YASKAWA MECHATROLINK-4 JOHB-SMP3 Technical Manual
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YASKAWA MECHATROLINK-4 JOHB-SMP3 Technical Manual

Ac drive option
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YASKAWA AC Drive Option
MECHATROLINK-4
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 0NA

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Summary of Contents for YASKAWA MECHATROLINK-4 JOHB-SMP3

  • Page 1 YASKAWA AC Drive Option MECHATROLINK-4 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 0NA...
  • Page 2 This Page Intentionally Blank YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 3 COMM_ALM ............. 19 YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...

  • Page 4: Inv_Ctl Response

    15. Specifications ..........51 YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 5 Revision History........... 53 YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 6 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 • 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 • Make sure that the model number on the option nameplate and the model number 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 9 Green Connection established Connection with master device is established Power supply off, or 100 Mbps is not established 10/100 Green 100 Mbps is established Link is not established LINK/ACT Green Link is established YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 10 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 11 When you use MECHATROLINK-4, set DIP switch S1 as shown in Figure 5.3. Figure 5.3 Settings for DIP Switch S1 ◆ Communication Cable Specifications Yaskawa recommends using shielded Cat5e cable. The Yaskawa warranty does not cover other cable types. YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 12 • Changes to this parameter take effect immediately. It is not necessary to cycle power on the drive. F6-02 Comm External Fault (EF0) Selects the conditions at which EF0 [Option Card External Fault] is detected. Detect (03A3) 0 : Always Detected (0, 1) 1 : Detected during RUN Only YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 13 34) of INV_CTL_EX to 10 (Hex.). Bytes of the response data enable the register content set with F7-80. Refer to the manual packaged with the drive for more information about registers that you can set. YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 14 Note: This monitor is only shown when you use a drive with the latest software version. Contact Yaskawa or your nearest sales representative for more information. Shows the main MAC address used by MECHATROLINK-4. • U4-76: First octet, Second octet •...

