YASKAWA MECHATROLINK-II SI-T3 Technical Manual
  1. Manuals
  2. Brands
  3. YASKAWA Manuals
  4. Controller
  5. SI-T3 MECHATROLINK-II A1000 Series
  6. Technical manual
YASKAWA MECHATROLINK-II SI-T3 Technical Manual

YASKAWA MECHATROLINK-II SI-T3 Technical Manual

Ac drive option
Hide thumbs Also See for MECHATROLINK-II SI-T3:
Table of Contents

Advertisement

Quick Links

Download this manual See also: Installation Manual
YASKAWA AC Drive Option
MECHATROLINK-II
Technical Manual
Model
SI-T3
To properly use the product, read this manual thoroughly and retain for easy
reference, inspection, and maintenance. Ensure the end user receives this
manual.
MANUAL NO. SIEP C730600 86F

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the MECHATROLINK-II SI-T3 and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for YASKAWA MECHATROLINK-II SI-T3

Summary of Contents for YASKAWA MECHATROLINK-II SI-T3

  • Page 1 YASKAWA AC Drive Option MECHATROLINK-II Technical Manual Model SI-T3 To properly use the product, read this manual thoroughly and retain for easy reference, inspection, and maintenance. Ensure the end user receives this manual. MANUAL NO. SIEP C730600 86F...
  • Page 2 This Page Intentionally Blank YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...

  • Page 3: Table Of Contents

    8. MECHATROLINK-II Commands ........25 YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...
  • Page 4 Revision History........... 47 YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...

  • Page 5: Preface And Safety

    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 6: Supplemental Safety Information

    • 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 7: Install The Option On A Ga500 Drive

    ≥1012 Refer to “PRG” on the drive nameplate for the software version number. Before you install the option on a YASKAWA AC Drive U1000 or Z1000U, make sure that the option software version is PRG: 6107 or later. Before you install the option on a YASKAWA AC Drive GA500, GA700, GA800, CR700, or CH700, make sure that the option software version is PRG: 6108 or later.

  • Page 8: Receiving

    • Make sure that the model number on the option nameplate and the model number on the purchase order are the same. Refer to Figure 4.1 for more information. • Contact the distributor where the option was purchased or contact Yaskawa or a Yaskawa representative about any problems with the option. ◆ Contents and Packaging Table 3.1 Contents of Package...

  • Page 9: Drive Components With Option

    Send/receive data (–) SRD+ Send/receive data (+) (NC) Shell Shield (NC) SRD– Send/receive data (–) SRD+ Send/receive data (+) (NC) Shell Shield Note: Connectors A and B are available for the same functions. YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...

  • Page 10: Mechatrolink-Ii Option Led Display

    Incorrect connections can also cause death or serious injury from fire. NOTICE Observe correct electrostatic discharge (ESD) procedures when touching the option. Failure to obey can cause ESD damage to the option circuitry. YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...

  • Page 11: Procedures For Installing And Wiring Options On A Drive

    Procedure B To install the option on GA500 drives, use the option card mounting kit manual. Before you install the option on a YASKAWA AC Drive GA500, make sure that the option software version is PRG: 6108 or later. ■...
  • Page 12 Observe correct electrostatic discharge (ESD) procedures when touching the option. Failure to obey can cause ESD damage to the option 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 86F MECHATROLINK-II Technical Manual...
  • Page 13 • Tighten the screws to 0.5 to 0.6 N•m (4.4 to 5.3 in•lb). A - Option C - Ground wire B - Drive grounding terminal (FE) D - Included screws Figure 5.5 Connect the Ground Wire YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...
  • Page 14 Refer to the manual packaged with the drive for more information about how to reattach the keypad and covers. NOTICE Do not pinch cables between the front covers and the drive. Failure to comply could cause erroneous operation. YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...
  • Page 15 A - Drive front cover C - Drive terminal cover B - Keypad Figure 5.8 Replace the Front Covers and Keypad Set drive parameters in MECHATROLINK Option Drive Parameters on page 19 for correct option performance. YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...

  • Page 16: Procedure B

    This section shows the procedure to install and wire the option on a GA700, GA800, CR700, or CH700 drive. Prepare the Drive for the Option Before you install the option on a YASKAWA AC Drive GA700, GA800, CR700, or CH700, make sure that the option software version is PRG: 6108 or later.
  • Page 17 1. A ground wire is not necessary. The option package ships with three screws and a ground wire for installation on other product series. Do not use the ground wire or the extra screw. 2. Only two screws are necessary to install the option on GA700, GA800, CR700, and CH700 drives. YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...

