YASKAWA SI-EM3 Installation Manual
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YASKAWA SI-EM3 Installation Manual

Ac drive option modbus tcp/ip
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YASKAWA AC Drive Option
Modbus TCP/IP
Installation Manual
Model
SI-EM3
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. TOEP C730600 91B

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  • Page 1 YASKAWA AC Drive Option Modbus TCP/IP Installation Manual Model SI-EM3 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. TOEP C730600 91B...
  • Page 2 This Page Intentionally Blank YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...

  • Page 3: Table Of Contents

    Option Connection Diagram ......... . . 43 YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 4 Revision History ..........72 YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...

  • Page 5: Preface And Safety

    1 Preface and Safety Preface and Safety YASKAWA Electric supplies component parts for use in a wide variety of industrial applications. The selection and application of 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.

  • Page 6: Applicable Documentation

    Manual No.: SIEP C730600 91 Other areas: Check the back cover of these manuals. For questions, contact Yaskawa or a Yaskawa representative. Refer to the drive manual to connect with the option. Drive manuals contain basic installation and wiring information in addition to detailed parameter setting, fault diagnostic, and maintenance information.

  • Page 7: Registered Trademarks

    Electrical Shock Hazard. Do not modify the drive or option circuitry. Failure to obey can cause serious injury or death, or cause damage to the drive or option and will void warranty. Yaskawa is not responsible for modifications of the product made by the user.

  • Page 8: Overview

    A1000 CIMR-Ax4A0930, 4A1200 ≥ 3010 ≥ 5040 CIMR-Ax5Axxxx ≥ 1020 CIMR-Dx2A0005 - 4A0370 ≥ 2600 D1000 CIMR-Dx4A0630 ≥ 3014 R1000 CIMR-Rx2A03P5 - 4A0300 ≥ 2102 CIMR-UxxAxxxx CIMR-UxxExxxx U1000 ≥ 1015 CIMR-UxxPxxxx CIMR-UxxWxxxx YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 9 • Refer to the option package labeling in the field designated “PRG (four digit number)” to identify the option software version. • For Yaskawa customers in the North or South America regions: If your product is not listed in Table 2.1, refer to the web page below to confirm this manual is correct for your...

  • Page 10: Install The Option On A Ga500 Drive

    Refer to the option card mounting kit manual for more information about installation. A - Option card mounting kit C - Drive front cover components (sold separately) B - Option Figure 2.1 Option Card Mounting Kit (JOHB-GA50) Receiving After receiving the option package: YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...

  • Page 11: Option Package Contents

    EM3” on the purchase order are the same. Refer to Figure 4.1 for more information. • Contact the distributor where you purchased the option or contact Yaskawa or a Yaskawa representative about any problems with the option. ◆ Option Package Contents Table 3.1 Contents of Package...

  • Page 12: Installation Tools

    (0.1 in)) • A pair of diagonal cutting pliers. • A small file or medium-grit sandpaper. Phillips screw sizes are different for different drive capacities. Prepare different screwdrivers for different screw sizes. YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...

  • Page 13: Option Components

    The communication modular connector CN1 on the option is a modular dual RJ45 female connector designated port 1 and port 2. Port 1 and port 2 are the connection points for a customer-supplied male Modbus TCP/IP network communication cable. YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...

  • Page 14: Option Led States

    B - GA500, GA700, GA800, CR700, and CH700 Figure 4.2 Option LED Labels LED label has transparent background and white letters. Please make sure that you use the correct label for Z1000, HV600, or FP605. YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 15 Flashing network activity To verify LED states, you must remove the drive front cover. Do not touch the drive main circuit terminal or circuit boards when you remove the drive front cover. YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...

  • Page 16: Installation Procedure

    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 17: Procedure A

    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 TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 18 Shut off power to the drive and wait for the time specified on the drive warning label at a minimum. Make sure that the charge indicator LED is unlit, then remove the keypad and front cover. Refer to the drive manuals for more information. YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 19 Put the LED label (B) in the correct position on the drive front cover (A). A - Drive front cover B - LED label Figure 5.3 Put the LED Label on the Drive Front Cover YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 20 (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 in∙lb to 5.3 in∙lb) YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 21 • Route the option wiring inside the enclosure as shown in Figure 5.6-B. Refer to the drive manuals for more information. Note: Isolate communication cables from main circuit wiring and other electrical and power lines. YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 22 Reattach the front cover (A), terminal cover (C), and keypad (B). Refer to the drive manuals for more information. NOTICE Do not pinch cables between the front covers and the drive. Failure to comply could cause erroneous operation. YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...

  • Page 23: Procedure B

    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 TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 24 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 TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 25 (ESD) procedures. If you do not follow procedures, it can cause ESD damage to the drive circuitry. A - Drive front cover B - Keypad Figure 5.9 Remove the Front Cover and Keypad YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 26 Put the LED label (B) in the correct position on the drive front cover (A). A - Drive front cover B - LED label Figure 5.10 Put the LED Label on the Drive Front Cover YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 27 (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 in∙lb to 5.3 in∙lb) YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 28 Reattach the drive front cover (A) and the keypad (B). Refer to the drive manuals for more information. NOTICE Do not pinch cables between the front covers and the drive. Failure to comply could cause erroneous operation. YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...

