YASKAWA CANopen SI-S3 User manual

CANopen 通信
取扱説明書
形式 SI-S3
CANopen
Installation Manual
Type SI-S3
To properly use the product, read this manual thoroughly and retain
for easy reference, inspection, and maintenance. Ensure the end user
receives this manual.
製品を安全にお使いいただくために，この取扱説明書を必ずお読みください。
また，本書をお手元に保管していただくとともに，最終的に本製品をご使用になる
ユーザー様のお手元に確実に届けられるよう，お取り計らい願います。
COSMOS（140×182）（和英併記）新CI
MANUAL NO. TOBP C730600 85D
YASKAWA AC Drive Option
安川インバータ オプション

2YASKAWA ELECTRIC TOBP C730600 85D YASKAWA AC Drive Option SI-S3 Installation Manual
Copyright © 2016 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or
transmitted, in any form or by any means, mechanical, electronic, photocopying, recording, or otherwise,
without the prior written permission of 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. Yaskawa assumes no responsibility for errors or omissions.
Neither is any liability assumed for damages resulting from the use of the information contained in this
publication.
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YASKAWA ELECTRIC TOBP C730600 85D YASKAWA AC Drive Option SI-S3 Installation Manual 3
Table of Contents
1 PREFACE AND SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3 RECEIVING. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4 CANOPEN OPTION COMPONENTS . . . . . . . . . . . . . . . . . 12
5 INSTALLATION PROCEDURE . . . . . . . . . . . . . . . . . . . . . 16
6 RELATED PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . .33
7 BIT RATE AND NODE ID SETUP . . . . . . . . . . . . . . . . . . . 36
8 COMMUNICATION OBJECTS OVERVIEW. . . . . . . . . . . . 38
9 TROUBLESHOOTING . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
10 EUROPEAN STANDARDS. . . . . . . . . . . . . . . . . . . . . . . . .49
11 SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
12 DISPOSAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
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4 YASKAWA ELECTRIC TOBP C730600 85D YASKAWA AC Drive Option SI-S3 Installation Manual
1 Preface and Safety
1 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. Under no circumstances should any YASKAWA product be incorporated into
any product or design as the exclusive or sole safety control. Without exception, all controls
should be designed to detect faults dynamically and fail safely under all circumstances. All
products designed to incorporate a component part manufactured by YASKAWA must be
supplied to the end user with appropriate warnings and instructions as to the safe use and
operation of that part. 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 manual. NO OTHER
WARRANTY, EXPRESS OR IMPLIED, IS OFFERED. YASKAWA assumes no liability
for any personal injury, property damage, losses, or claims arising from misapplication of its
products.
uApplicable Documentation
The following manuals are available for CANopen Option card:
Option
YASKAWA AC Drive Option
CANopen
Installation Manual
Manual No.: TOBPC73060085
(This book)
This guide is packaged together with the product and contains information
necessary to install the option and set related drive parameters.
YASKAWA AC Drive Option
CANopen
Technical Manual
Manual No.: SIEPC73060085
The technical manual contains detailed information about the option. Access
the following sites to obtain the technical manual:
U.S.: http://www.yaskawa.com
Europe: http://www.yaskawa.eu.com
Japan: http://www.e-mechatronics.com
Other areas: Check the back cover of these manuals.
For questions, contact Yaskawa or a Yaskawa representative.
Drive
YASKAWA AC Drive
Manuals
Drive manuals contain basic installation and wiring information in addition to
detailed parameter setting, fault diagnostic, and maintenance information.
The most recent versions of these manuals are available for download on our
documentation websites:
U.S.: http://www.yaskawa.com
Europe: http://www.yaskawa.eu.com
Japan: http://www.e-mechatronics.com
Other areas: Check the back cover of these manuals.
For questions, contact Yaskawa or a Yaskawa representative.