  • Page 18: Mechatrolink-Ii Communications Cables

    ◆ MECHATROLINK-II Communications Cables Connect the MECHATROLINK-II communication cable to option communication connector CN3. Use only these MECHATROLINK-II dedicated communications cables: • JEPMC-W6002-xx-E Recommended communication cables • JEPMC-W6003-xx-E (with a core) YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...

  • Page 19: Option Connection Diagram

    A1000 software versions PRG: 1021 and later. • The setting range for 1000-Series drives is different for different software versions. Refer to the Peripheral Devices & Options section of the drive instruction manual for more information. YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...
  • Page 20 MON 5/6 of INV_I/O to 0F (Hex.) to enable the register set with F6-24. Bytes of the response data enable the register content set with F6-24. Refer to the manual packaged with the drive for more information about registers that you can set. YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...

  • Page 21: Transmission Interface

    If 32-byte data transmission is selected, only the first 29 bytes are used as application data. The first 30 bytes are used only when the INV_I/O sub-command is used. YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...

  • Page 22: Communication Phases

    The SI-T3 option changes status after it receives a command code or fault from the master as shown in the figure. The communication phases determine the available commands. Refer to Table 7.1 Table 7.2 for more information. YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...

  • Page 23: Phase 1: Initial Status After Power On

    The SI-T3 option uses the main commands and sub-commands in the following tables. Table 7.1 Main Command Code Name Function (Hex.) No Operation PRM_RD Read Parameter Write Parameter PRM_WR Read ID Number ID_RD CONFIG RAM Write and EEPROM Write Read Alarm and Warning ALM_RD YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...
  • Page 24 INV_CTL Note: If there is a conflict between a main command and a sub-command, it will cause a command warning (A.95). For more information about the alarm, refer to Other Faults on page YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...

  • Page 25: Mechatrolink-Ii Commands

    The values for the number (NO) and the size (SIZE) in the response data are copies of the values in the command data. Example when reading C1-01 (200 (Hex.)) Table 8.1 Example when reading C1-01 (200 (Hex.)) Byte Command (Hex.) Response (Hex.) Lower byte of C1-01 Upper byte of C1-01 YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...

  • Page 26: Prm_Wr: 02 (Hex.) (Write Parameter)

    SIZE 8 - 15 RWDT The ID_RD command reads the product information as ID data to read the ID of a device. Table 8.3, Table 8.4, and Table 8.5 show the applicable DEVICE_CODE. YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...

  • Page 27: Config: 04 (Hex.) (Ram Write And Eeprom Write)

    Identifies the SI-T3 software version. Identifies the Drive software version. Identifies the Product series name. Refer to the Model Number section of the drive Technical Manual for more information. When using YASKAWA AC Drive GA500, GA700, GA800, CR700, and CH700 Table 8.5 DEVICE_CODE DEVICE_CODE...

  • Page 28: Alm_Rd: 05 (Hex.) (Read Alarm And Warning)

    The fault history is saved in EEPROM and is kept even when the control power is interrupted. • If ALM_RD_MOD is set to 0: Fault code (1 byte) is entered to byte 6 of ALM_DATA, and byte 7 becomes the value of the previous fault. YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...

  • Page 29: Alm_Clr: 06 (Hex.) (Clear Alarm And Warning)

    Only the ALARM and STATUS fields of the response data can be monitored. In the following case, a warning is generated and the command is ignored. • If not in phase 2 or 3: Command warning (A.95) YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...

  • Page 30: Connect: 0E (Hex.) (Connect)

    Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 DTMOD SYNCMOD EXMOD DTMOD Communication Mode Single data transfer mode Move to phase 2 (Asynchronous communications status) SYNCMOD Transmission Synchronization Move to phase 3 (Synchronous communications status) YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...

  • Page 31: Disconnect: 0F (Hex.) (Disconnect)

    The settings are saved in the drive until the next data is received or until the power is turned OFF. For details on operation signals, refer to Table 8.10. The speed reference and the output frequency drives can be selected with o1-03. YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...
  • Page 32 Table 8.11 SEL REF1/2 (3/4, 5/6) Selection Range Item Remarks Nothing Selected Torque Compensation Drive: 0.1% Analog output terminal 1 output Enabled when H4-01 = 000 Analog output terminal 2 output Enabled when H4-04 = 000 YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...
  • Page 33 Terminal P1-C1 (Enabled when H2-02 = F) Bit2: Terminal P2-C2 Terminal P2-C2 (Enabled when H2-03 = F) • YASKAWA AC Drive GA700, GA800, CR700, and CH700 • YASKAWA AC Drive GA700, GA800, CR700, and CH700 Drive terminal output Multi-function digital output 1 (Enable when H2-01 = F)

  • Page 34: Sub-Commands

    • If a register number (NO) fault occurs: Data setting warning (A.94) • If SIZE is an odd number or is not between 2 and 8: Data setting warning (A.94) • Data upper/lower limit fault: Data setting warning (A.94) YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...

