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YASKAWA SI-ES3 Technical Manual
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YASKAWA SI-ES3 Technical Manual

YASKAWA SI-ES3 Technical Manual

Ac drive 1000-series option ethercat
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Summary of Contents for YASKAWA SI-ES3

  • Page 2 Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual.
  • Page 3 13 SPECIFICATIONS ........... 60 YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 4 Any warnings provided by Yaskawa must be promptly provided to the end user. Yaskawa offers an express warranty only as to the quality of its products in conforming to standards and specifications published in the Yaskawa manual.
  • Page 5 • 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. • When ordering new copies of the manual, contact a Yaskawa representative or the nearest Yaskawa sales office and provide the manual number shown on the front cover.
  • Page 6 • drive operation status monitoring • changing parameter settings. The option provides instant connectivity to an EtherCAT network for the Yaskawa A1000 drive. The option supports the Velocity mode according the CANopen Device Profile and Motion Control (DSP402) profile. It also contains Yaskawa vendor specific CANopen objects based on the present CANopen option board specification.
  • Page 7 <1> Screw sizes vary by drive capacity. Select a screwdriver appropriate for the drive capacity. Note: Tools required to prepare option networking cables for wiring are not listed in this manual. YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 8 N.C. (Pins denoted as N.C. do not connect to any signal) 8 7 6 5 4 3 2 1 – N.C. (Pins denoted as N.C. do not connect to any signal) Housing – Shield YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 9 The option BOOT or APP firmware is executing the NOID firmware loader. Blinking (1 Hz or 6 Hz) 1 Hz: Firmware loader protocol is in IDLE state (waiting for commands from drive). 6 Hz: Firmware loader protocol is processing commands. YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 10 The vendor specific CANopen object model is integrated into EtherCAT. Error Management EtherCAT processes drive and EtherCAT specific errors and assures that all faults process and propagate properly to the drive/EtherCAT network. YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 11 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 ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 12 L – Connector CN5-A F – Drive terminal cover M – Connector CN5-B G – Removable tabs for wire routing N – Connector CN5-C Figure 4 Drive Components with Option YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 13 With the front covers and digital operator removed, apply the LED label (E) in the appropriate position on the drive top front cover (C). Figure 6 A1000 L/A IN L/A OUT Figure 6 Apply the LED Label YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 14 Note: There are two screw holes on the drive for use as ground terminals (K). When connecting three options, two ground wires will need to share the same drive ground terminal. YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 15 <1> CN5-A SI-ES3 EtherCAT Option EtherCAT Cable CN1, EtherCAT Master <1> The ground wire provided in the option shipping package must be connected during installation. Figure 10 Option Connection Diagram YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 16 For easy network implementation of drives equipped with an EtherCAT option, the ESI file can be obtained from: U.S.: http://www.yaskawa.com Europe: http://www.yaskawa.eu.com Japan: http://www.e-mechatronics.com Other areas: Contact a Yaskawa representative YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 17 Many AC drives use this simple mode to control the velocity of the drive with limits and ramp functions. Vendor Specific Mode (DSP402 profile bypass) In this mode, the DSP402 state machine processor in the option is bypassed and the drive native control commands and status are used. YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 18 Reads additional data if the object size is greater than the negotiated number of octets • Abort SDO Transfer Server abort of service when error is detected Emergency Service • Emergency (Does not support incoming requests) Report of unexpected conditions YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 19 Note: If the requested drive state cannot be entered due to transition from lower to higher state (the drive might be controlled locally and reject an application IF state switch), an error will be generated on EtherCAT. The state transition time out wait time is 3 seconds. YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 20 0: Discards any new NET set-point rfg unlock 1: Uses new NET set-point 0: Forces NET set-point to zero rfg use ref 1: Uses NET set-point Not implemented Not implemented YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 21 0 or 1 Drive is stopped and fatal fault occurred CANopen DS402 State Transition Definition The Yaskawa EtherCAT option has the state transitions and states shown in 13. The option must be in the Figure Operation Enable state in order to accept frequency and operation commands. In...
