YASKAWA PROFIBUS-DP SI-P3 User manual

MANUAL NO. SIEP C730600 42A
Technical Manual
PROFIBUS-DP
Type SI-P3
YASKAWA AC Drive-Option Card
To properly use the product, read this manual thoroughly and retain
for easy reference, inspection, and maintenance. Ensure the end user
receives this manual.

This Page Intentionally Blank

YASKAWA ELECTRIC SIEP C730600 42A YASKAWA AC Drive-Option Card PROFIBUS-DP Technical Manual 3
Table of Contents
1 PREFACE AND SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 PRODUCT OVERVIEW. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3 RECEIVING. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
4 PROFIBUS-DP OPTION COMPONENTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
5 INSTALLATION PROCEDURE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
6 PROFIBUS-DP OPTION DRIVE PARAMETERS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
7 CONVENTIONAL FORMATS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
8 PARAMETER PROCESS DATA OBJECT FORMATS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
9 TROUBLESHOOTING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
10 SPECIFICATIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Copyright © 2008 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.

4 YASKAWA ELECTRIC SIEP C730600 42A YASKAWA AC Drive-Option Card PROFIBUS-DP 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 PROFIBUS-DP option card:
◆Terms
Note: Indicates a supplement or precaution that does not cause drive damage.
◆Registered Trademarks
• PROFIBUS-DP is a registered trademark of PROFIBUS International.
• Other company names and product names listed in this manual are registered trademarks of those companies.
Option Card
Yaskawa AC Drive-Option Card PROFIBUS-DP Installation Manual
Manual No.: TOBPC73060042
Read this manual first.
The installation manual is packaged with the PROFIBUS-DP Option and contains a basic overview of wiring, settings, functions,
and fault diagnoses.
Yaskawa AC Drive-Option Card PROFIBUS-DP Technical Manual (This book)
Manual No.: SIEPC73060042
The technical manual contains detailed information and command registers.
To obtain the technical manual access these sites:
Europe: http://www.yaskawa.eu.com
Japan: http://www.e-mechatronics.com
Other areas: contact a Yaskawa representative.
Yaskawa Drive
Refer to the manual of the drive this option card is being used with.
The instruction manual for the drive covers basic installation, wiring, operation procedures, functions, troubleshooting, and maintenance information.
It also includes important information on parameter settings and how to tune the drive.
A Quick Start Guide is included with the drive. For the more detailed Technical Manual, visit Yaskawa’s homepage, http://www.e-mechatronics.com.
PROFIBUS Option: Yaskawa AC Drive PROFIBUS-DP option card

1 Preface and Safety
YASKAWA ELECTRIC SIEP C730600 42A YASKAWA AC Drive-Option Card PROFIBUS-DP Technical Manual 5
◆Supplemental 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.
■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 option cards 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 card.
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.
Do not modify the drive circuitry.
Failure to comply could result in damage to the drive and will void warranty.
YASKAWA is not responsible for any modification of the product made by the user. This product must not be modified.

6 YASKAWA ELECTRIC SIEP C730600 42A YASKAWA AC Drive-Option Card PROFIBUS-DP Technical Manual
2 Product Overview
2 Product Overview
◆About This Product
PROFIBUS option card (Model: SI-P3) is an open digital communication system supporting a wide range of fast, time-critical applications.
PROFIBUS-DP (Decentral Periphery) is one of the three PROFIBUS variants. DP is dedicated to fast data communication between systems and
peripherals at a field level. This PROFIBUS-DP Option connects a drive to a field network using the PROFIBUS-DP protocol.
PROFIBUS-DP is included into the European Fieldbus Standard EN 50170.
The network is primarily used in process and factory automation.
By installing the PROFIBUS-DP Option to a drive, it is possible to do the following from a PROFIBUS-DP master device:
• operate the drive
• monitor the operation status of the drive
• change parameter settings

3 Receiving
YASKAWA ELECTRIC SIEP C730600 42A YASKAWA AC Drive-Option Card PROFIBUS-DP Technical Manual 7
3 Receiving
Please perform the following tasks after receiving the PROFIBUS-DP Option:
• Inspect the PROFIBUS-DP Option for damage.
If the PROFIBUS-DP 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 PROFIBUS-DP Option does not function properly, contact your supplier.
◆Contents and Packaging
Table 1 Contents of Package
◆Tool Requirements
Note: Tools required to prepare PROFIBUS cables for wiring are not listed in this manual.
Description: Option Card Ground Cable Screws (M3) LED Label Installation Manual
Quantity: 11311
A Phillips screwdriver (M3) metric or (#1, #2) U.S. standard size is required to install the PROFIBUS-DP Option.
RUN
ERR
COMM
BF
MANUAL