  • Page 35: Alm_Rd: 05 (Hex.) (Read Alarm And Warning)

    In the following case, a warning is generated and the command is ignored. • If not in phase 2 or 3: Command warning (A.95) ◆ Status This section describes the STATUS field for main commands and the SUBSTATUS field for sub-commands. YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...

  • Page 36: Status Field

    SUBSTATUS Field Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 SUBCMDRDY SUBWARNG SUBALM No alarm SUBALM Sub-command alarm Alarm No warning SUBWARNG Sub-command warning Warning Busy SUBCMDRDY Sub-command ready (Sub-command can be received.) Ready YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...

  • Page 37: Troubleshooting

    Warning with the smaller warning code ◆ Alarm Processing ■ SI-T3 Communications Fault Detection The following tables show the communications faults detected by the SI-T3 and the conditions in which they can be detected. YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...

  • Page 38: Other Faults

    Table 9.8 Drive Alarm Codes ALRM Code (Hex.) Keypad Display Description Safety Circuit Fault Note: When using YASKAWA AC Drive 1000-Series, “SCF” (Safety Circuit Fault) will not be displayed. DC Bus Undervoltage Control Power Undervoltage Soft Charge Answerback Fault Ground Fault Overcurrent...
  • Page 39 Inversion Prevention Detection Output Current Imbalance Motor Step-Out Detected Note: When using YASKAWA AC Drive GA500, GA700, GA800, CR700, and CH700, STPo [Motor Pull Out or Step Out Detection] will be displayed. PGoH Encoder (PG) Hardware Fault Speed Search Retries Exceeded...
  • Page 40 CPF24 Drive Unit Signal Fault Control Circuit Error Note: CPF26 - CPF38 When using YASKAWA AC Drive 1000-Series, CPF36 - CPF38 (ALRM code: A5 - A7) will not be displayed. MECHATROLINK Watchdog Timer Error Option Communication Error oFA00 - oFA43 Option Card Error Table 9.9 Drive Minor Fault and Alarm...
  • Page 41 Mechanical Weakening Detection 2 Output Voltage Detection Fault TrPC IGBT Maintenance Time (90%) LT-3 SoftChargeBypassRelay MainteTime LT-4 IGBT Maintenance Time (50%) Braking Transistor Overload dWAL DriveWorksEZ Fault MECHATROLINK Watchdog Timer Error Option Communication Error YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...

  • Page 42: Drive-Side Error Codes

    • Use connector CN5-B when you connect DO-A3, AO-A3, or two PG options. Use connector CN5-C when you connect only one PG option. To use other options, refer to those option manuals. YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...

  • Page 43: Minor Faults And Alarms

    • If the problem continues, replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or a Yaskawa representative. Comm. Option Parameter Not Upgraded Re-energize the drive to update the communication option...

  • Page 44: Emc Guidelines Compliance

    Figure 10.2 Option Installation for CE Compliance: 1000-Series, GA700, GA800, CR700, CH700 Figure 10.3 Option Installation for CE Compliance with GA500 Ground the largest possible surface area of the shield to the metal panel. Use cable clamps if possible. YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...

  • Page 45: Specifications

    16.) • For MECHATROLINK-II (32-byte transmission, 1.0 ms communications cycle): 9 stations max. • For MECHATROLINK-II (17-byte transmission, 1.0 ms communications cycle): 15 stations max. • For MECHATROLINK-I: 14 stations max. YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...

  • Page 46: Disposal

    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 86F MECHATROLINK-II Technical Manual...

  • Page 47: Revision History

    Revision: Reviewed and corrected entire documentation. Addition: Applicable product series Revision: Reviewed and corrected entire documentation. October 2017 Chapter 2 Addition: Note in Table 1 October 2016 Addition: Applicable product series June 2016 First Edition YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual...
  • Page 48 Phone: +81-3-5402-4502 Fax: +81-3-5402-4580 https://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...

Table of Contents