  • Page 22 Quick Stop Active <1> <1> Transition 16 is only available while the drive is performing the quick stop action. When completed, transition will automatically be processed. Figure 13 DSP402 State Diagram YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 23 Fatal fault has occurred in the drive Fault reaction active → Fault Fault action is completed Fault → Switch on disabled Fault reset command received Quick stop active → Operation enabled Enable operation command received YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 24 <6> Enabled in CLV, AOLV/PM, and CLV/PM control modes (A1-02 = 3, 6, or 7). When enabled, d5-01 determines whether the value is read as the Torque Limit value (d5-01 = 0) or read as the Torque Reference value (d5-01 = 1). In CLV/PM, this value is read as the Torque Limit. YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 25 <7> The setting specifies that the Torque Reference or Torque Limit is to be provided via network communications (F6-06 = 1). The motor may rotate if no torque reference or Torque Limit is supplied from the PLC. YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 26 20B0 Selectable (default: none) 20C0 Selectable (default: none) 20D0 Analog Output Terminal FM Setting 20E0 AM Analog Output 20F0 Multi-function DO Output 3000 Selectable (default: none) 3100 Selectable (default: none) YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 27 16-bit field that gives additional information about optional functionality. Bit 0-15: Device Profile Number = 0x0192 (402) Bit 16-23: Type = 0x01 Bit 24-31: Mode Bits (Vendor specific) = 0x00 YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 28 2 = European product 42 = Product code xx = Minor revision Index (Hex) Subindex Content Access PDO Mapping Value Range 100A – Manufacturer software version Read Only Visible string YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 29 Definition: xxxxxYYYY ' (xxxx = Major, YYYY = Minor) Value: 9242.xx00 9 = A1000 option card 2 = European product 42 = Product code xx = Minor revision Serial number Read Only Unsigned 32 EtherCAT option serial number YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 30 Unsigned 8 Value: 1 1C00 Mailbox rd Read Only Unsigned 8 Value: 2 Process data out Read Only Unsigned 8 Value: 3 Process data in Read Only Unsigned 8 Value: 4 YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 31 Unsigned 16 Manufacturer Specific Profile Objects (DS 301) The option offers the manufacturer specific objects listed below. These objects are specific to Yaskawa products and are therefore not available on other EtherCAT products. The manufacturer specific objects list consists of objects that have predefined, non-changeable content and objects that are configurable.
  • Page 32 Modbus must be written in byte 3 and 4 of Subindex 1, and bytes 1 and 2 must be set to 0. After sending a MEMOBUS/ Modbus Read Request to the drive, the MEMOBUS/Modbus register content can be read out from object 2140H. YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 33 Note: Write access to this object is only allowed in the EtherCAT Pre-Operational state. Index (Hex) Subindex Content Access PDO Mapping Data Length 2070 Limited ENTER command Read/Write Possible 4 byte YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 34 This object controls the multi-function DO outputs. Index (Hex) Subindex Content Access PDO Mapping Data Length Value Read/Write Rx/Tx – 20F0 MEMOBUS/Modbus register address Read Only – Value (MEMOBUS/Modbus register): 0x0009 (Multi-function DO output) YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 35 Output frequency – Read Only – – Value – Read Only Unsigned 16 2110 MEMOBUS/Modbus register address 0041 (Hex) Read Only Unsigned 16 Value (MEMOBUS/Modbus register): 0x0041, U1-02 (Output frequency) YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 36 2155 (Hex) - PDO Parameter Write Response Note: Object only available in EtherCAT SAFEOP or Operational state. Object data is always cleared when a transition from PREOP to SAFEOP is done. YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 37 MEMOBUS/Modbus register 1 address MEMOBUS/Modbus register address BBBB = Read/Write Unsigned 32 of content 1 and 2 MEMOBUS/Modbus register 2 address Reg. value = 0xFFFF ' Mapping disabled. Default: 0xFFFFFFFF YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 38 Read Only – – Value 0.1% Read Only Unsigned 16 2240 MEMOBUS/Modbus register address of 004F (Hex) Read Only Unsigned 16 content Value (MEMOBUS/Modbus register): 0x004F (Terminal A2 Input Level) YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 39 Total running time in milliseconds of option system since power-up. NOISystem: iSysErrorBits – Read Only Unsigned 16 NOI System active error bits. NOISystem: iSysErrorBitsLatched – Read Only Unsigned 16 All errors that have occurred since NOI System start-up. YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 40 When in reverse run, the value in MEMOBUS/Modbus register: 0x00AC will be converted to negative to indicate REV operation mode. Index (Hex) Subindex Content Access PDO Mapping Value Range Unit 6044 vl velocity actual value Read Only -32768...0...32767 r/min YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 41 P = MEMOBUS/Modbus register: 0x0211, E2-04 (Motor pole count) Mrpm = (120*M)/P ds = Delta speed, sub-index 1 Delta time (dt) = (ds*T)/Mrpm (dt) T = (dt*M)/ds Note: Unit of T (C1-01) is linked to C1-10. YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 42 P = MEMOBUS/Modbus register: 0x0211, E2-04 (Motor pole count) Mrpm = (120*M)/P ds = Delta speed, sub-index 1 Delta time (dt) = (ds*T)/Mrpm (dt) T = (dt*M)/ds Note: Unit of T (C1-01) is linked to