YASKAWA SI-ES3 Installation Manual
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YASKAWA SI-ES3 Installation Manual

YASKAWA SI-ES3 Installation Manual

Ethercat ac drive option
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YASKAWA AC Drive Option
EtherCAT
Installation Manual
Type: SI-ES3
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
EtherCAT
取扱説明書
形式
SI-ES3
製品を安全にお使いいただくために，本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 96C
通信

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  • Page 1 YASKAWA AC Drive Option EtherCAT Installation Manual Type: SI-ES3 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 EtherCAT 通信 取扱説明書 形式 SI-ES3 製品を安全にお使いいただくために，本書を必ずお読みください。...
  • Page 2 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 3: Table Of Contents

    13 SPECIFICATIONS ....... 54 YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...

  • Page 4: Preface And General Precautions

    Yaskawa shall not be held responsible for any injury or equipment damage as a result of failure to observe the precautions and instructions contained in this manual.
  • Page 5 Indicates a hazardous situation, which, if not avoided, could cause death or serious injury. CAUTION Indicates a hazardous situation, which, if not avoided, could cause minor or moderate injury. NOTICE Indicates an equipment damage message. YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 6 Do not attempt to modify or alter the drive or drive circuitry in any way not explained in this manual. Failure to comply could cause death or serious injury and will void warranty. Yaskawa is not responsible for any modification of the product made by the user. Do not modify this product.
  • Page 7 Failure to comply could result in damage to the drive or option and will void warranty. Yaskawa is not responsible for any modification of the product made by the user. Do not expose the drive or the option to halogen group disinfectants. Do not pack the drive or the option in fumigated or sterilized wooden materials.

  • Page 8: Overview

    <2> <1> Refer to “PRG” on the drive nameplate for the software version number. <2> Before you install the option on a YASKAWA AC Drive GA700 or GA800, make sure that the option software version is PRG: 2.01 or later.

  • Page 9: Receiving

    A Phillips screwdriver PH1 (#1) or PH2 (#2) is required to install the Communication Option card. Note: Tools required to prepare communication network cables for wiring are not listed in this manual. YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...

  • Page 10: Ethercat Option Components

    LEDs. <2> Connect the provided ground wire during installation. Installation on GA700 and GA800 drives does not require the ground wire. Figure 2 Option Card YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 11 The module is connected to Ethernet. Green A communication cable is physically connected, but no data is being exchanged. Green Flickering There is traffic on Ethernet, data is being exchanged. YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 12 Blinking 1 Hz: Firmware loader protocol in IDLE state (waiting (1 Hz or 6 Hz) for commands from drive) 6 Hz: Firmware loader protocol is processing commands YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 13 200 ms 200 ms 200 ms 200 ms 200 ms 1000 ms Triple Flash 200 ms 200 ms 200 ms 200 ms 1000 ms n Flashes Figure 4 Meaning of LED Flash Rates YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 14 YASKAWA recommends using EtherCAT dedicated Cat5e or better communication cables. Network Termination If the drive is the last node in the network, network termination is automatically realized by the ASIC of the Communication Option card. YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...

  • Page 15: Mechanical & Electrical Installation

    Do not remove covers or touch circuit boards while the drive is energized. Failure to comply could cause death or serious injury. YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 16 Failure to comply could prevent proper operation and damage equipment. Confirm that all connections are correct after installing the option and connecting peripheral devices. Failure to comply could damage the option. YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 17 Table 4 Procedures for Installing and Wiring Options on a Drive Procedures for Installing and Product Series Page Wiring Options on a Drive A1000 Procedure A GA700 Procedure B GA800 Procedure B YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 18 O – Connector CN5-C (Not available for communication H – Included screws option installation.) I – Ground wire J – Option modular connector OUT Figure 5 Drive Components with Option YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 19 Failure to comply could cause ESD damage to circuitry. Figure 7 A1000 Figure 6 Remove the keypad, Front Cover, and Terminal Cover YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 20 (H). Tighten the screw to 0.5 to 0.6 Nm (4.4 to 5.3 inlb). Figure 9 A1000 Figure 8 Insert the Option YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 21 Figure 9 Connect the Ground Wire Note: The drive has only two ground terminal screw holes (I). Two ground wires should share the same ground terminal when connecting three options. YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 22 <1> <1> The drive will not meet Enclosed wall-mounted type (IP20/UL Type 1) requirements if wiring is exposed outside the enclosure. Figure 10 Wire Routing Examples YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 23 NOTICE: Do not pinch cables between the front covers and the drive. Failure to comply could cause erroneous operation. Figure 12 A1000 Figure 11 Replace the Front Covers and Keypad Set drive parameters in Table 5 for correct option performance. YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 24 This section shows the procedure to install and wire the option on a GA700 or GA800 drive. Prepare the Drive for the Option Before you install the option on a YASKAWA AC Drive GA700 or GA800, make sure that the option software version is PRG: 2.01 or later.
  • Page 25 Affix the LED label (E) in the appropriate position on the drive front cover (D). Figure 14 RUN ERR L/A IN L/ A OUT A1000 Figure 13 Affix the LED Label YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 26 Insert the keypad connector tab into the holder when installing the keypad connector to the holder. Holder Keypad connector tab Keypad connector Figure 14 Remove the Front Cover and Keypad YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 27 The option package ships with three screws and a ground wire for installation on other product series. Figure 17 A1000 Figure 16 Insert the Option Card YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 28 At that time, insert the keypad connector tab into the drive. Keypad connector Figure 17 Replace the Front Cover and Keypad Set drive parameters in Table 5 for correct option performance. YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 29 ESI file can be obtained from these sources: 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. YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...

