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YASKAWA CANopen SI-S3/V Installation Manual

For the v1000 ac drive
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YASKAWA AC Drive-V1000 Option
CANopen Communications
Installation Manual
Type SI-S3/V
To properly use the product, read this manual thoroughly and retain
for easy reference, inspection, and maintenance. Ensure the end user
receives this manual.
V1000
CANopen
取扱説明書 
形式 
SI-S3/V
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 24A
オプション 
通信 
 

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Summary of Contents for YASKAWA CANopen SI-S3/V

  • Page 1 YASKAWA AC Drive-V1000 Option CANopen Communications Installation Manual Type SI-S3/V To properly use the product, read this manual thoroughly and retain for easy reference, inspection, and maintenance. Ensure the end user receives this manual. V1000 オプション  CANopen 通信  取扱説明書  形式 ...
  • Page 2 Yaskawa. No patent liability is assumed with respect to the use of the informa- tion contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is sub- ject to change without notice.

  • Page 3: Table Of Contents

    9 Specifications ......37 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual...

  • Page 4: 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 5 Note: Indicates a supplement or precaution that does not cause drive damage. Drive: Yaskawa AC Drive -V1000 Series CANopen Option: Yaskawa AC Drive -SI-S3/V CANopen option unit for the Yaskawa V1000 drive YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual...
  • Page 6 Registered Trademarks • 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 TOBP C730600 24A V1000 Option 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 a property damage message. YASKAWA TOBP C730600 24A V1000 Option 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 Attendre 5 minutes apres la coupure de l'alimentation, pour permettre la decharge des condensateurs. Pour repondre aux exigences , s assurer que le neutre soit relie a la terre, pour la serie 400V. YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual...

  • Page 10: Product Overview

    Table 1 Applicable Models Drive Software Version <1> CIMR-V 5010，1010 or later CIMR-V 5010，1010 or later CIMR-V 5010，1010 or later <1>See “PRG” on the drive nameplate for the software version number. YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual...

  • Page 11: Receiving

    CANopen Option. <1>Screw sizes vary by drive capacity. Select a screwdriver that matches the drive capacity. Note: Tools required to prepare CANopen cables for wiring are not listed in this manual. YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual...

  • Page 12: Canopen Option Components

    (9 pin D-SUB) F – PCB part number L – Option board connector Figure 1 Option Unit <1>Cables are not connected to the CANopen and are packaged separately in the box. YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual...
  • Page 13 4 CANopen Option Components ◆ Dimensions The installed CANopen Option adds 27 mm (1.06 in.) to the total depth of the drive. 27 mm (1.06 in.) Figure 2 Dimensions YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual...
  • Page 14 CAN_L bus line (dominant low) Bottom View CAN_GND CAN Ground – – CAN_SHLD CAN shield – – CAN_H CAN_H bus line (dominant high) – – – – – CAN_SHLD CAN shield YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual...
  • Page 15 Receiving CAN error frame (too many error frames) Double flash Guard / Heartbeat event has occurred Online Figure 4 explained the indicator flash rates. Blinking Single flash Double flash Figure 4 LED Flash Rates and Meaning YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual...
  • Page 16 1 and 127 but has to be unique in the network. If the Node ID is set to 0 communications will not be possible and the ERR LED will flash. YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual...