8 YASKAWA ELECTRIC SIEP C730600 42A YASKAWA AC Drive-Option Card PROFIBUS-DP Technical Manual
4 PROFIBUS-DP Option Components
4 PROFIBUS-DP Option Components
◆PROFIBUS-DP Option
Figure 1
Figure 1 Option Card
Note: For details on the LEDs, Refer to PROFIBUS-DP Option LED Display on page 8.
◆Communication connector
The drive has a 9 pin D-sub connector for installing the option card. Once installed, the drive can connect to a PROFIBUS network.
Table 2 Communication connector (9-pin D-SUB)
◆PROFIBUS-DP Option LED Display
Table 3 LED Display
A – Communication cable connector (9
pin D-sub)
F – LED (BF)
G – Installation hole
B – Ground terminal (installation hole) H – Connector (CN5)
C – LED (COMM) I – Model number
D – LED (RUN)
E – LED (ERR)
PROFIBUS Connector Pin Signal Description
1 Shield Connected to the metal-shell (no direct FG-connection)
2– –
3 RxD/TxD-P Receive/Transmit data; line B (red)
4 CNTR-P Control signal for repeaters (direction control)
5 DGND Data ground (reference voltage to VP)
6 VP Power supply output for bus termination (for terminal resistor)
7– –
8 RxD/TxD-N Receive/Transmit data; line A (green)
9– –
LED Display Communication Status Meaning
Color Status
RUN
(Power) Green
ON Power is on Power is being properly supplied to SI-P3, and SI-P3 has completed its hardware self-diagnostics
check
OFF Power is off
• The drive has no power supply
• SI-P3 and drive are not connected properly and/or there is no power supplied to the SI-P3
• An internal, self-diagnostic error occurred in SI-P3.
ERR
(Option Error) Red
ON SI-P3 error Self-diagnostics error occurred in the SI-P3
Flashing Drive connection error Connection error between SI-P3 and drive. This includes node address setting errors to parameter
F6-30 on the drive side
OFF Normal operation Drive and SI-P3 are properly connected.
COMM
(Communication Status) Green ON Communication connected Normal send/receive between SI-P3 and PROFIBUS-DP master
OFF No data exchange There is a problem establishing communication between SI-P3 and the PROFIBUS-DP master
BF
(PROFIBUS-DP Error) Red
ON Waiting for communication
procedure setting Communication-related parameters are being set or initialized by the PROFIBUS-DP master.
Flashing Communication setting error Communication parameter error from PROFIBUS-DP master
OFF Normal operation LED shuts off once the PROFIBUS-DP master is finished setting communication-related
parameters.
H
AI
G
F
E
CDB
SI-P3
Looking from the connector
Underside
1
5
6
9
Bottom View
7
8
2
3
4

4 PROFIBUS-DP Option Components
YASKAWA ELECTRIC SIEP C730600 42A YASKAWA AC Drive-Option Card PROFIBUS-DP Technical Manual 9
Table 4 Understanding LED Display
{: On / : Flashing / ×: Off
◆Setting Node Address
Set drive parameter F6-30 to a node address (Range 0 to 125) unique to the network.
LED Communication Status Possible Cause Solution
RUN ERR COMM BF
×× ××No power.
The drive has no power. • Check all wiring to the drive, then turn the power on.
SI-P3 is not properly connected to the
drive, and therefore is not receiving enough
power.
• Shut the drive off and see if the PROFIBUS-DP Option is
connected properly. Turn the power back on again.
{×××
• Checking connection with the
drive
• Waiting for data from the
master.
• SI-P3 is reading the node address or
parameter configuration
• Waiting for initial input data from master
device.
–
×{××SI-P3 Self-diagnostics error The PROFIBUS-DP Option is damaged. • Cycle power to the drive. If the LED status does not change,
replace the PROFIBUS-DP Option.
×××Problem connecting to the drive. • Problem initializing the drive and SI-P3
• Incorrect node address.
• Cycle power to the drive. If the LED status does not change,
replace the PROFIBUS-DP Option
• Check the node address setting in the drive (parameter F6-10).
{××{Waiting for data from the master
device.
Waiting for data from the master device
(Set_Parm_Message or
Chk_Cfg_Message).
• Check the network settings in the master
• Make sure the master device is operating normally
• Check the terminal resistance settings on the data line
• Look for any problems with the data line, or if the connector
• See if the data line connected properly to the drive's main
circuit.
{××
Data is incorrect or PROFIBUS-
DP Option timed out waiting for
data.
The communication procedure in the
master is set incorrectly. • Check the communication procedure settings in the master.
{×{×Sending or receiving data. – –