  • Page 30: Ethercat Option Related Drive Parameters

    0: Torque reference/torque limit via network F6-06 Torque Limit selection communications are disabled. from Communications 1: Torque reference/torque limit via network <6> <7> Option communications are enabled. <8> YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 31 (output frequency) and 2200 (Hex) (motor speed). Furthermore o1-03 must be set to 2 and E2-04 must be set to the correct value in order to use the Drive Profile DSP402. YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...

  • Page 32: Supported Modes Of Operation

    • DSP 402 Ver. 3.0 Velocity Mode To reset a mode, a power cycle is necessary. Note: If an object of the range 6xxx is used, the DSP402 mode is used. YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...

  • Page 33: Object Dictionary

    Speed Reference/Speed Limit 2020 Torque Reference/Torque Limit 2030 Torque Compensation 2040 MEMOBUS/Modbus Read Request 2050 MEMOBUS/Modbus Write Request 2051 Advanced MEMOBUS/Modbus Write Request 2060 MEMOBUS/Modbus Unlimited Enter Command YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 34 Selectable (default: none) 21E0 Selectable (default: none) 21F0 Selectable (default: none) 2200 Motor Speed 2210 DC Bus Voltage 2220 Analog input monitor A1 2240 Analog input monitor A2 YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 35 6046 vl velocity min max amount 6048 vl velocity acceleration 6049 vl velocity deceleration 604A vl velocity quick stop 604C vl dimension factor 604D vl pole number YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...

  • Page 36: Process Data Objects (Pdo)

    The drive supports 15 Receive and 16 Transmit PDOs. The following tables show available PDOs, their default settings and the objects required to set up when changing the PDO configuration or the PDO mapping. YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 37 Sub-index 6: 6043:0, 2-bytes (DSP402 vl velocity demand) Sub-index 1: 2100:1, 2-bytes (Drive status) Sub-index 2: 5001:0, 2-bytes (Input voltage) 1A50 Sub-index 3: 5003:0, 2-bytes (AC power) Sub-index 4: 2210:1, 2-bytes (DC bus voltage) YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 38 Sub-index 1: 2020:1, 2-bytes (Torque reference/limit) 1625 Sub-index 1: 2030:1, 2-bytes (Torque compensation) 1626 Sub-index 1: 2040:1, 4-bytes (MEMOBUS read request) 1627 Sub-index 1: 2050:1, 4-bytes (MEMOBUS write request) 1628 YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...

  • Page 39: Examples

    2. In the projecting view, right-click the EC-Mastersystem (100) and select Add new device..3. In the dialog box, select ESI on the left pane. YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 40 10 Examples 4. Navigate to Vendor > Yaskawa Electric Corporation > Drives and select your inverter drive. Confirm with OK. YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 41 10 Examples Result After following the procedure, the YASKAWA inverter drive is ready for further use. Figure 19 YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 42 1. Click Action > Import XML Description... to import the device description file for the communication option card. 2. In the project tree, right-click I/O Devices in the I/O - Configuration node and select Scan Devices..Figure 20 YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 43 3. Make sure the EtherCAT device (line two in the graphic) is selected and confirm with OK. Figure 21 4. TwinCAT System Manager will ask you to scan for boxes. Select Yes. Figure 22 YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 44 10 Examples Result After following the procedure, the YASKAWA inverter drive is ready for further use. Figure 23 YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...

  • Page 45: Troubleshooting

    Connect the option card to the correct connector. oFA00 Not supported compatible with the CN5-A Note: The PG option card could not be connected to connector was connected. the CN5-A connector. YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 46 The same option card or the same type of option card has oFC02 DuplicateOptions Connect the option card to the correct connector. been connected to the CN5-A, B, and C connectors. YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 47 Possible cause: Drive fault: OFx30 channel. Drive COMID error Option card system is • Force EtherCAT state overloaded. change to SAFE_OP. Option card is not properly processing the state. YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 48 Drive reported invalid Option will log FATAL sequence copyright string copyright string in event record in NVS Replace option card. mismatch. power-up process. memory and set ERR LED: solid RED. YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 49 Enable the termination resistor in the last Termination resistor setting for drive in a MEMOBUS/Modbus network MEMOBUS/Modbus by setting DIP switch S2 to the ON communications is incorrect. position. YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 50 Reload Now], the drive does not Parameters compatible or if you install an incorrect update the communication option option to the drive, it will trigger an parameters. alarm. YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...

  • Page 51: European Standards

    CE standards. Verify that conditions meet European standards after setting up the device. YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 52 Figure Figure 25 A – Braided shield cable C – Cable clamp (conductive) B – Metal panel Figure 20 Ground Area YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 53 Cable clamp I/O option I/O device CN5-A, CN5-B, CN5-C Cable clamp Communication Master option CN5-A Figure 21 Option Installation for CE Compliance (PG-, DI-, DO-, AI-, AO-, SI-) YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...

  • Page 54: Specifications

    -20°C to +60°C (-4°F to 140°F) (allowed for short-term transport of the product) Area of Use Indoor (free of corrosive gas, airborne particles, etc.) Altitude Up to 1000 m (3280 ft) YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 55 Revision: Reviewed and corrected entire documentation. November 2018 <2> Back cover Revision: Address June 2018 <1> Revision: Reviewed and corrected entire documentation. February 2018 – – First Edition YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual...
  • Page 56 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: +1-800-YASKAWA (927-5292) or +1-847-887-7000 Fax: +1-847-887-7310 http://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 http://www.yaskawa.com.br...

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