YASKAWA MECHATROLINK-III SI-ET3 Technical Manual
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YASKAWA MECHATROLINK-III SI-ET3 Technical Manual

YASKAWA MECHATROLINK-III SI-ET3 Technical Manual

Ac drive option
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YASKAWA AC Drive Option
MECHATROLINK-III
Technical Manual
Model
SI-ET3
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 88F

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  • Page 1 YASKAWA AC Drive Option MECHATROLINK-III Technical Manual Model SI-ET3 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 88F...
  • Page 2 This Page Intentionally Blank YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 3 8. MECHATROLINK-III Commands ....... . . 26 YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 4 Disposal Instructions ............51 YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 5 Revision History........... 53 YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...

  • Page 6: 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 7: 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 8 Refer to “PRG” on the drive nameplate for the software version number. 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: 6202 or later.

  • Page 9: Installation Tools

    MECHATROLINK-II Option LED Display on page 10 for more information about the LEDs. Connect the provided ground wire during installation. The ground wire is not necessary for installation on GA700, GA800, CR700, and CH700 drives. YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...

  • Page 10: Installation Procedure

    50 Vdc. When all indicators are OFF, measure for dangerous voltages to make sure that the drive is safe. If you do work on the drive when it is energized, it will cause serious injury or death from electrical shock. YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 11 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: 6202 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 88F MECHATROLINK-III Technical Manual...
  • Page 13 • Tighten both 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 88F MECHATROLINK-III Technical Manual...
  • Page 14 Do not pinch cables between the front covers and the drive. Failure to comply could cause erroneous operation. A - Drive front cover C - Drive terminal cover B - Keypad Figure 5.7 Replace the Front Covers and Keypad YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 15 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 GA500, GA700, GA800, CR700, or CH700, make sure that the option software version is PRG: 6202 or later.
  • Page 16 • Make sure that the LED status ring board is safe after you remove it from the bracket. • Do not remove the LED Status Ring board cable connector. Failure to comply could cause erroneous operation and damage the drive. YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 17 Do not pinch cables between the front cover or the LED Status Ring board and the drive. Failure to comply could cause erroneous operation. Note: • Replace the keypad connector then install the keypad. • At that time, insert the keypad connector tab into the drive. YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...

  • Page 18: Option Connection Diagram

    Connect the MECHATROLINK-III cable to connector CN1 or CN2. Connect the provided ground wire for installations on 1000-series drives and GA500 drives. The ground wire is not necessary for installation on GA700, GA800, CR700, or CH700 drives. YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...

  • Page 19: Communication Cable Topology

    10 m (393.7 in) JEPMC-W6013-10-E 20 m (787.4 in) JEPMC-W6013-20-E 30 m (1181.1 in) JEPMC-W6013-30-E MECHATROLINK-III connection with ferrite core 50 m (1968.5 in) JEPMC-W6013-50-E 75 m (2952.8 in) JEPMC-W6013-75-E 100 m (3937.0 in) JEPMC-W6013-100-E YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...

  • Page 20: Related Drive Parameters

    When you set this parameter to 3 or 4, the drive will continue operation after it detects a fault. If you set this parameter to 3 or 4, make sure that you install an emergency stop switch. YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...

  • Page 21: Transmission Interface

    The option sends response data timed to the reception of command data for the local station address from the master in each transmission cycle to communicate. The command and response data formats follow the specifications for the MECHATROLINK Drive commands. YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 22 This section describes the specifications of the standard profile common commands. Table 7.1 lists the data format and the common commands and responses. Standard inverter profile commands fix the data length at 32 bytes for main commands and sub-commands. YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 23 • SUBCMD/RSUBCMD: Command code specified for individual commands. Refer to page 42. Sub-Commands • SUB_CTRL: Refer to page 42. • SUB_STAT: Refer to page 42. ・ • SUB_CMD_DATA/SUB_RSP_DATA: Specified for individual commands. Refer to page 42. SUB_CMD_DATA SUB_RSP_DATA ・ YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...

