous operation. A - Drive front cover B - Keypad Figure 5.21 Replace the Front Cover and Keypad YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 25 Set drive parameters in Related Drive Parameters on page 26 for correct option performance. Make sure that you set F6-35 [CANopen Node ID Selection] to a node address that is unique on the network. YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 26 U.S.: http://www.yaskawa.com Europe: http://www.yaskawa.eu.com Japan: http://www.e-mechatronics.com Other areas: Check the back cover of these manuals. For questions, contact Yaskawa or a Yaskawa representative. You can download drive manuals from the Yaskawa product and technical information website shown on the back cover of this manual.
  • Page 27 Parameter is available in A1-02 = 2, 3, 4, 6, 7, 8 [Control Method Selection = Open Loop Vector, Closed Loop Vector, Advanced Open Loop Vector, PM Advanced Open Loop Vector, PM Closed Loop Vector, EZ Vector Control]. YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 28 Bit Rate Setup In order to communicate with the drive, the bit rate set in the SI-S3 option must match the bit rate used in the network. The bit rate can be selected manually by using a drive parameter. The SI-S3 can also be set up for automatic bit rate detection.
  • Page 29 Note: • There must be bus traffic that the SI-S3 can listen to in order to detect the bit rate. If there is low traffic, the bit rate detection can take a long time. • The bit rate detected by the SI-S3 is not automatically saved. When cycling the drive power supply, the SI-S3 will do bit rate detection again.

  • Page 30: Table Of Contents

    Selectable (default: Analog input 1 monitor) 21A0 Selectable (default: none) 21B0 Selectable (default: none) 21C0 Selectable (default: none) 21D0 Selectable (default: none) 21E0 Selectable (default: none) 21F0 Selectable (default: none) 2200 Motor Speed YASKAWA SIEP C730600 85D CANopen Technical Manual...

  • Page 31: Name

    604D vl pole number YASKAWA specifies this object as the drive digital output monitor. (Input from the network) YASKAWA specifies this object as the drive digital inputs. (Output to the network) ◆ Communication Profile Objects (DS 301) ■...
  • Page 32 5481 Option Card External Fault 5530 EEPROM Write Error 6000 Other faults 6301 Error during object content selection 7180 Overspeed (control mode using PG) 7305 Encoder (PG) Feedback Loss (control mode using PG) YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 33 ■ 1009 (Hex.) - Manufacturer Hardware Version This object contains the manufacturer hardware version. Index (Hex.) Subindex Content Access PDO Mapping Value Range 1009 Manufacturer hardware version Read Only Not possible Visible string YASKAWA SIEP C730600 85D CANopen Technical Manual...

  • Page 34: Restore Default Parameters

    ■ 1017 (Hex.) - Producer Heartbeat Time This object determines the cycle time the option uses to produce a heartbeat signal. When set to 0, the option does not produce a heartbeat signal. YASKAWA SIEP C730600 85D CANopen Technical Manual...

  • Page 35: Producer Heartbeat Time

    ◆ Manufacturer Specific Profile Objects (DS 301) The CANopen (SI-S3) option offers the manufacturer-specific objects listed below. These objects are specific to Yaskawa products and therefore not available on other CANopen products. The manufacturer-specific object list consists of objects that have predefined, non-changeable content and objects that are freely configurable.

  • Page 36: Torque Reference/Torque Limit

    For more information about MEMOBUS/Modbus addresses and data, refer to the Technical Manual for your drive. Index (Hex.) Subindex Content Access PDO Mapping Data Length Number of entries Read Only 1 byte 2 + 2 byte 2050 Possible MEMOBUS/Modbus Write Read/Write MEMOBUS/Modbus Data + request Address YASKAWA SIEP C730600 85D CANopen Technical Manual...

  • Page 37: Memobus/Modbus Write Command

    Available in option software version 3102 and later. Read / Write access when SI-S3 is in the Pre-Operational state, Read only access if the SI-S3 is in the Operational state or if the drive is running. Read only access if the option is in the Operational state or if the drive is running.
  • Page 38 Available in option software version 3102 and later. Read/Write access when the option is in the Pre-Operational state. Read only access if the option is in the Operational state or if the drive is running. YASKAWA SIEP C730600 85D CANopen Technical Manual...

  • Page 39: Output Current (Change Of State Filter Support)

    (object 2050 (Hex.)). Bytes 1 and 2 of subindex 1 will contain the data that was written, and bytes 3 and 4 will contain the MEMOBUS/Modbus Address that was written to. Index (Hex.) Subindex Content Access PDO Mapping Data Length 2150 Number of entries Read Only Possible 1 byte YASKAWA SIEP C730600 85D CANopen Technical Manual...

