YASKAWA CANopen SI-S3/V User manual

MANUAL NO. TOBP C730600 24A

形式 SI-S3/V
取扱説明書
CANopen 通信
V1000オプション
製品を安全にお使い頂くために，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。
To properly use the product, read this manual thoroughly and retain
for easy reference, inspection, and maintenance. Ensure the end user
receives this manual.
Installation Manual
CANopen Communications
YASKAWA AC Drive-V1000 Option
Type SI-S3/V

2 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual
Copyright ©2007 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, elec-
tronic, photocopying, recording, or otherwise, without the prior written permission
of Yaskawa. No patent liability is assumed with respect to the use of the informa-
tion contained herein. Moreover, because Yaskawa is constantly striving to
improve its high-quality products, the information contained in this manual is sub-
ject 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 con-
tained in this publication.

YAS KAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 3
Table of Contents
1 Preface and Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 Product Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3 Receiving. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4 CANopen Option Components . . . . . . . . . . . . . . . . 12
5 Installation Procedure . . . . . . . . . . . . . . . . . . . . . . . 17
6 CANopen Parameters. . . . . . . . . . . . . . . . . . . . . . . . 26
7 Communication Objects Overview . . . . . . . . . . . . . 28
8 Fault Diagnosis and Possible Solutions . . . . . . . . 34
9 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

4YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual
1 Preface and Safety
1 Preface and Safety
Yaskawa manufactures products used as components in a wide variety of industrial systems
and equipment. The selection and application of Yaskawa products remain the responsibility
of the equipment manufacturer 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 systems or equipment designed to incorporate a
product 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 Yaskawa 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.

1 Preface and Safety
YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 5
◆Applicable Documentation
The following manuals are available for SI-S3/V CANopen Option unit:
For the drive setup, refer to one of the documentation listed below.
◆Terms
Note: Indicates a supplement or precaution that does not cause drive damage.
Option Unit
V1000 Option CANopen Installation Manual (this book)
Manual No. : TOBP C730600 24
Read this manual first.
The installation manual is packaged with the CANopen Option and contains a basic
overview of wiring, settings, functions, and fault diagnoses.
V1000 Option CANopen Technical Manual
Manual No. : SIEP C730600 24
The technical manual contains detailed information and command registers.
To obtain the technical manual access these sites:
Europe: http://www.yaskawa.eu.com
Japan: https://www.e-mechatronics.com
Other areas: contact a Yaskawa representative.
Yaskawa Drive
V1000 Series AC Drive Technical Manual
Manual No. : SIEP C710606 16
This manual describes installation, wiring, operation procedures, functions,
troubleshooting, maintenance, and inspections to perform before operation.
To obtain instruction manuals for Yaskawa products access these sites:
Europe: http//www.yaskawa.eu.com
Japan: https//www.e-mechatronics.com
Other areas: contact a Yaskawa representative
V1000 Series AC Drive Quick Start Guide
This guide is packaged together with the product. It contains basic information
required to install and wire the drive. This guide provides basic programming and
simple set-up and adjustment.
Drive: Yaskawa AC Drive -V1000 Series
CANopen Option: Yaskawa AC Drive -SI-S3/V CANopen option unit for the Yaskawa V1000
drive
STOP
(Hz)
(Hz)
(A)
(V)










V1000
๟ᵄᢙᜰ઎
ᱜォㅒォㆬᛯ
಴ജ๟ᵄᢙ
಴ജ㔚ᵹ
಴ജ㔚࿶
ࡕ࠾࠲
ࡌ࡝ࡈࠔࠗ
࠮࠶࠻ࠕ࠶ࡊ
ࡄ࡜ࡔ࡯࠲⸳ቯ
ࠝ࡯࠻࠴ࡘ࡯࠾ࡦࠣ
ᝪ߃ઃߌޔㆇォߩ೨ߦߪᔅߕขᛒ⺑᣿ᦠࠍ⺒߻ߎߣޕ
ㅢ㔚߅ࠃ߮㔚Ḯㆤᢿᓟ
5
ಽએౝߪࡈࡠࡦ࠻ࠞࡃ࡯ࠍ
ᄖߐߥ޿ߎߣޕ
400V
⚖ࠗࡦࡃ࡯࠲ߩ႐วߪޔ㔚Ḯߩᕈὐ߇ធ࿾
ߐࠇߡ޿ࠆߎߣࠍ⏕⹺ߔࠆߎߣޕ㧔ޓޓኻᔕ㧕
ߌ߇㧚ᗵ㔚ߩ߅ߘࠇ߇޽ࠅ߹ߔޕ
ෂޓ㒾

1 Preface and Safety
6 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual
◆Registered 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.