  • Page 24: Communication Phases

    Write Parameter Command PRM_WR ○ ○ ID_RD Read ID Number Command ○ ○ Setup Device Command CONFIG ○ ○ Read Alarm and Warning Command ALM_RD ○ ○ Clear Alarm and Warning Command ALM_CLR ○ ○ YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 25 If the drive is currently processing a main command or a sub-command, the drive gives priority to the command being processed. The sub-command is given priority if an INV_CTL main command and an INV_I/O sub- command conflict. YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 26 ALM_CLR_CMP = 1 means that CMD_CTRL.ALM_CLR = 1 has been received and alarm clear processing has been completed. ALM_CLR_CMP 0: Other CMDRDY 1: Command reception enabled 0: Normal operation D_WAR 1: The device is in the warning state. 0: Normal operation D_ALM 1: The device is in the alarm state. YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...

  • Page 27: Main Commands

    The NOP command is used for network control. The current state is returned as a response. This command can be used in all phases. NOP Command Byte Command Description NOP (00 (Hex.)) Command code Watchdog data CMD_CTRL Refer to page 26. ・ Reserved (0) Not used ・ YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 28 The value (Lower) set in the command. The value (Upper) set in the command. SIZE The SIZE is the same as the register number set in MEMOBUS/Modbus transfers. Reserved (0) 0 is set. YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 29 RWDT Watchdog data Refer to page 26. CMD_STAT If the SIZE data is invalid, “9” is set for CMD_ALM. The value (Lower) set in the command. The value (Upper) set in the command. YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 30 ID_CODE Refer to Table 9.1 for more information. OFFSET Set the offset in byte. Set the size in byte. (Lower) SIZE Set the size in byte. (Upper) ・ Reserved (0) Not used ・ YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 31 List of Supported Common Parameters 32 byte 0: 0.01 Hz units 1: 0.01% units Speed reference unit/Output reference unit 4 byte 2: min (r/min) units 3: Units in the product specifications 4 and above: Reserved YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 32 Note: The EEPROM can only be written to 100,000 times, so it is recommended to limit the number of times writing to the EEPROM. Change all the parameters then issue the CONFIG command. YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 33 Present fault (Byte 6), Fault history (Byte 8 - 11) U2-01, U2-02 Alarm status list (Byte 8 - 27) U3-01 - U3-10 Fault history (Alarms are not retained in the history.) U2-01, U3-01 - U3-10 (Byte 8 - 9) YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 34 ALM_CLR Command Byte Command Description ALM_CLR (06 (Hex.)) Command code Watchdog data CMD_CTRL Refer to page 26. ALM_CLR_MOD 0: Clears the status of present faults and alarms. ・ Reserved (0) Not used ・ YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 35 Refer to page 26. Reserved (0) Not used ・ ・ SYNC_SET Response Byte Response Description SYNC_SET (0D (Hex.)) Command code RWDT Watchdog data CMD_STAT Refer to page 26. Reserved (0) Not used ・ ・ YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 36 Performs asynchronous communication SYNCMODE Synchronization setting Performs synchronous communication ◆ DISCONNECT: 0F (Hex.) (Release Connection Command) The DISCONNECT command releases the connection. The communication phase shifts to communication phase 1 after this command is completed. YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 37 Use the SEL_MON1/2 command to select the contents of MON1 with bits 0 to 3 and to select the contents of MON2 with SEL_MON1/2 bits 4 to 7. Refer to Table 9.8 for the selection ranges for SEL_MON1/2. Reserved (0) Not used YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 38 0: Multi-function input terminal S5 is OFF 1: Multi-function input terminal S5 is ON Multi-function input terminal S6 Multi-function input terminal 6 0: Multi-function input terminal S6 is OFF 1: Multi-function input terminal S6 is ON YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 39 Detection PG1 Counter GA500: Not used Frequency Reference Displayed in U1-01 and determined by o1-03. Analog input Terminal A2 Displayed in U1-14 (0.1%). DC Bus Voltage Displayed in U1-07 (1 V). Inverter Alarm Inverter Warning YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 40 Not used (Set to 0.) Not used (Set to 0.) Monitor data set to SEL_MON2 (Lower) Monitor data set to SEL_MON2 (Upper) Monitor data set to SEL_MON2 Not used (Set to 0.) Not used (Set to 0.) YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 41 0: Disabled SEL_MON2 Status 1: SEL_MON2 enabled ■ INVCMD_IO Response Vendor Specific bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Not used Vendor Specific bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 Not used YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...