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1 Preface and Safety
YASKAWA ELECTRIC TOBP C730600 85D YASKAWA AC Drive Option SI-S3 Installation Manual 5
uTerms
uRegistered Trademarks
• CANopen is a registered trademark of the CAN in Automation (CiA).
• Other company names and product names listed in this manual are registered trademarks
of those companies.
uSupplemental Safety Information
Read and understand this manual before installing, operating, or servicing this option card.
The option card must be installed according to this manual and local codes.
The following conventions are used to indicate safety messages in this manual. Failure to
heed these messages could result in serious or possibly even fatal injury or damage to the
products or to related equipment and systems.
Note: Indicates supplemental information that is not related to safety messages.
Option: Yaskawa AC Drive Option CANopen
Drive: • YASKAWA AC Drive 1000-Series (A1000, U1000, U1000L, Z1000U)
• YASKAWA AC Drive GA500
• YASKAWA AC Drive GA700
• YASKAWA AC Drive GA800
Keypad: • LCD Operator for YASKAWA AC Drive 1000-Series
• LED Operator for YASKAWA AC Drive 1000-Series
• LCD Keypad for YASKAWA AC Drive GA500, GA700, and GA800
• LED Keypad for YASKAWA AC Drive GA500, GA700, and GA800
DANGER
Indicates a hazardous situation, which, if not avoided, will cause death or serious
injury.
WARNING
Indicates a hazardous situation, which, if not avoided, could cause death or serious
injury.
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1 Preface and Safety
6YASKAWA ELECTRIC TOBP C730600 85D YASKAWA AC Drive Option SI-S3 Installation Manual
nGeneral Safety
CAUTION
Indicates a hazardous situation, which, if not avoided, could cause minor or
moderate injury.
NOTICE
Indicates an equipment damage message.
General Precautions
• The diagrams in this section may include drives without covers or safety shields to illustrate details. Be sure to
reinstall covers or shields before operating any devices. The option board should be used according to the
instructions described in this manual.
• The diagrams in this manual are provided as examples only and may not pertain to all products covered by this
manual.
• 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
Heed the safety messages in this manual.
Failure to comply will cause death or serious injury.
The operating company is responsible for any injuries or equipment damage resulting
from failure to heed the warnings in this manual.
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1 Preface and Safety
YASKAWA ELECTRIC TOBP C730600 85D YASKAWA AC Drive Option SI-S3 Installation Manual 7
WARNING
Electrical Shock Hazard
Do not attempt to modify or alter the drive or drive circuitry in any way not
explained in this manual.
Failure to comply could cause death or serious injury and will void warranty. Yaskawa is
not responsible for any modification of the product made by the user. Do not modify this
product.
NOTICE
Do not modify the drive or option circuitry.
Failure to comply could result in damage to the drive or option and will void warranty.
Yaskawa is not responsible for any modification of the product made by the user.
Do not expose the drive or the option to halogen group disinfectants. Do not pack the
drive or the option in fumigated or sterilized wooden materials. Do not sterilize the
entire package after packing the product.
Failure to comply could damage electrical components in the option.
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8 YASKAWA ELECTRIC TOBP C730600 85D YASKAWA AC Drive Option SI-S3 Installation Manual
2 Overview
2 Overview
The CANopen Option Card (Model: SI-S3) is an option card designed to connect the
Yaskawa AC drive to a CANopen network.
Install the option/CANopen option on a drive to perform the following functions from a
CANopen master device:
• Operate the drive
• Monitor the drive operation status
• Change drive parameter settings
The CANopen Option supports the following communication profiles
• DS 301 Ver. 4.02
• DSP 402 Ver. 1.1 Velocity Mode
uCompatible Products
The option can be used with the products in Table 1.
