YASKAWA EtherCAT JOHB-SMP3 Technical Manual
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YASKAWA EtherCAT JOHB-SMP3 Technical Manual

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YASKAWA AC Drive Option
EtherCAT
Technical Manual
Model
JOHB-SMP3
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. SIEP C730600 0LA

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Summary of Contents for YASKAWA EtherCAT JOHB-SMP3

  • Page 1 YASKAWA AC Drive Option EtherCAT Technical Manual Model JOHB-SMP3 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. SIEP C730600 0LA...
  • Page 2 This Page Intentionally Blank YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 3 Communication Profile Objects (DS 301) ........22 YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 4 256x (Hex.): Main Parameter Group F ......... 42 YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 5 10. Examples ........... . . 61 YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 6 Revision History........... 79 YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 7 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 8 • 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 9 • Make sure that there is no damage to the option and no parts are missing. The Yaskawa warranty does not include damage from shipping. If there is damage to the option or other parts, contact the shipping company immediately.
  • Page 10 • Non-conductive tweezers or a tool with a tip width of approximately 0.5 mm (0.02 in) to set DIP switch S1. • 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 SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 11 6 (Pair 3) Receive data (RXD) - 7 (Pair 4) Not used 8 (Pair 4) Not used ◆ Option LED States A - 1000-Series B - GA500, GA700, GA800, CR700 Figure 4.2 Option LED Labels YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 12 1 Hz: Firmware loader in IDLE state (waiting for commands from the drive) 6 Hz: Firmware loader is processing commands ■ 10/100 The 10/100 LED indicates the status of the physical link. Display Meaning Color Link is not established. 10/100 Green Link is established. YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 13 Damage to Equipment. When you touch the option, make sure that you observe correct electrostatic discharge (ESD) procedures. If you do not follow procedures, it can cause ESD damage to the drive circuitry. YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 14 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 15 The drive has only two ground terminal screw holes. When you connect three options, two options will share one ground terminal. Route the option wiring. Procedures to wire the option are different for different drive models. YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 16 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 SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 17 Refer to the drive manuals for more information. NOTICE Do not remove the LED Status Ring board cable connector. If you disconnect the LED Status Ring board, it can cause incorrect operation and damage to the drive. YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 18 B - Option Figure 5.6 Option Card Mounting Kit (JOHB-GA50) ◆ Communication Cable Specifications Yaskawa recommends using EtherCAT dedicated Cat5e or better communication cables. The Yaskawa warranty does not cover other cable types. YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 19 • Europe: http://www.yaskawa.eu.com • Japan: http://www.e-mechatronics.com • America: http://www.yaskawa.com • Other areas: Contact Yaskawa or your nearest sales representative. Related Drive Parameters 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.
  • Page 20 When you enable this parameter, d5-01 [Torque Control Selection] sets the drive to read the value as the Torque Limit value or the Torque Reference value. d5-01 = 0 [Speed Control]: Torque Limit d5-01 = 1 [Torque Control]: Torque Reference YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 21 3 : User units (Set with o1-10, o1-11) Note: When you change o1-03, it also changes the units for input object 2010 (Hex.) (frequency reference), output object 2110 (Hex.) (output frequency), and 2200 (Hex.) (motor speed). YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 22 Supported Modes of Operation EtherCAT option supports Velocity mode (DSP 402) and Yaskawa specific mode (DS 301). DSP 402 mode is not available for converters. Operation modes DSP 402 and DS 301 are mutually exclusive. If you mix objects from both modes, it can cause incorrect operation.

  • Page 23: Table Of Contents

    ■ Converter Specific Profile Objects Index (Hex.) Name Ref. Index (Hex.) Name Ref. 5000 Regenerated Energy 5003 AC Power 5001 Input Voltage 5004 Consumed Energy 5002 Current Limit 5005 DC Bus Voltage Reference YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 24 For Error Codes, please refer to Emergency Error Codes on page The number of valid logged errors in the subindex is 01 - FE (Hex.). To reset the error field, write 0 to subindex 0. YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 25 16 bit 20C0:2 FFFF 16 bit 21E0:2 FFFF 16 bit 3000:2 FFFF 16 bit 21F0:2 FFFFFFFF 32 bit 3100:2 FFFF 16 bit 604C:1 00000001 32 bit 2180:2 0049 16 bit 604C:2 00000001 32 bit YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 26 This object contains general information about the drive. Vendor ID Values: 00000539 (Hex.) for “Yaskawa Electric Corporation, Japan” Product Code The value is the first three letters of the product name followed by a running number. This value is in ASCII format.
  • Page 27 Number of entries UNS8 Write (0 - 2) Read 1A01 - 1A28 Mapped Object #1 UNS32 Write Read 1A01 - 1A28 Mapped Object #2 UNS32 Write Read 1A01 - 1A28 Mapped Object #n UNS32 Write YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 28 ◆ Manufacturer Specific Profile Objects (DS301) Details The EtherCAT option offers the manufacturer specific objects listed below. These objects are specific to Yaskawa products and are not available on other EtherCAT products. The manufacturer specific objects list has static objects and configurable objects. You can link these objects to drive parameters, monitors, or MEMOBUS/Modbus registers to determine the content of configurable objects.
  • Page 29 The drive uses this value as the torque reference for torque control [d5-01 = 1] or as the torque limit in speed control [d5-01 = 0]. Note: The availability of the torque control function depends on the drive and the selected control method. For more information, refer to the Technical Manual for your drive. YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...