  • Page 15: Response

    Refer to page 41. Sub-Commands • SUB_CTRL: Refer to page 41. Command • SUB_STAT: Refer to page 41. • SUB_CMD_DATA/SUB_RSP_DATA: Specified for individual commands. Refer to page 41. ・ SUB_CMD_DATA SUB_RSP_DATA ・ YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 16 Write Parameter Command PRM_WR ○ ○ Read ID Number Command ID_RD ○ ○ Setup Device Command CONFIG ○ ○ Read Alarm or Warning Command ALM_RD ○ ○ ALM_CLR Clear Alarm or Warning Command ○ ○ YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 17 Extended Inverter Operation Control Command INV_CTL_EX Table 7.5 Sub-Commands Code Command Function (Hex.) No Operation Command Read Parameter Command PRM_RD Write Parameter Command PRM_WR Read Alarm and Warning Command ALM_RD Inverter I/O Control Command INV_I/O YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 18 2 bit 1 bit 0 RCMD_ID Reserved (0) Reserved (0) ALM_CLR_CMP CMDRDY D_WAR D_ALM bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8 COMM_ALM CMD_ALM YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 19 32 bytes. ◆ NOP: 00 (Hex.) (No Operation Command) The NOP command is used for network control. The current state is returned as a response. You can use this command in all phases. YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 20 CMD_CTRL Refer to page 18. MEMOBUS/Modbus register number (Lower) MEMOBUS/Modbus register number (Upper) SIZE Data size to read [units: byte] 2, 4, 6, and 8 are available. Reserved (0) Not used ・ ・ YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 21 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 0NA MECHATROLINK-4 Technical Manual...
  • Page 22 Command code Watchdog data CMD_CTRL Refer to page 18. Specifies the ID_CODE. ID_CODE Refer to Table 9.1 for more information. OFFSET Set the offset in byte. SIZE Set the size in byte. (Lower) YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 23 Profile Type (Current Selection) 4 byte that is currently set for the device. This is the profile selected with the CONNECT command. 00000003 (Hex.) (Cyclic communication/event driven Supported Communication Mode 4 byte communication) YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 24 Command Description CONFIG (04 (Hex.)) Command code Watchdog data CMD_CTRL Refer to page 18. Specify the type of setup. CONFIG_MOD Refer to Table 9.2 for more information. Reserved (0) Not used ・ ・ YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 25 ALM_INDEX Specify the alarm index. The command is enabled when ALM_RD_MODE is 2. (Upper) Reserved (0) Not used ・ ・ ALM_RD Response Byte Response Description ALM_RD (05 (Hex.)) Command code RWDT Watchdog data YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 26 U3-02 (Upper) U3-03 (Lower) U3-03 (Upper) U3-04 (Lower) U3-04 (Upper) U3-05 (Lower) U3-05 (Upper) U3-06 (Lower) U3-06 (Upper) U3-07 (Lower) U3-07 (Upper) U3-08 (Lower) U3-08 (Upper) U3-09 (Lower) U3-09 (Upper) U3-10 (Lower) U3-10 (Upper) YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 27 The command can be used in communication phases 2 and 3. Completing this command starts watchdog data error detection. SYNC_SET Command Byte Command Description SYNC_SET (0D (Hex.)) Command code Watchdog data CMD_CTRL Refer to page 18. Reserved (0) Not used YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 28 Not used ・ CONNECT Response Byte Response Description CONNECT (0E (Hex.)) Command code RWDT Watchdog data CMD_STAT Refer to page 18. The value set in the command. COM_MOD The value set in the command. YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 29 The data on the virtual memory is read, by specifying the read head address and read data size of the memory. You can use the command in communication phases 2 and 3. MEM_RD Command Byte Command Description MEM_RD (1D (Hex.)) Command code Watchdog data CMD_CTRL Refer to page 18. YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 30 ・ Table 9.6 MODE/DATA_TYPE Bits MODE DATA_TYPE bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 1: Volatile memory 1: Byte type (1 byte) 2: Short type (2 bytes) 3: Long type (4 bytes) YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 31 4 to 7. Refer to Table 9.9 for the selection ranges for SEL_MON1/2. Reserved (0) Not used Reference selected with SEL_REF1 (Lower) Reference selected with SEL_ REF1 Reference selected with SEL_REF1 (Upper) YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 32 0: Multi-function input terminal S5 is OFF 1: Multi-function input terminal S5 is ON Terminal S6 Function Input Multi-function input terminal 6 0: Multi-function input terminal S6 is OFF 1: Multi-function input terminal S6 is ON YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 33 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). Drive Alarm Inverter Warning Multi-Function Output Terminal Status Displayed in U1-11. YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...

  • Page 34: Table Of Contents

    The value set in the command. Reserved (0) Not used (Set to 0.) Monitor data set to SEL_MON1 (Lower) Monitor data set to SEL_MON1 Monitor Data Set Monitor data set to SEL_MON1 (Upper) YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...

  • Page 35: Invcmd_Stat Refer To

    1: oPE error Fault Reset Signal being Input 1: Fault reset signal being input 0: Power loss recovery　 Power Loss Recovery/Momentary Power Loss Recovery 1: Momentary power loss recovery 0: LOCAL LOCAL/REMOTE 1: REMOTE YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...

  • Page 36: Invcmd_In

    CMD_CTRL Refer to page 18. INVCMD_CTRL_EX Refer to page 38. INVCMD_OUT Refer to page 33. Speed Reference (Lower) Speed Reference (Upper) Speed reference Not used (Set to 0.) Not used (Set to 0.) YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 37 Reference selected with SEL_REF_E6 (Lower) Reference selected with SEL_REF_E6 (Upper) Reference selected with SEL_ REF_E6 Not used (Set to 0.) Not used (Set to 0.) Reference selected with SEL_ Reference selected with SEL_REF_E7 (Lower) REF_E7 YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 38 1: Multi-function input terminal S7 is ON Terminal S8 Function Input Multi-function input terminal 8 0: Multi-function input terminal S8 is OFF 1: Multi-function input terminal S8 is ON GA500 does not have multi-function digital input 8. YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...