Table 1 Compatible Products
Product Series Model(s) Software Version <1>
A1000
CIMR-A2A ≥1020
CIMR-A4A0002 to 4A0675 ≥1020
CIMR-A4A0930 and 4A1200 ≥3015
CIMR-A5A ≥5040
≥1020
U1000
CIMR-UA
≥1010
CIMR-UE
CIMR-UP
CIMR-UW
U1000L
CIMR-UL
≥6210
CIMR-UF
CIMR-UR
CIMR-US
Z1000U
CIMR-ZA
≥6110
CIMR-ZE
CIMR-ZP
CIMR-ZW
GA500 CIPR-GA50 ≥1010
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2 Overview
YASKAWA ELECTRIC TOBP C730600 85D YASKAWA AC Drive Option SI-S3 Installation Manual 9
Note: For Yaskawa customers in the North or South America region:
If your product is not listed in Table 1, refer to the web page below to confirm this manual is
correct for your product. The web page provides a list of option manuals by product, and a direct
link to download a PDF.
Scan QR code
Or refer to: http://www.yaskawa.com/optionlookup
GA700 CIPR-GA70 ≥1010
GA800 CIPR-GA80 ≥9010
<1> Refer to “PRG” on the drive nameplate for the software version number.
Product Series Model(s) Software Version <1>
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2 Overview
10 YASKAWA ELECTRIC TOBP C730600 85D YASKAWA AC Drive Option SI-S3 Installation Manual
uInstall the Option on a GA500 Drive
An option card installation case is necessary to install the option on a GA500 drive.
The option card installation case model is: JOHB-GA500. This case is sold separately.
Refer to the option card installation case manual for more information about installation.
Figure 1
Figure 1 Option Card Installation Case
Option card installation case
components (sold separately)
Option card
Drive front cover
次回用
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YASKAWA ELECTRIC TOBP C730600 85D YASKAWA AC Drive Option SI-S3 Installation Manual 11
3 Receiving
3 Receiving
After receiving the option package:
1. Make sure that the option is not damaged and no parts are missing. Contact your sales
outlet if the option or other parts appear damaged.
NOTICE: Do not use damaged parts to connect the drive and the option. Failure to comply could damage
the drive and option.
2. Confirm that the model number on the option nameplate and the model listed in the
purchase order are the same. Refer to Figure 2 on page 12 for details. Contact the
distributor where the option was purchased or contact Yaskawa or a Yaskawa
representative about any problems with the option.
uContents and Packaging
Table 2 Contents of Package
uInstallation Tools
• A Phillips screwdriver. Phillips screw sizes vary by drive capacity.
• A flat-blade screwdriver (blade depth: 0.4 mm (0.02 in), width: 2.5 mm (0.1 in)).
• A pair of diagonal cutting pliers.
• A small file or medium-grit sandpaper.
Note: This manual does not list tools required to prepare option cables for wiring.
Description:
<1> GA700 and GA800 drives do not use the ground wire.
<2> GA700 and GA800 drives use two screws only.
Option Card Ground
Wire <1>
Screws
(M3)
LED Labels
Installation
Manual
1000-Series
GA500,
GA700, and
GA800
Quantity: 11
3
<2>
111
ERR RUN
MANUAL
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12 YASKAWA ELECTRIC TOBP C730600 85D YASKAWA AC Drive Option SI-S3 Installation Manual
4 CANopen Option Components
4 CANopen Option Components
uCANopen Option
Figure 2
Figure 2 Option Components
A – Communication cable connector
(9 pin D-sub)
<1> Refer to CANopen Option Status LEDs on page 14 for details on the LEDs.
<2> Connect the provided ground wire during installation. Installation on GA700 and GA800 drives does not require
the ground wire.
E – LED (RUN)
<1>
F – LED (ERR) <1>
B – Option model number G – Ground terminal (FE)
(installation hole)
<2>
C – Connector (CN5)
D – Installation hole
Underside
C
A
D
E
FG
Looking from the connector
B
SI-S3
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4 CANopen Option Components
YASKAWA ELECTRIC TOBP C730600 85D YASKAWA AC Drive Option SI-S3 Installation Manual 13
uCommunication connector
The CANopen Option is connected to the network using a 9 pin D-sub connector. The pin
assignment is explained in Table 3.