  • Page 30: Torque Compensation

    Communications ENTER Function Selection (H5-11 [Comm ENTER Command Mode]). The automatic ENTER command makes the writing process slower, but it also makes the process of writing registers less complicated. For these reasons, Yaskawa recommends that you use object 2050 (Hex.) for most applications.

  • Page 31: Memobus/Modbus Write Request

    (Hex.): Advanced MEMOBUS/Modbus Write Response on page 37 for more information). For these reasons, Yaskawa recommends that you use object 2051 (Hex.) only for applications where the writing speed is of critical importance. You must write the address of the MEMOBUS/Modbus in bytes 3 and 4 of Subindex 1, and you must write the value to bytes 1 and 2.

  • Page 32: 2061 Memobus/Modbus Unlimited Enter Command

    These objects can write selectable MEMOBUS content through fieldbus communication. You can assign any MEMOBUS address to this object. After you assign the address, you can use PDO or SDO until Power Off to YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 33 Combination possible? 0007 (Hex.) 0009 (Hex.) Possible 0201 (Hex.) 0202 (Hex.) Possible 0202 (Hex.) 0201 (Hex.) 0201 (Hex.) 0203 (Hex.) 0202 (Hex.) 0202 (Hex.) 0200 (Hex.) FFFF (Hex.) Possible FFFF (Hex.) FFFF (Hex.) Possible YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...

  • Page 34: 20D0 Fm Analog Output 1

    Refer to MEMOBUS/Modbus address 0009 (Hex.) bit 0 to bit 7 in the Technical Manual of your drive for more information. Reserved Reserved 1: bit 7 function is enabled Faulty Relay MA/MB-MC 8 - 15 Reserved Value Description YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...

  • Page 35: Drive Status

    = 1: % 100% equal E1-04 [Maximum Output Frequency]. o1-03 = 2: min Enter the number of motor poles into E2-04 [Motor Pole Count]/E4-04 [Motor 2 Motor Poles]/E5-04 [PM Motor Pole Count]. YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...

  • Page 36: Output Frequency

    Byte Content MEMOBUS/Modbus address Data Index Value Subindex Content Access Data Type Mapping (Hex.) (Range) 2140 Number of entries Read Only UNS8 2140 MEMOBUS/Modbus read response Read Only UNS32 (0 - FFFFFFFF (Hex.)) YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...

  • Page 37: Memobus/Modbus Write Response

    Object 2160 (Hex.) contains the response from the drive when you use object 2060 (Hex.) to write an Enter command. Response values: 65766173 (Hex.) MEMOBUS error code or SDO abort code if SDO request YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...

  • Page 38: Memobus/Modbus Not Limited Enter Command

    Technical Manual for your drive. Index Subindex Content Access Data Type Value Mapping (Hex.) 2200 Number of entries Read Only UNS8 2200 Motor Speed Read Only UNS16 2200 MEMOBUS/Modbus write response Read Only UNS16 0044 (Hex.) YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 39 Terminal S1 (MFDI 1) Refer to MEMOBUS/Modbus address 0049 (Hex.) bit 0 to bit 7 in the Terminal S2 (MFDI 2) Technical Manual of your drive for more information. Terminal S3 (MFDI 3) YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 40 To write a value into a parameter of the drive, you must write the value to the corresponding subindex of this object. x: Parameter subgroup yy: Parameter number Note: • If parameter number is 00, then the value for yy must be set to FF. YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 41 This object is not available for A1000, D1000, R1000 and U1000. To write a value into a parameter of the drive, you must write the value to the corresponding subindex of this object. x: Parameter subgroup yy: Parameter number YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 42 This object is not available for A1000, D1000, R1000 and U1000. To write a value into a parameter of the drive, you must write the value to the corresponding subindex of this object. x: Parameter subgroup YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 43 This object is not available for A1000, D1000, R1000 and U1000. To write a value into a parameter of the drive, you must write the value to the corresponding subindex of this object. YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 44 Number of entries Read Only UNS8 Read 262x 1 - FF Parameter Rx-yy UNS16 Write ■ 264x (Hex.): Main Parameter Group T Note: This object is not available for A1000, D1000, R1000 and U1000. YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 45 This object does not work on the drives which F6-16 [Gateway Mode] is not available. Only usable when F6-16 = 1 to 4 [Enabled:1 to 4 Slave Drives]. Run command and frequency reference on the gateway mode should be set to this object. YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 46 Data Type Value Modbus Mapping (Hex.) Registers (Hex.) Number of entries Read Only UNS8 Drive Status (Drive 1) Read Only UNS16 15E7 2F01 Output frequency or frequency reference Read Only UNS16 15E8 (Drive 1) YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 47 Values: • AA = Major revision • BB = Minor revision • CC = Build OptRunTimeMS Total running time in milliseconds of option system since power-up. NOISystem: iSysErrorBits NOI System active error bits. YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...