C1-10. YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 43 This object shows the mode of the device. The object supports 2 (Velocity Mode) only. Value: 2: Velocity mode Value: -2: Vendor specific mode Index (Hex) Subindex Content Access PDO Mapping Value Range 6061 Modes of operation display Read Only -128...127 YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 44 MEMOBUS/Modbus register: External Fault (EF0) 0x0001#0x0004 (1 = set, 0 = clear) MEMOBUS/Modbus register: Fault Reset 0x0001#0x0008 (1 = set, 0 = clear) 26 to 31 Reserved (Set to zero) – YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 45 • In order to map the input terminal status (U1-10, 0049 (Hex)) and output terminal status (U1-11, 004A (Hex)) to output object 21F0 (Hex) (4 byte), write 0049 (Hex) to the higher, and 004A (Hex) to the lower word of object 2090 (Hex), subindex 2. YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 46 (Hex) are already linked to unchangeable input objects and can not be linked to any object with selectable content. Trying to map one of those registers to an input object will result in an error message. YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 47 Sub-index 1: 0x2120#1, 2-bytes (Output current) 0x1A25 Sub-index 1: 0x2130#1, 2-bytes (Output torque reference) 0x1A26 Sub-index 1: 0x2140#1, 2-bytes (MEMOBUS/Modbus read response) 0x1A27 Sub-index 1: 0x2150#1, 2-bytes (MEMOBUS/Modbus write response) 0x1A28 YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 48 • Mapped drive registers: A: 0x0200, B: 0x0201, C: 0x0203 • All three registers change at the same time: RAM ENTER command executed with C. • Only register 0x0200 changes: RAM ENTER command executed with A. YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 49 0x20C0#2 0xFFFF 16-bits 0x3000#2 0xFFFF 16-bits 0x3100#2 0xFFFF 16-bits 0x2180#2 0x0049 16-bits 0x2190#2 0x004E 16-bits 0x21A0#2 0xFFFF 16-bits 0x21B0#2 0xFFFF 16-bits 0x21C0#2 0xFFFF 16-bits 0x21E0#2 0xFFFF 16-bits 0x21F0#2 0xFFFF 32-bits YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 50 • CoE: 0x604A (vl velocity quick stop) Frequency Reference Upper 0x0289 INVR_D201_FREQUL CoE: 0x6046#2 (vl velocity max amount) Limit (d2-01) Frequency Reference Lower 0x028A INVR_D202_FREQLL CoE: 0x6046#1 (vl velocity min amount) Limit (d2-02) YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 51 • CoE: 0x1010 (Store parameters) Drive EEPROM ENTER 0x0900 INVR_ENTER_EEP • CoE: 0x2070 (MEMOBUS/Modbus limited command ENTER command) Initialize parameters 0x0103 INVR_A103_INITPRM CoE: 0x1011 (Restore default parameters) Value = 2220 (2-wire initialize) YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 52 Note: When multiple drive parameters are changed, only one ENTER command is required after the last parameter value to activate all parameter changes. Objects 2050/01 (Hex), 2060 (Hex), 2070 (Hex), 2150/01 (Hex) and 2160 (Hex) can be mapped to PDOs. YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 53 Set drive parameter A1-03 to the desired initialization mode. For example, in order to perform a “2-Wire Initialization”, write “08AC” (Hex) (2220) to MEMOBUS/Modbus register 0103 (object 1011 Hex). Finish the initialization by sending an Unlimited ENTER Command (Obj. 2070 (Hex)). YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 54 0x1A 3130 Input phase loss 0x1B 3300 Output phase loss 0x1C FF01 Motor overheat alarm (PTC input) 0x1D 5300 External digital operator connection fault 0x1E 5530 EEPROM write error 0x1F YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 55 Object 2155 (Hex) is tried to be read while the option is not in Operational state. A MEMOBUS/Modbus Read or Write command (2040 (Hex) and 2050 (Hex)) was performed with an invalid MEMOBUS/Modbus address. YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 56 Fault Name Option Card Connection Error (CN5-A) oFA00 Option is not properly connected. Cause Possible Solution Non-compatible option connected to the drive. Connect an option that is compatible with the drive. YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 57 • Only one type of AI-A3, DI-A3 or SI- option can be connected to the drive. CN5-B port with an option connected to CN5-A. • The SI-ES3 option can only be connected to CN5-A. LED Operator Display Fault Name Option Fault (CN5-C) oFC00 Non-compatible option is connected.
  • Page 58 Option ID Error: Power-up Drive reported invalid copyright string in record in NVS memory, and set sequence copyright string Replace option card. power-up process. ERR LED: solid RED, see mismatch. Table YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 59 <4> When AI-A3 and DI-A3 are to be used as monitors, the card can be connected to any of CN5-A, CN5-B or CN5-C. The input status of AI-A3 can then be viewed using U1-21, U1-22, and U1-23, and the input status of DI-A3 can then be viewed using U1-17. YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 60 -20°C to +60°C (-4°F to +104°F) (allowed for short-term transport of the product) Area of Use Indoor (free of corrosive gas, airborne particles, etc.) Altitude 1000 m (3280 ft.) or lower Internal Scan Cycle A1000: 1 ms YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 61 MANUAL NO. SIEP C730600 64A A1000 Published in Japan October 2013 13-10 Date of original publication Date of publication Date of Publication Revision Section Revised Content Number October 2013 − − First edition YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual...
  • Page 62 Phone: 81-3-5402-4502 Fax: 81-3-5402-4580 http://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. Avenida Piraporinha 777, Diadema, São Paulo, 09950-000, Brasil Phone: 55-11-3585-1100 Fax: 55-11-3585-1187 http://www.yaskawa.com.br...