Table 3 Communication connector (9 pin D-sub)
CANopen Connector Pin Signal Description
1––
2 CAN_L CAN_L bus line (dominant low)
3 CAN_GND CAN Ground
4––
5 CAN_SHLD CAN shield
6––
7 CAN_H CAN_H bus line (dominant high)
8––
9––
– CAN_SHLD CAN shield
1
5
6
9
7
8
2
3
4
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4 CANopen Option Components
14 YASKAWA ELECTRIC TOBP C730600 85D YASKAWA AC Drive Option SI-S3 Installation Manual
uCANopen Option Status LEDs
The CANopen Option has two LEDs that indicate the option card or communication status.
The indications are conform with the DS303, Part 3: Indicator Specification.
nDefining Option LED States
Figure 3
Figure 3 Option LED Labels
Table 4 Understanding the Status LEDs
LED Color Display Description
RUN
<1> Available in option card software version 3102 and later. Refer to the option package labeling in the field
designated “PRG” (S + four digit number)” or the option labeling in the field designated “C/N” (S + four digit
number)” to identify the option software version.
Green
On Operational State
Blinking Pre-operational State
Single flash Stopped
Flickering
<1>
Automatic bit rate detection in progress (alternately flickering with
ERR LED)
ERR Red
On Bus off
Blinking Bus initialization failed (parameter setting error)
Single flash Fault has occurred
Receiving CAN error frame (too many error frames)
Double flash Guard / Heartbeat event has occurred
Flickering
<1>
Automatic bit rate detection in progress (alternately flickering with
RUN LED)
Off Online
ERR RUN
1000-Series Label GA500, GA700, and GA800 Label
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4 CANopen Option Components
YASKAWA ELECTRIC TOBP C730600 85D YASKAWA AC Drive Option SI-S3 Installation Manual 15
Figure 4 explains the indicator flash rates.
Figure 4
Figure 4 LED Flash Rates and Meaning
Blinking
(200 ms)
ON
1s 2s
ON
ON
ON
ON
ERR
RUN
ERR
RUN
Single flash
ERR
Double flash
ERR
RUN
Flickering
(50 ms)
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16 YASKAWA ELECTRIC TOBP C730600 85D YASKAWA AC Drive Option SI-S3 Installation Manual
5 Installation Procedure
5 Installation Procedure
uSection Safety
DANGER
Electric Shock Hazard
Do not inspect, connect, or disconnect any wiring while the drive is energized.
Failure to comply will cause death or serious injury.
Before servicing, disconnect all power to the equipment and wait for at least the time
specified on the warning label. The internal capacitor remains charged even after the drive
is de-energized. The charge indicator LED will extinguish when the DC bus voltage is
below 50 Vdc. When all indicators are OFF, measure for unsafe voltages to confirm the
drive is safe.
WARNING
Electrical Shock Hazard
Do not operate equipment with covers removed.
Failure to comply could cause death or serious injury.
The diagrams in this section may include options and drives without covers or safety
shields to illustrate details. Reinstall covers and shields before operating the drive and run
the drive according to the instructions described in this manual.
Do not allow unqualified personnel to perform work on the drive or option.
Failure to comply could cause death or serious injury.
Only authorized personnel familiar with installation, adjustment, and maintenance of AC
drives and options may perform work.
Do not remove covers or touch circuit boards while the drive is energized.
Failure to comply could cause death or serious injury.
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5 Installation Procedure
YASKAWA ELECTRIC TOBP C730600 85D YASKAWA AC Drive Option SI-S3 Installation Manual 17
Do not use damaged wires, stress the wiring, or damage the wire insulation.
Failure to comply could cause death or serious injury.
Fire Hazard
Tighten all terminal screws to the specified tightening torque.