  • Page 42: Sub-Command

    1: SEL_MON3 enabled SEL_MON4 Status 0: Disabled 1: SEL_MON4 enabled SEL_MON5 Status 0: Disabled 1: SEL_MON5 enabled SEL_MON6 Status 0: Disabled 1: SEL_MON6 enabled Table 10.3 SUBCMD_ALM Code (Hex.) Description Normal Warning Invalid data YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 43 Description PRM_RD (01 (Hex.)) Command code SUB_CTRL Refer to page 42. MEMOBUS/Modbus register number (Lower) MEMOBUS/Modbus register number (Upper) SIZE Data size to read [units: byte] 2, 4, 6, and 8 are available. YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 44 Specify the parameter data size in bytes. SIZE 2, 4, 6, and 8 are available. Reserved (0) Not used PARAMETER Specify the lower byte (LSB) before the upper byte (MSB) in the size set in the SIZE. ・ ・ YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 45 Specify the alarm index. The command is enabled when ALM_RD_MODE is 2. (Lower) ALM_INDEX Specify the alarm index. The command is enabled when ALM_RD_MODE is 2. (Upper) Reserved (0) Not used ・ ・ YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 46 Not used (Set to 0.) Not used (Set to 0.) Reference selected with SEL_REF5 (Lower) Reference selected with SEL_REF5 (Upper) Reference selected with SEL_ REF5 Not used (Set to 0.) Not used (Set to 0.) YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...

  • Page 47: Troubleshooting

    Drive-side error codes appear on the drive keypad. Faults on page 48 lists causes of the errors and possible corrective actions. Refer to the drive Technical Manual for additional error codes that may appear on the drive keypad. YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 48 To use other options, refer to those option manuals. An option of the same type is already installed in Connect the option to the correct option port. oFb02 Option Fault option port CN5-A, CN5-B, or CN5-C. YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...

  • Page 49: European Standards

    Communication circuitry is damaged. • 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. MECHATROLINK The upper controller is using a communication Set the communication cycle for the upper controller within the...

  • Page 50: Emc Guidelines Compliance

    C - Cable clamp (conductive) B - Metal panel Figure 12.2 Ground Area ■ Option Installation for CE Compliance: 1000-Series, GA700, GA800, CR700, CH700 Figure 12.3 Option Installation for CE Compliance: 1000-Series, GA700, GA800, CR700, CH700 YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...

  • Page 51: Specifications

    Refer to the host controller manual for details. Disposal ◆ Disposal Instructions Correctly dispose of the product and packing material as specified by applicable regional, local, and municipal laws and regulations. YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...

  • Page 52: Weee Directive

    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 88F MECHATROLINK-III Technical Manual...

  • Page 53: Revision History

    Revision: Reviewed and corrected entire documentation Revision: Reviewed and corrected entire documentation October 2017 Addition: Applicable product series Revision: Reviewed and corrected entire documentation October 2016 Revision: Applicable product series June 2016 First edition YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual...
  • Page 54 Specifications are subject to change without notice for ongoing product modifications and CORPORATION improvements. Contact Yaskawa or your nearest sales representative for more information about the contents of this manual. © 2016 YASKAWA ELECTRIC CORPORATION MANUAL NO. SIEP C730600 88F <5>-0...

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