1 Preface and Safety
YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 7
◆Supplemental Safety Information
Read and understand this manual before installing, operating or servicing this
option unit. The option unit 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.
DANGER
Indicates a hazardous situation, which, if not avoided, will result in death or
serious injury.
WARNING
Indicates a hazardous situation, which, if not avoided, could result in death
or serious injury.
CAUTION
Indicates a hazardous situation, which, if not avoided, could result in minor
or moderate injury.
NOTICE
Indicates a property damage message.

1 Preface and Safety
8 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual
■General Safety
General Precautions
• The diagrams in this section may include option units and 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.
• Any illustrations, photographs, or examples used in this manual are provided as examples
only and may not apply to all products to which this manual is applicable.
• 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 a new copy of the manual due to damage or loss, contact your Yaskawa
representative or the nearest Yaskawa sales office and provide the manual number shown
on the front cover.
DANGER
Heed the safety messages in this manual.
Failure to comply will result in 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.
NOTICE
Do not expose the drive to halogen group disinfectants.
Failure to comply may cause damage to the electrical components in the option
unit.
Do not pack the drive in wooden materials that have been fumigated or sterilized.
Do not sterilize the entire package after the product is packed.

1 Preface and Safety
YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 9
■Option Unit Label Warnings
Warning information is displayed on the option unit as shown in the figure below.
Follow all warnings and safety instructions when using the product.
When using the drive in an area that may require displaying warning information in
Japanese or Chinese, a sticker is provided with the CANopen Option. This sticker
can be placed over the English and French warnings on the front of the CANopen
Option.
■Warning Contents
V1000
Warning
information
AVERTISSEMENT
Lire le manuel avant l'installation.
Attendre 5 minutes apres la coupure de l'alimentation,
pour permettre la decharge des condensateurs.
Pour repondre aux exigences , s assurer que le
neutre soit relie a la terre, pour la serie 400V.
WARNING
Read manual before installing.
Wait 5 minutes for capacitor discharge after
disconnecting power supply.
To conform to ޓrequirements, make sure
to ground the supply neutral for 400V class.
Risk of electric shock.
Risque de decharge
electrique.
AVERTISSEMENT
Lire le manuel avant l'installation.
Attendre 5 minutes apres la coupure de l'alimentation,
pour permettre la decharge des condensateurs.
Pour repondre aux exigences , s assurer que le
neutre soit relie a la terre, pour la serie 400V.
WARNING
Read manual before installing.
Wait 5 minutes for capacitor discharge after
disconnecting power supply.
To conform to ޓrequirements, make sure
to ground the supply neutral for 400V class.
Risk of electric shock.
Risque de decharge
electrique.

10 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual
2 Product Overview
2 Product Overview
◆About This Product
The SI-S3/V is an option card designed to connect the V1000 drive to a CANopen
network. Using this option unit a CANopen master can
• Operate the drive
• Monitor the drive operation status
• Read or modify drive parameters
The SI-S3/V supports the following communication profiles.
• DS 301 Ver. 4.02
• DSP 402 Ver. 1.1, Velocity Mode
◆Applicable Models
The CANopen Option can be used with the drive models in Table 1.
Table 1 Applicable Models
<1>See “PRG” on the drive nameplate for the software version number.
Drive Software Version <1>
CIMR-VABA5010，1010 or later
CIMR-VAFA5010，1010 or later
CIMR-VAJA5010，1010 or later

YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 11
3 Receiving
3 Receiving
Please perform the following tasks after receiving the CANopen Option:
• Inspect the CANopen Option for damage.
If the CANopen Option appears damaged upon receipt, contact the shipper
immediately.
• Verify receipt of the correct model by checking the information on the PCB (see
Figure 1).
• If you have received the wrong model or the CANopen Option does not function
properly, contact your supplier.
◆Contents and Packaging
Table 2 Contents of Package
◆Tool Requirements
A Phillips screwdriver (for screw size <1> #1 or #2, U.S. standard size) is required
to install the CANopen Option.
<1>Screw sizes vary by drive capacity. Select a screwdriver that matches the drive capacity.
Note: Tools required to prepare CANopen cables for wiring are not listed in this manual.
Description: Option Unit Ground Cables Warning Labels Installation Manual
_
Quantity: 1411
MANUAL

12 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual
4 CANopen Option Components
4 CANopen Option Components
◆CANopen Option
Figure 1 Option Unit
<1>Cables are not connected to the CANopen and are packaged separately in the box.
Figure 2.1
A – LED (RUN: green) G – Function Earth cable connection (FE)
B – LED (ERR: red) H – Mounting clip
C – Option cover I – Cable <1>
D – CANopen PCB J – Through-hole for cable
E – Attachment screw
hole for option cover
K – Communication cable connector
(9 pin D-SUB)
F – PCB part number L – Option board connector
A
B
C
CANopen with cover attached
L
H
E
D
H
G
I
J
CANopen with cover removed
underside
K
F
FE

4 CANopen Option Components
YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 13
◆Dimensions
The installed CANopen Option adds 27 mm (1.06 in.) to the total depth of the
drive.
Figure 2 Dimensions
27 mm (1.06 in.)

