YASKAWA SI-ES3 User manual

2YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual
Copyright © 2013 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.

YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual 3
Table of Contents
1 PREFACE AND SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 PRODUCT OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3 RECEIVING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
4 OPTION COMPONENTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
5 INSTALLATION PROCEDURE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
6 DSP301 AND DSP402 SPECIFICATIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
7 RELATED DRIVE PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
8 OBJECT DICTIONARY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
9 CONFIGURING MANUFACTURER SPECIFIC CANOPEN OBJECTS. . . . . . . . . . . 45
10 PROCESS DATA OBJECTS (PDO). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
11 DRIVE PARAMETER, MONITOR AND CONTROL REGISTER ACCESS . . . . . . . . 52
12 FAULT DIAGNOSIS AND POSSIBLE SOLUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . 54
13 SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

4YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical 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.
Applicable Documentation
The following manuals are available for the option:
Terms
Registered Trademarks
• EtherCAT is a trademark of Beckhoff Automation GmbH, Germany.
• All trademarks are the property of their respective owners.
Option
Yaskawa AC Drive 1000-Series Option
SI-ES3 EtherCAT Installation Manual
Manual No: TOBP C730600 64
Read this manual first.
The installation manual is packaged with the option and contains
information required to install the option and set up related drive
parameters.
Yaskawa AC Drive 1000-Series Option
SI-ES3 EtherCAT Technical Manual
Manual No: SIEP C730600 64
(This book)
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
For questions, contact your local Yaskawa sales office or the nearest
Yaskawa representative.
Yaskawa Drive
Yaskawa AC Drive
1000-Series Quick Start Guide
The drive manuals cover basic installation, wiring, operation
procedures, functions, troubleshooting, and maintenance
information.
The manuals also include important information about parameter
settings and drive tuning.
Access these sites to obtain Yaskawa instruction manuals:
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 AC Drive
1000-Series Technical Manual
Note: Indicates supplemental information that is not related to safety messages.
Drive: Yaskawa AC Drive 1000-Series
Option: Yaskawa AC Drive 1000-Series Option SI-ES3 EtherCAT
NOID: Network Option Interface Driver (Yaskawa Interface driver)
Online-DRV: NOID processing mode, process (ctrl/resp) data is active
Online-PRG: NOID processing mode, NO process (ctrl/resp) data is active

1 Preface and Safety
YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual 5
Supplemental Safety Information
Read and understand this manual before installing, operating, or servicing this option. The option 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.
General Safety
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 an equipment damage message.
General Precautions
• The diagrams in this section may include options and drives without covers or safety shields to illustrate details. Reinstall covers or shields
before operating any devices. The option 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 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.
DANGER
Heed the safety messages in this manual.
Failure to comply will result in death or serious injury.
The operator is responsible for injuries or equipment damage caused from failure to heed the warnings in the manual.
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. This product must not be modified.
Do not expose the drive or option to halogen group disinfectants.
Failure to comply may cause damage to the electrical components in the option.
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.

6YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual
2 Product Overview
2 Product Overview
About This Product
This option provides a communications connection between the drive and an EtherCAT network. The option connects the
drive to an EtherCAT network and facilitates the exchange of data.
This manual explains the handling, installation and specifications of this product.
EtherCAT is a communications link to connect industrial devices (such as smart motor controllers, operator interfaces,
and variable frequency drives) as well as control devices (such as programmable controllers and computers) to a
network. EtherCAT is a simple, networking solution that reduces the cost and time to wire and install factory automation
devices, while providing interchangeability of like components from multiple vendors.
By installing the option to a drive, it is possible to do the following from an EtherCAT master device:
• drive operation
• 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.
The EtherCAT Option supports the following communication profiles:
• DS 301 Ver. 4.02
• DSP 402 Ver. 3.0 Velocity Mode
Figure 1
Figure 1 EtherCAT Conformance Tested
Applicable Models
The option can be used with the drive models in Table 1.
Table 1 Applicable Models
Drive Series Drive Model Number Software Version <1>
<1> See “PRG” on the drive nameplate for the software version number.
A1000 CIMR-A2A ≥1017
CIMR-A4A

3 Receiving
YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual 7
3 Receiving
Please perform the following tasks upon receipt of the option:
• Inspect the option for damage. Contact the shipper immediately if the option appears damaged upon receipt.
• Verify receipt of the correct model by checking the model number printed on the name plate of the option package.
• Contact your supplier if you have received the wrong model or the option does not function properly.
Option Package Components
Table 2 Option Package Contents
Tools Required for Installation
• A Phillips screwdriver (M3 metric/#1, #2 U.S. standard size <1>) is required to install the option and remove drive front
covers.
• Diagonal cutting pliers. (required for some drive models)
• A small file or medium grit sandpaper. (required for some drive models)
Note: Tools required to prepare option networking cables for wiring are not listed in this manual.
Description: Option Ground
Wire Screws (M3) LED Label Installation Manual
_
Quantity: 1131 1
<1> Screw sizes vary by drive capacity. Select a screwdriver appropriate for the drive capacity.
RUN ERR
L/A IN L/A OUT
MANUAL

8YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual
4 Option Components
4 Option Components
SI-ES3 Option
Figure 2
Figure 2 SI-ES3 Option Components
Communication Connector
The EtherCAT Option is connected to the network using a RJ45 connector. The pin assignment is explained in Table 3.
Table 3 Communication Connector (RJ45)
A – Connector (CN5) F – LED (L/A IN) <1>
B – Installation hole G – Model number
C – LED (RUN) <1> H – Ground terminal and installation hole <2>
D – LED (ERR) <1> I – Communication connector CN1 (RJ45)
<1> Refer to Option LED Display on page 9 for details on the LEDs.
<2> The ground wire provided in the option shipping package must be connected during installation.
E – LED (L/A OUT) <1> J – Communication connector CN2 (RJ45)
EtherCAT Connector Pin Signal Description
1TD+
Send data
2TD-
3RD+Receivedata
4 – N.C. (Pins denoted as N.C. do not connect to any signal)
5 – N.C. (Pins denoted as N.C. do not connect to any signal)
6RD-Receivedata
7 – N.C. (Pins denoted as N.C. do not connect to any signal)
8 – N.C. (Pins denoted as N.C. do not connect to any signal)
Housing – Shield
Underside
A
Looking from the connector
B
C
D
F E
H
I
J
SI-ES3
G
IN OUT
A1000
8 7 6 5 4 3 2 1

4 Option Components
YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual 9
Option LED Display
The EtherCAT Option has four LED displays that indicate the communication status. The indications conform with
DS303, Part 3: Indicator Specification.
L/A IN, L/A OUT
The Link/Activity indicators show the status of the physical link and show activity on the link period
RUN
A green lit EtherCAT RUN LED indicates the status of the EtherCAT network state machine.
A red lit EtherCAT RUN LED is only used by the NOID firmware loader (refer to Table 4).
ERR
The red EtherCAT error LED indicates the presence of any errors.
Table 4 Option LED States
Name Indication Meaning
Color Status
L/A IN
L/A OUT
– Continuously off No link. The communication cable is not physically connected or the EtherCAT
controller is not started up.
Green Continuously on The option is connected to Ethernet. A communication cable is physically connected,
but data is not being exchanged.
Flickering There is traffic on Ethernet. Data is being exchanged.
RUN
– Continuously off The device is in INIT state.
Green
Blinking The device is in Pre-Operational state (flashing rate about 400 ms).
Single flash
The device is in Safe-Operational state.
Single flash is one short flash (approximately 200 ms), followed by a long off phase
(approximately 1000 ms).
Continuously on The device is in Operational state.
Red Blinking (1 Hz or 6 Hz)
The Option BOOT or APP firmware is executing the NOID firmware loader.
1 Hz: Firmware loader protocol is in IDLE state (waiting for commands from the
drive).
6 Hz: Firmware loader protocol is processing commands.
ERR Red
Continuously off No fault. The EtherCAT communication is operating normally.
Blinking General configuration error
Single flash
The slave device application has changed the EtherCAT state autonomously.
The parameter “Change” in the AL status register is set to 0x01: change/error.
Single flash is one short flash (approximately 200 ms), followed by a long off phase
(approximately 1000 ms).
Double flash
The sync manager watchdog time out has occurred.
Double flash is two short flashes (approximately 200 ms each), separated by an off
condition (approximately 200 ms), and then a long off phase (approximately 1000 ms).
Continuously on
Possible causes:
• An EtherCAT PDI (Process Data Interface) error has occurred or the NOID
application interface has failed.
• An option card FATAL event has occurred (System has stalled execution; see
manufacturer specific profile object 0x4000 for cause).
Blinking (1 Hz or 6 Hz)
The option BOOT or APP firmware is executing the NOID firmware loader.
1 Hz: Firmware loader protocol is in IDLE state (waiting for commands from drive).
6 Hz: Firmware loader protocol is processing commands.

4 Option Components
10 YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual
Figure 3 explains the indicator flash rates.
Figure 3
Figure 3 LED Flash Rates
DSP402 Functionality
This function manages the DSP402 drive profile functionality in the option and converts the control/status data into drive
specific control/status data.
Vendor Specific CANopen Objects
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.
flickering
blinking
single
flash
double
flash
inverted
double
flash
triple
flash
n flashes
on
50
ms
200
ms
200
ms
200
ms
1000
ms
200
ms
200
ms
200
ms
200
ms
200
ms
200
ms
1000
ms
1000
ms
200
ms
off
on
off
on
off
on
off
on
off
200
ms
200
ms
200
ms
200
ms
200
ms
1000
ms
on
off
200
ms
200
ms
200
ms
200
ms
1000
ms
on 12 n
off