Loose or overtightened connections could cause erroneous operation and damage to the
terminal block or start a fire and cause death or serious injury.
NOTICE
Damage to Equipment
Observe proper electrostatic discharge (ESD) procedures when handling the option,
drive, and circuit boards.
Failure to comply could cause ESD damage to circuitry.
Never connect or disconnect the motor from the drive while the drive is outputting
voltage.
Improper equipment sequencing could damage the drive.
Do not connect or operate any equipment with visible damage or missing parts.
Failure to comply could further damage the equipment.
Do not use unshielded wire 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.
Properly connect all pins and connectors on the option and drive.
Failure to comply could prevent proper operation and damage equipment.
Confirm that all connections are correct after installing the option and connecting
peripheral devices.
Failure to comply could damage the option.
WARNING
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5 Installation Procedure
18 YASKAWA ELECTRIC TOBP C730600 85D YASKAWA AC Drive Option SI-S3 Installation Manual
uProcedures for Installing and Wiring Options on a Drive
Procedures for installing and wiring options differ depending on the drive model.
Refer to Table 5 to check the procedures for installing and wiring options on a drive.
Table 5 Procedures for Installing and Wiring Options on a Drive
Product Series
<1> Use the option card installation case manual to install the option on GA500 drives.
Procedures for Installing and
Wiring Options on a Drive Page
A1000 Procedure A 19
U1000 Procedure A 19
U1000L Procedure A 19
Z1000U Procedure A 19
GA500
<1> –
GA700 Procedure B 25
GA800 Procedure B 25
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5 Installation Procedure
YASKAWA ELECTRIC TOBP C730600 85D YASKAWA AC Drive Option SI-S3 Installation Manual 19
nProcedure A
This section shows the procedure to install and wire the option on a 1000-series drive.
Prepare the Drive for the Option
1. Correctly wire the drive as specified by the manual packaged with the drive.
2. Make sure that the drive functions correctly.
Refer to Figure 5 for an exploded view of the drive with the option and related components
for reference in the installation procedure.
Figure 5
Figure 5 Drive Components with Option
A – Insertion point for CN5 J – Drive grounding terminal (FE)
B – Option card K – Connector CN5-A
C – Front cover L – Connector CN5-B
(Not available for communication
option installation.)
D – Keypad
E – LED label
F – Terminal cover M – Connector CN5-C
(Not available for communication
option installation.)
G – Removable tabs for wire routing
H – Included screws
I – Ground wire
F
H
A
J
K
L
M
I
BC
D
E
G
ERR RUN
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5 Installation Procedure
20 YASKAWA ELECTRIC TOBP C730600 85D YASKAWA AC Drive Option SI-S3 Installation Manual
Install the Option
Remove the front covers of the drive before you install the option.
Refer to the drive manual for information about how to remove the front covers. Different
drive sizes have different cover removal procedures.
You can only install this option into the CN5-A connector on the drive control board.
DANGER! Electrical Shock Hazard. Do not inspect, connect, or disconnect any wiring while the drive is
energized. Failure to comply will cause death or serious injury. Before servicing, disconnect all power to the
equipment and wait for at least the time specified on the warning label. The internal capacitor remains
charged even after the drive is de-energized. The charge indicator LED will extinguish when the DC bus
voltage is below 50 Vdc. When all indicators are OFF, measure for unsafe voltages to confirm the drive is
safe.
1. Shut off power to the drive, wait the appropriate amount of time for voltage to
dissipate, then remove the keypad (D) and front covers (C, F).
Refer to the manual packaged with the drive for details on keypad and cover
removal.
NOTICE: Damage to Equipment. Observe proper electrostatic discharge (ESD) procedures when handling
the option, drive, and circuit boards. Failure to comply could cause ESD damage to circuitry.
Figure 6
Figure 6 Remove the Keypad, Front Cover, and Terminal Cover
C
D
F
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