  • Page 48: Store Parameters

    Index Subindex Content Access Data Type Value Mapping (Hex.) 01 (Hex.) 4011 Restore Default Parameters Write Only UNS32 (Restore on command) ◆ Converter Specific Profile Objects These objects are used for the converter. YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...

  • Page 49: Ac Power

    This object shows the AC power from the converter. Index Value Subindex Description Access Data Type Mapping (Hex.) (Range) AC Power 5003 Read Only UNS16 Mapped to MEMOBUS/Modbus address 1086 (Hex.) (0 - FFFF (Hex.)) (Power Supply Side Power) YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...

  • Page 50: Consumed Energy

    Table 8.8 Fault reset This bit controls the DSP402 state machine. Table 8.10 Halt Not implemented Operation mode specific Table 8.8 Reserved Not used Manufacturer specific Manufacturer specific Manufacturer specific Manufacturer specific Manufacturer specific YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 51 Bit 0 0: Shutdown 2, 6, 8 1: Switch on 2: Switch on + enable *1 *2 3 + 4 operation 3: Disable voltage 7, 9, 10, 12 4: Quick stop 7, 10, 11 YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 52 7: Fault reaction active 8: Fault ■ CANopen DSP402 State Transition Definition The YASKAWA EtherCAT option has the state transitions and states as shown in Figure 8.1. To accept frequency and operation commands, the module must be in the Operation Enable state.
  • Page 53 Operation enabled → Quick stop active Quickstop command received Quick stop active → Switch on disabled Quickstop command completed or Disable voltage received All states → Fault reaction active Fatal fault has occurred in the drive YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 54 This object sets the drive internal speed reference. It is internally multiplied with the 604C (Hex.) vl dimension factor. The drive works internally with absolute values of vl target velocity only. Negative values written to this object set the internal reverse Run command. YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 55 Rx/Tx UNS32 Mapped to MEMOBUS/Modbus address 0289 (Hex.)/d2- Write (0 - 2 01 [Frequency Reference Upper Limit] ■ 6048 (Hex.): vl Velocity Acceleration Note: This object is not available for D1000 and R1000. YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 56 The drive multiplies the following objects by the dimension factor and are always used in a product (multiplication): Object (Hex.) Object Name Reference Page 6042 vl Target Velocity 6043 vl Velocity Demand 6044 vl Velocity Control Effort/Actual Value YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 57 Supported Modes of Operation on page 22 for information. Supported modes: Value Description Velocity Mode Vendor Control Mode Index Value Subindex Content Access Data Type Mapping (Hex.) (Range) 6061 Modes of Operation Read Only SINT8 (-2, 2) YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 58 External Fault (EF0) Refer to MEMOBUS/Modbus address 0001 (Hex.) bit 2 to bit 3 in the Technical Manual of your drive for more information. Fault Reset 0 (reserved) 26 - 31 Value Description YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 59 Sub-index 1: 2100:1, 2-bytes (Drive status) 1A23 Sub-index 1: 2110:1, 2-bytes (Output frequency) 1A24 Sub-index 1: 2120:1, 2-bytes (Output current) 1A25 Sub-index 1: 2130:1, 2-bytes (Output torque reference) 1A26 Sub-index 1: 2140:1, 2-bytes (MEMOBUS/Modbus read response) 1A27 YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 60 To be able to RxPDO map those objects on EtherCAT, there is a “slow” IO channel inside the option system firmware. This slow IO channel uses the overlaid MEMOBUS/Modbus channel in I/F to write the drive registers required. YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 61 Examples ◆ Example Project with SPEED7 The following example shows how to make the YASKAWA EtherCAT communication option available in a SPEED7 Studio project. Note: The graphics were created using SPEED7 Studio version 2016 [clarify]. The software user interface is different for different versions.
  • Page 62 10 Examples In the projecting view, right-click the [EC-Mastersystem (100)] and select [Add new device..]. In the dialog box, select [ESI] on the left pane. YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 63 10 Examples Navigate to [Vendor] > [Yaskawa Electric Corporation] > [Drives] and select your drive. Confirm with [OK]. After following the procedure, the drive is ready for further use. YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 64 10 Examples ◆ Example Project with TwinCAT System Manager The following example shows how to make the YASKAWA EtherCAT communication option available in a Beckhoff TwinCAT System Manager. Note: The graphics were created using TwinCAT System Manager version 2.11. The software user interface is different for different versions.