  • Page 29: Procedure C

    Before you install the option on a YASKAWA AC Drive GA700, CR700, or CH700, make sure that the option software version is PRG: 8103 or later. Before you install the option on a YASKAWA AC Drive GA800, make sure that the option software version is PRG: 8104 or later.
  • Page 30 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 TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 31 (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 TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 32 LED Status Ring board, it can cause incorrect operation and damage to the drive. A - LED Status Ring board B - Temporary placement holes Figure 5.17 Remove the LED Status Ring Board YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 33 Maximum transmission distance is 100 m (328 ft). Minimum wiring distance between stations is 0.2 m (7.9 in). Reattach the LED Status Ring board (E), front cover (C), and keypad (D). Refer to the drive manuals for more information. YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...

  • Page 34: Procedure D

    PRG: 8103 or later. 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 TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 35 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 TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 36 (ESD) procedures. If you do not follow procedures, it can cause ESD damage to the drive circuitry. A - Drive front cover B - Keypad Figure 5.21 Remove the Front Cover and Keypad YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 37 Put the LED label (B) in the correct position on the drive front cover (A). A - Drive front cover B - LED label Figure 5.22 Put the LED Label on the Drive Front Cover YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 38 (C) to the ground terminal on the drive. Tighten the screw to a correct tightening torque: • 0.5 N∙m to 0.6 N∙m (4.4 in∙lb to 5.3 in∙lb) Note: Route ground wire on the right side of the stud (D). YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 39 Tighten the screw to a correct tightening torque: • 0.5 N∙m to 0.6 N∙m (4.4 in∙lb to 5.3 in∙lb) Note: 1. Only two screws are necessary to install the option on HV600 and FP605 drives. YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 40 Tighten the screw to a correct tightening torque: • 0.5 N∙m to 0.6 N∙m (4.4 in∙lb to 5.3 in∙lb) Note: Refer to Figure 5.26 for instructions about crimp terminal orientation (C) and wire routing. YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 41 Reattach the drive front cover (A) and the keypad (B). Refer to the drive manuals for more information. NOTICE Do not pinch cables between the front covers and the drive. Failure to comply could cause erroneous operation. YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...

  • Page 42: Communication Cable Specifications

    Set drive parameters in Related Drive Parameters on page 43 for correct option performance. ◆ Communication Cable Specifications Yaskawa recommends using shielded Cat5e cable. The Yaskawa warranty does not cover other cable types. YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...

  • Page 43: Option Connection Diagram

    These parameters set the drive for operation with the option. Make sure that the parameter settings in this table are correct before you start network communications. Note: Hex.: MEMOBUS addresses that you can use to change parameters over network communication are represented in hexadecimal numbers. YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 44 Note: • When you set this parameter to 3 or 4, the drive will continue operation after it detects a fault. Separately prepare safety protection equipment and systems, for example fast-stop switches. YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 45 Parameter is available in A1-02 = 2, 6, 8 [Control Method Selection = Open Loop Vector, PM Advanced Open Loop Vector, EZ Vector Control]. The drive reads this value as the Torque Limit. –GA700, GA800 YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 46 F6-15 Comm. Option Sets how the drive will enable the F6-xx/F7-xx Parameters communication-related parameters that you changed. (0B5B) (0 - 2) Reload 0 : Reload at Next Power Cycle YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 47 For non-1000 series drives, you can set F6- 15 = 1 [Comm. Option Parameters Reload = Reload Now]. F7-05 Subnet Mask 1 Sets the static/fixed Subnet Mask. Sets the most significant octet. (03E9) (0 - 255) YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 48 [Address Mode at Startup = Static]. • All IP Addresses must be unique. • You must cycle power to the drive for the changes to take effect. For non-1000 series drives, you can set F6- YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 49 For non-1000 series drives, you can set F6-15 = 1 [Comm. Option Parameters Reload = Reload Now]. F7-14 Duplex Mode Selects duplex mode setting. Selection (03F2) 0 : Half/Half (0 - 8) 1 : Auto/Auto 2 : Full/Full 3 : Half/Auto YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 50 • This option sets the communication speed as specified by these F7-15 settings: –10: 10/10 Mbps or 101: 10/100 Mbps, the speed is 10 Mbps. –100: 100/100 Mbps or 102: 100/10 Mbps, the speed is 100 Mbps. YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 51 • U6-90: Third octet • U6-91: Forth octet 10: 10 Mbps U6-92 Online Speed Shows link speed currently available. 100: 100 Mbps 0: Half/Half U6-93 Online Duplex Shows duplex setting currently available. 1: Full/Full YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...