  • Page 17: 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 TOBP C730600 24A V1000 Option CANopen Installation Manual...
  • Page 18 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 TOBP C730600 24A V1000 Option CANopen Installation Manual...
  • Page 19 Check wiring to ensure that all connections are correct after installing the option unit and connecting any other devices. Failure to comply may result in damage to the option unit. YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual...
  • Page 20 Figure 6 Terminating Diagram <1>The FE terminal on the CANopen Option must be connected to the drive ground terminal using one of the 4 delivered ground wires. YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual...
  • Page 21 Figure 7 Remove Front Cover 3. Remove the bottom cover and connect the CANopen Option ground cable to the ground terminal. ground terminal ground cable bottom cover Figure 8 Connect Ground Cable YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual...
  • Page 22 Remove the terminal cover before removing the bottom cover to install the CANopen Option ground cable. Replace the terminal cover after wiring the CANopen Option ground cable. Figure 10 Models with Terminal Cover YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual...
  • Page 23 CANopen Option. drive ground ground cable terminal through-hole Pass the ground ground for ground cable cable through cable the bottom cover of the drive. Figure 12 Ground Cable Connection YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual...
  • Page 24 Note: When using the drive in an area that may require displaying warning information in Japanese or Chinese, a sticker has been provided with the CANopen Option. This sticker can be placed over the English and French warnings on the front of the CANopen Option. YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual...
  • Page 25 ◆ EDS Files For easy network implementation of drives equipped with a SI-S3/V, an EDS file can be obtained from: Europe: http://www.yaskawa.eu.com Japan: https://www.e-mechatronics.com Other areas: contact a Yaskawa representative YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual...

  • Page 26: Canopen Parameters

    Set the maximum time the drive should wait for a bUS Error Detection Delay F6-04 communication error to occur (bUS). 0.05 s Time Range 0.00 to 5.00 s F6-35 Node Address 0 to 127 <6> （1012 or later） <7> YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual...
  • Page 27 <6>All node addresses must be unique. The ERR light will illuminate when 0 or greater than 127 is entered. <7>Default setting is 99 for software versions 5010, 1010, and 1011. <8>The setting of o1-03 affects the data format in Object 2200 (Hex.) (Motor Speed) YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual...

  • Page 28: Communication Objects Overview

    Guard Time 100D 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 TOBP C730600 24A V1000 Option CANopen Installation Manual...
  • Page 29 MEMOBUS Not Limited Enter Command Response 2200 Motor Speed <1> <1>Unit depends on the setting of o1-03 (Digital Operator Display Scaling). The register content is zero if the drive is set for V/f control. YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual...
  • Page 30 60FE Digital Output <2> <1>YASKAWA specifies this object as the drive digital output monitor. (Input of the network) <2>YASKAWA specifies this object as additional digital inputs of the drive. (Output of the network) Device Control ■ Index (Hex.) Object Name...
  • Page 31 7 Communication Objects Overview Index (Hex.) Object Name 6048 vl_velocity_acceleration 6049 vl_velocity_deceleration 604A vl_velocity_quick_stop 604C vl_dimension_factor 604D vl_pole_number YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual...
  • Page 32 1624 Not assigned 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 TOBP C730600 24A V1000 Option CANopen Installation Manual...
  • Page 33 1A24 Not assigned 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 TOBP C730600 24A V1000 Option CANopen Installation Manual...

  • Page 34: Fault Diagnosis And Possible Solutions

    • Is the communication line properly connected to the CANopen Option? Is it loose? • Is the controller program working? Has the controller CPU stopped? • Did a momentary power loss interrupt communications? YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual...
  • Page 35 Fault Name CANopen Option Fault oFA00 CANopen Option is not properly connected. Cause Possible Solution Non-compatible option connected to ⇒ Connect an option that is compatible with the drive. the drive. YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual...
  • Page 36 ⇒ Replace the CANopen Option. CANopen Option hardware fault. LED Operator Display Fault Name CANopen Option Fault oFA04 CANopen Option Flash write mode Cause Possible Solution ⇒ Replace the CANopen Option. CANopen Option hardware fault. YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual...

  • Page 37: Specifications

    95% Rh (no condensation) –20 °C to +60 °C (allowed for short-term transport of the product) Storage Temperature Area of Use Indoors (free of corrosive gas, airborne particles, etc.) Altitude Up to 1000 m YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual...
  • Page 38 MANUAL NO. TOBP C730600 24A Printed in Japan August 2007 07-8 Date of printing Date of original publication Date of Priting Rev. No. Section Revised Content − − August 2007 First edition YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual...
  • Page 39 Specifications are subject to change without notice for ongoing product modifications and improvements. © 2007 YASKAWA ELECTRIC CORPORATION. All rights reserved. MANUAL NO. TOBP C730600 24A...

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