4 CANopen Option Components
14 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual
◆Communication Connector
The SI-S3/V CANopen option is connected to the network using a 9 pin D-SUB
connector. The connector location is illustrated in Figure 3, the pin assignment is
explained in Table 3.
Figure 3 Communication connector location
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
Bottom View
7
8
2
3
4

4 CANopen Option Components
YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 15
◆CANopen Option LED Display
The SI-S3/V has two LEDs that indicate the Option unit or communication status.
The indications are conform with the DS303, Part 3: Indicator Specification.
■Checking LED Operation
Table 4 LED Display
Figure 4 explained the indicator flash rates.
Figure 4 LED Flash Rates and Meaning
LED Color Display Meaning
RUN Green
On Operational State
Blinking Pre-operational State
Single flash Stopped
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
Off Online
Blinking
ON
1s 2s
ON
ON
ON
ON
ERR
RUN
ERR
RUN
Single flash
ERR
Double flash

4 CANopen Option Components
16 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual
◆Setting Node Address
Set the node address in the drive parameter F6-35. The node address can be set
between 1 and 127 but has to be unique in the network. If the Node ID is set to 0
communications will not be possible and the ERR LED will flash.

YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 17
5 Installation Procedure
5 Installation Procedure
◆Section Safety
DANGER
Electrical Shock Hazard
Do not connect or disconnect wiring while the power is on.
Failure to comply will result in death or serious injury.
Disconnect all power to the drive, wait at least five minutes after all indicators
are off, measure the DC bus voltage to confirm safe level, and check for unsafe
voltages before servicing to prevent electric shock. The internal capacitor
remains charged even after the power supply is turned off. The charge indicator
LED will extinguish when the DC bus voltage is below 50 Vdc.
WARNING
Electrical Shock Hazard
Do not remove option board cover while the power is on.
Failure to comply could result in death or serious injury.
The diagrams in this section may include option units and drives without covers
or safety shields to show 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.
Do not allow unqualified personnel to use equipment.
Failure to comply could result in death or serious injury.
Maintenance, inspection, and replacement of parts must be performed only by
authorized personnel familiar with installation, adjustment, and maintenance of
this product.

5 Installation Procedure
18 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual
WARNING
Electrical Shock Hazard
Do not use damaged wires, place excessive stress on wiring, or damage the
wire insulation.
Failure to comply could result in death or serious injury.
Fire Hazard
Tighten all terminal screws to the specified tightening torque.
Loose electrical connections could result in death or serious injury by fire due to
overheating of electrical connections.
NOTICE
Damage to Equipment
Observe proper electrostatic discharge procedures (ESD) when handling the
option unit, drive, and circuit boards.
Failure to comply may result in ESD damage to circuitry.
Never shut the power off while the drive is outputting voltage.
Failure to comply may cause the application to operate incorrectly or damage the
drive.
Do not operate damaged equipment.
Failure to comply may cause further damage to the equipment.
Do not connect or operate any equipment with visible damage or missing parts.
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.

5 Installation Procedure
YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual 19
NOTICE
Damage to Equipment
Properly connect all pins and connectors.
Failure to comply may prevent proper operation and possibly damage
equipment.
Check wiring to ensure that all connections are correct after installing the
option unit and connecting any other devices.
Failure to comply may result in damage to the option unit.

5 Installation Procedure
20 YASKAWA TOBP C730600 24A V1000 Option CANopen Installation Manual
◆Wiring CANopen Option
The CANopen option must be connected to the network using a 9 pin D-SUB
connector like shown in Figure 5.
Figure 5 Wiring Diagram
<1>The FE terminal on the CANopen Option must be connected to the drive ground terminal using one
of the 4 delivered ground wires.
◆Termination
Both ends of a CANopen bus system have to be terminated with a 120Ωresistor.
As the SI-S3/V has no build in terminating resistor, make sure to apply a
terminating resistor as shown in Figure 6 if the SI-S3/V is the last node in the
network.
Figure 6 Terminating Diagram
<1>The FE terminal on the CANopen Option must be connected to the drive ground terminal using one
of the 4 delivered ground wires.
V1000
D-SUB Connector
SI-S3/V
CAN_SHLD
CAN_L
CAN_H7
2
3
CANopen Cable Connector
CN5
FE
(Shell)
CANopen Cable
<1>
V1000
D-SUB Connector
SI-S3/V
CAN_SHLD
CAN_L
CAN_H
7
2
3
CANopen Cable Connector
CN5
FE
(Shell)
CANopen Cable
120 Ω
For the last node on the network,
apply a terminating resister.
<1>