  • Page 40: Memobus/Modbus Write Command Response

    2 byte content Filter value FFFF (Hex.) Read/Write Not possible 2 byte Filter type 0 (Analog) Read/Write Not possible 2 byte 21B0 - 21E0 Number of entries Read Only Not possible 1 byte YASKAWA SIEP C730600 85D CANopen Technical Manual...

  • Page 41: Motor Speed

    • The frequency reference and output frequency display unit has to be set to min by setting parameter o1-03 = 2 [Frequency Display Unit Selection = Revolutions Per Minute (RPM)]. EZ Open Loop Vector Control is only available in YASKAWA AC Drive GA500, GA700, GA800 and FP605. Note: Drive and Motion Control (DSP 402) cannot be set or referenced unless o1-03 = 2.
  • Page 42 The object values correspond to the deceleration time setting in the drive. Delta time is always fixed at 1. Index (Hex.) Subindex Content Access PDO Mapping Value Range Unit 6049 Delta speed Read/Write Possible 0...(2 - 1) YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 43 Subindex Content Access PDO Mapping Value Range 60FE Drive Digital Input Command Read/Write Possible 0...(2 - 1) Bit No. (Hex.) Content Description 0 - 11 Not used Terminal S3 Function Multi-Function Input: H1-03 YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 44 (Run command not active). • The option cannot be switched to the Operational state until the content selection process is complete. If the process is incomplete, it will trigger an emergency message (code 6301 (Hex.)) YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 45 1617 Subindex 2: 604C sub2 Not assigned 1423 Subindex 1: 2000 1623 Not assigned 1424 Subindex 1: 2010 1624 Not assigned 1425 Subindex 1: 2020 1625 Not assigned 1426 Subindex 1: 2030 1626 YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 46 When changing the PDO mapping, always first set subindex 0 to “0”, then set subindex 1 to subindex n. Then activate the mapping by setting subindex 0 to the number of mapped objects n. YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 47 Filter type Read/Write Not possible 2 byte Read/Write access when the option is in the Pre-Operational state. Read only access if the option is in the Operational state or if the drive is running. YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 48 All drive parameters, monitors, and other control registers are represented by their MEMOBUS/Modbus register. They can be read or written by accessing these registers through the SI-S3 option. MEMOBUS/Modbus registers can be directly read or written by using the MEMOBUS/Modbus read/write commands.
  • Page 49 Example: To read the output power monitor U1-08 via the PDO, the monitor must be mapped to an output object, e.g., 21A0 (Hex.). This object must then be mapped to a PDO, e.g., TxPDO 6. YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 50 Read out the value of drive parameter H5-11 using a MEMOBUS/Modbus Read Request (object 2040 (Hex.)) on drive register 04C3 (Hex.) (H5-11). If the content of register 04C3 (Hex.) is “1” then change it to “0” using a MEMOBUS/Modbus Write Request (object 2050 (Hex.)). YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 51 A fault occurred in the option. De-energize the drive. oFA03, oFA04 Option Card Error (CN5-A) Make sure that the option is correctly connected to the connector. If the problem continues, replace the option. YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 52 Enable”. 0602 0022 (Hex.) Object 2155 (Hex.) was received while the SI-S3 option was not in the Operational state. A MEMOBUS/Modbus Read or Write command (2040 (Hex.) and 2050 (Hex.)) was performed with an invalid MEMOBUS/Modbus address. YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 53 Keep wiring as short as possible and ground the largest possible surface area of the shield to the metal panel according to Figure 13.2, Figure 13.3, and Figure 13.4. Figure 13.2 Option Installation for CE Compliance: 1000-Series, GA700, GA800 YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 54 -10 °C to +50 °C (14 °F to 122 °F) Humidity 95% RH or lower with no condensation Storage Temperature -20 °C to +60 °C (-4 °F to 140 °F) allowed for short-term transport of the product YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 55 The wheelie bin symbol on this product, its manual, or its packaging identifies that you must recycle it at the end of its product life. You must discard the product at an applicable collection point for electrical and electronic equipment (EEE). Do not discard the product with usual waste. YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 56 Revision: Reviewed and corrected entire documentation Addition: Applicable product series Revision: Reviewed and corrected entire documentation February 2019 Chapter 15 Addition: Disposal Addition: Applicable product series December 2018 Revision: Reviewed and corrected entire documentation June 2016 First edition YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 57 YASKAWA SIEP C730600 85D CANopen Technical Manual...
  • Page 58 Phone: +81-3-5402-4502 Fax: +81-3-5402-4580 www.yaskawa.co.jp YASKAWA AMERICA, INC. 2121, Norman Drive South, Waukegan, IL 60085, U.S.A. Phone: +1-800-YASKAWA (927-5292) or +1-847-887-7000 Fax: +1-847-887-7310 www.yaskawa.com YASKAWA ELÉTRICO DO BRASIL LTDA. 777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil Phone: +55-11-3585-1100 Fax: +55-11-3585-1187 www.yaskawa.com.br...

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