  • Page 65 10 Examples TwinCAT System Manager will ask you to scan for boxes. Select [Yes]. After following the procedure, the drive is ready for further use. YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 66 Select the freely configurable output object 2180 (Hex.) subindex 1 into the input TxPDO of the PLC. The freely configurable output object 2180 (Hex.) subindex 1 will contain the value of the MEMOBUS/ Modbus register that we are reading. YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 67 2180 (Hex.) subindex 2 during P->S (PREOP to SAFEOP). There you should set the MEMOBUS/Modbus register you want to be coupled to the freely configurable input/output. Example: MEMOBUS/Modbus register 1950 (Hex.) (drive monitor U8-01 [DWEZ Monitor 1]). YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 68 3220 DC Bus Undervoltage 5200 Control Power Undervoltage 3221 Soft Charge Answerback Fault 2340 Short Circuit/IGBT Failure 2330 Ground Fault 2220 Overcurrent 3210 Overvoltage 4280 Heatsink Overheat 4210 Heatsink Overheat 2310 Motor Overload YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 69 Inversion Prevention Detection FF12 Output Current Imbalance FF13 Motor Step-Out Detected STPo FF14 Encoder (PG) Hardware Fault PGoH FF15 MECHATROLINK Watchdog Timer Err FF16 Speed Search Retries Exceeded FF17 Reserved CASEFAL1 FF18 Reserved CASEFAL2 YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 70 DC Bus Fuse Open FF40 Resonance Detection FF41 Control Circuit Error CPF00 FF42 Control Circuit Error CPF01 FF43 A/D Conversion Failure CPF02 FF44 PWM Motor Failure CPF03 FF45 EEPROM Memory Data Error CPF06 YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 71 Option RAM Error oFA10 FF71 Option Card Error Occurred at Option Port CN5-A oFA11 FF72 Option Card Error Occurred at Option Port CN5-A oFA12 FF73 Option Card Error Occurred at Option Port CN5-A oFA13 YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 72 Control Response Selection 1 Error oFb40 FF9E Drive Receive Time Over 4 oFb41 FF9F Control Response Selection 2 Error oFb42 FFA0 Drive Receive Time Over 5 oFb43 FFA1 Option Not Compatible with Port oFC00 YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 73 The drive did not receive a signal from the Option Communication Error controller. • Correct the wiring. The communications cable wiring is incorrect. An existing short circuit or communications Check disconnected cables and short circuits and repair as needed. disconnection YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 74 Setting F6-14 = 1 [Enabled] AND F6-01 = 0, 1, 2 [Ramp to Stop, Coast to Stop, Fast Stop (Use C1-09)] will cause the following operation: 1. bUS [Option Communication Error] 2. Then the option throws a bUS fault to the drive. YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 75 MAC Address programmed into the option is not factory default setting. Default MAC Address 1103 Note: Contact Yaskawa or your nearest sales representative for more information. Web Interface Setting Error 1110 Failure to read the web interface setting. Two drive monitor parameters, U6-98 [First Fault] and U6-99 [Current Fault] assist the user in network troubleshooting.
  • Page 76 When using drives displaying the CE mark in combination with other devices, it is ultimately the responsibility of the user to ensure compliance with CE standards. Verify that conditions meet European standards after setting up the device. YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 77 Ground the largest possible surface area of the shield to the metal panel. Yaskawa recommends using cable clamps. A - Braided shield cable C - Cable clamp (conductive) B - Metal panel Figure 12.4 Ground Area YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 78 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 0LA EtherCAT Technical Manual...
  • Page 79 Revision History Date of Publication Revision Number Section Revised Content August 2021 First Edition YASKAWA SIEP C730600 0LA EtherCAT Technical Manual...
  • Page 80 YASKAWA ELECTRIC Specifications are subject to change without notice for ongoing product modifications and CORPORATION improvements. © 2021 YASKAWA ELECTRIC CORPORATION MANUAL NO. SIEP C730600 0LA <0>-0 Published in Japan August 2021 20-2-22 Original Instructions...

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