  • Page 52: Modbus Tcp/Ip Messaging

    (Modbus TCP/IP registers 01 (Hex.) to 01F (Hex.)). In addition, the monitors shown in Table 7.3 are mapped for high speed access. You can read and write command data. YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 53 Multi-Function Input 2 bit6 Multi-Function Input 3 bit7 Multi-Function Input 4 bit8 Multi-Function Input 5 bit9 Multi-Function Input 6 bit A Multi-Function Input 7 bit B Multi-Function Input 8 bit C - F Reserved YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 54 Pulse train output (Units: 1/1 Hz, setting range: 0 - 32000) 000B - 000E Reserved Command selection setting Reserved bit 0 000F Input for the PID setpoint bit 1 Torque reference/torque limit input (enables the setting bit 2 from MEMOBUS/Modbus) YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 55 1: During Speed Agree 1: Drive operation ready Drive Status 2000 1: Alarm (U1-12) 1: Fault 1: During Operation Error (oPExx) 1: Momentary power loss recovery 0: Power loss recovery 1: Motor 2 Selection Reserved YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 56 Short Circuit/IGBT Failure (SC) Ground Fault (GF) Overcurrent (oC) 2009 Error Signal 1 Overvoltage (ov) Heatsink Overheat (oH) Heatsink Overheat (oH1) Motor Overload (oL1) Drive Overload (oL2) Overtorque Detection 1 (oL3) Overtorque Detection 2 (oL4) YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 57 Motor Overheat Fault (PTC input) (oH4) MEMOBUS/Modbus Communication Error (CE) Option Communication Error (bUS) Reserved Reserved 200B Error Signal 3 Control Fault (CF) Zero Servo Fault (SvE) Option External Fault (EF0) PID Feedback Loss (FbL) YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...

  • Page 58: Types Of Enter Commands

    Parameter changes remain even if the power supply is cycled. This updates the data on the RAM, but does not write data to the EEPROM. 0910 Parameter changes are lost when the drive is shut off. YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...

  • Page 59: Web Interface

    • Modbus-TCP Page • Network Page ◆ Home Page The Home page shows the status of the drive and the I/O. It also shows identifying information about the drive and the option. YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...

  • Page 60: Modbus-Tcp Page

    8 Web Interface Figure 8.1 Home Page View ◆ Modbus-TCP Page The Modbus-TCP page shows basic information about the protocol. Figure 8.2 Modbus-TCP Page View YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...

  • Page 61: Network Page

    Description Msg Tx OK Cumulative number of messages transmitted successfully from the option. Msg Rx OK Cumulative number of messages received successfully to the option. Current Connections Current number of open connections. YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 62 Alignment Errors Cumulative number of errors for uneven packets lengths. FCS Errors Cumulative number of frame check sequence errors. Single Collisions Cumulative number of single collisions. Multiple Collisions Cumulative number of multiple collisions. YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...

  • Page 63: Troubleshooting

    Communication Error signal from the controller. • Correct the wiring. The communications cable wiring is incorrect. An existing short circuit or Check disconnected cables and short communications disconnection circuits and repair as needed YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 64 Option Card Error A fault occurred in the option. De-energize the drive. oFA04 (CN5-A) Make sure that the option is correctly connected to the connector. If the problem continues, replace the option. YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...

  • Page 65: Minor Faults And Alarms

    Fault Declared Description U6-99) No faults No faults Network sent a message to force this Fatal error occurred node to the fault state. Network Link Down 1104 No network link to option. YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...

  • Page 66: Option Compatibility

    • Compatible communication options are different for different models. Refer to the drive manuals for more information. Table 9.2 Option Compatibility Number of Options Option Connector Possible PG-B3 , PG-X3 CN5-B, C *1 *3 *4 *1 *3 *4 PG-RT3 , PG-F3 CN5-C YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...

  • Page 67: Option Installation

    EMC guidelines: Use dedicated shield cable for the option and external device (encoder, I/O device, master), or run the wiring through a metal conduit. YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 68 Keep wiring as short as possible and ground the largest possible surface area of the shield to the metal panel according to Figure 10.1 Figure 10.2. Figure 10.1 Option Installation for CE Compliance: 1000-Series, GA700, GA800, CR700, CH700 YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 69 Figure 10.2 Option Installation for CE Compliance: GA500, HV600 Figure 10.3 Option Installation for CE Compliance: FP605 Ground the largest possible surface area of the shield to the metal panel. Yaskawa recommends using cable clamps. YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...

  • Page 70: Specifications

    Programmable from drive keypad or network: 10/100 Mbps, auto-negotiate. Communication Speed • Modbus TCP/IP: 10 Number of Connections • Web page connections: 2 • Half/Half Duplex Mode • Auto-negotiate • Full/Full • Static Address Startup Mode • BOOTP YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...

  • Page 71: Disposal

    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 TOEP C730600 91B Modbus TCP/IP Installation Manual...

  • Page 72: Revision History

    Date of Revision Section Revised Content Publication Number Addition: Information on FP605 October 2021 Revision: Reviewed and corrected entire documentation First Edition July 2020 This manual is created based on TOBP C730600 91D<3>-0. YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 73 YASKAWA TOEP C730600 91B Modbus TCP/IP Installation Manual...
  • Page 74 YASKAWA ELECTRIC CORPORATION Specifications are subject to change without notice for ongoing product modifications and improvements. © 2020 YASKAWA ELECTRIC CORPORATION MANUAL NO. TOEP C730600 91B <1>-0 Published in Japan October 2021 20-2-22...

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