  • Page 39: Output Frequency (Lower)

    Not used (Set to 0.) Monitor data set to SEL_MON_E2 (Lower) Monitor data set to SEL_MON_ Monitor data set to SEL_MON_E2 (Upper) Not used (Set to 0.) Monitor Data Set Not used (Set to 0.) YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 40 Forward operation 1: Forward operation 0: Stop Reverse operation 1: Reverse operation 0: Baseblock Baseblock Released 1: Baseblock released 0: Main power supply OFF　 Main Power Supply ON 1: Main power supply ON YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 41 3 bit 2 bit 1 bit 0 Not used Reserved (0) SUBCMDRDY Not used bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8 Reserved (0) SUBCMD_ALM YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 42 ・ Reserved (0) Not used ・ Ofs+31 NOP Response Byte Command Description Ofs+0 NOP (00 (Hex.)) Command code Ofs+1 Ofs+2 SUB_STAT Refer to page 41. Ofs+3 Ofs+4 Reserved (0) Not used Ofs+5 ・ YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 43 2 and 3. The CONFIG command must be sent to set up after the parameters are written. Refer to the drive manual for more information on MEMOBUS/Modbus register numbers. YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 44 ALM_DATA. You can use the command in communication phases 2 and 3. The current alarm or warning state is read from ALM_DATA as an alarm or warning code. Refer to the drive manual for details about ALM_DATA. YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 45 Use the SEL REF5/6 command to select the contents of REF5 with bits 0 to 3 and to select the contents of REF6 with bits 4 to 7. Ofs+5 SEL_REF 5/6 Refer to Table 9.8 for the selection ranges for SEL REF5/6. YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...

  • Page 46: Monitor Data Set

    Not used (Set to 0.) Ofs+15 Ofs+16 Monitor data set to SEL_MON5 (Lower) Monitor data set to SEL_MON5 Monitor data set to SEL_MON5 (Upper) Ofs+17 Monitor Data Set Not used (Set to 0.) Ofs+18 YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 47 The option connected to connector CN5-A is not Connect the option to the correct connector. oFA00 Option Not Compatible with Port compatible. • Use connector CN5-A when you connect the option. To use other options, refer to those option manuals. YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 48 An external fault was received from the controller. MAC Address data was damaged. Note: Default MAC Address 1103 Return the option to Yaskawa or your nearest sales representative and request the setting change. CDO data was damaged. Note: CDO Data Error...
  • Page 49 CE standards. Verify that conditions meet European standards after setting up the device. ◆ EMC Directive Compliance This option is tested according to European standards EN 61800-3 and complies with EMC Directive. The CE marking is declared based on the harmonized standards. YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 50 Restriction of the Use of Certain Hazardous Substances in Electrical and Electronic EN IEC 63000 Equipment Regulations S.I. 2012 No. 3032 Refer to the "UK Declaration of Conformity" for the year of the Designated Standards. YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 51 You can use the option at a maximum of 4000 m (13123 ft), depending on the model of the drive and the operating conditions. Refer to the drive manuals for more information. The data length is set from the controller. Refer to the controller manual for more information. YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 52 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 0NA MECHATROLINK-4 Technical Manual...
  • Page 53 Revision History Date of Publication Revision Number Section Revised Content May 2024 First Edition YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual...
  • Page 54 Phone: +81-3-5402-4502 Fax: +81-3-5402-4580 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 www.yaskawa.com YASKAWA ELÉTRICO DO BRASIL LTDA. 777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil Phone: +55-11-3585-1100 Fax: +55-11-3585-1187 www.yaskawa.com.br...

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