10 YASKAWA ELECTRIC SIEP C730600 42A YASKAWA AC Drive-Option Card PROFIBUS-DP Technical Manual
5 Installation Procedure
5 Installation Procedure
◆Section Safety
DANGER
Electrical Shock Hazard
Power to the drive must be shut off when installing this option card.
Even though the power has been shut off, voltage still remains in the drive’s DC bus. Wait before removing the front cover once the
drive has been turned off.
The CHARGE light on the drive will go out after voltage in the DC bus drops below 50 V, at which point it is safe to remove the
front cover.
Due to the risk of electric shock, be sure that all LEDs have gone out and that the DC bus voltage has reached a safe level prior to
performing any work on the drive.
WARNING
Electrical Shock Hazard
Do not remove the front cover of the drive while the power is on.
Failure to comply could result in death or serious injury.
The diagrams in this section may include option cards 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.
Do not touch the option card while there is power flowing through the drive.
Failure to comply could result in death or serious injury.
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.
NOTICE
Damage to Equipment
Observe proper electrostatic discharge procedures (ESD) when handling the option card, 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.
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.
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.
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 card and connecting any other devices.
Failure to comply may result in damage to the option card.

5 Installation Procedure
YASKAWA ELECTRIC SIEP C730600 42A YASKAWA AC Drive-Option Card PROFIBUS-DP Technical Manual 11
◆Connection Diagram
The PROFIBUS-DP Option must be connected to the network using a 9 pin D-sub connector like shown in Figure 2.
Figure 2 Connection Diagram
■PROFIBUS-DP Termination
Because the option card does not have a terminal resistor, terminal resistance must be set using a switch on the 9 pin D-sub connector. Make sure
that only the D-sub connector for the final drive in the network is set for terminal resistance. If any other drive on the network is set for terminal
resistance, communication problems may occur.
Most 9 pin D-sub connectors have a function for disconnecting the output side of the cable. Use only the input side cable entry when connecting
both ends of the network. If the connector is reversed, then communication will not be possible between devices. Most connectors have arrows
indicating the input and output sides.
Terminating resistors without inductors as shown in Figure 3 can only be used for baud rates below 1.5 Mbps. 1.5 Mbps and higher baud rates
require termination with resistors and inductors like shown in .
Figure 2
Figure 3 PROFIBUS Cable Connection with Termination Resistors
Figure 3
Figure 4 Cable Termination of the PROFIBUS-DP Option Cable to EN50170
(pin numbers for a 9-pin D-sub connector)
◆Prior to Installing the Option Card
Prior to installing the PROFIBUS-DP Option, wire the drive and make necessary connections to the drive terminals. For more information on
wiring and connecting the drive, refer to the installation manual for the drive the PROFIBUS-DP option card is connected to. Verify that the drive
runs normally without the option installed.
<1> The FE terminal on the PROFIBUS-DP Option is fitted with a ground cable that should be connected to the ground terminal on the drive.
Bus termination ON = incoming and outgoing cables not connected.
Bus termination OFF = incoming and outgoing cables connected.
Drive
9-pin D-SUB Connector
For the last node on the bus,
turn on the termination resistor switch.
SI-P3
RTS
DGND
VP
A-line
B-line
390Ω220Ω390Ω
1B
1A
3
8
4
6
5
2B
2A
CN5
FE
<1>
PROFIBUS Cable PROFIBUS Cable Connector
(Red)
(Green)
(Red)
(Green)
(Shell)
To PROFIBUS-DP
Master
To the next slave
(Shell)
ON
OFF
Outgoing Cable
Incoming Cable
Switch
Bus termination
9-pin D-sub Connector
OO
O
390 Ω
B - Data line
DGND (pin 5)
RxD/TxD-N (pin 8)
RxD/TxD-P (pin 3)
VP (pin 6)
A - Data line
220 Ω
390 Ω

5 Installation Procedure
12 YASKAWA ELECTRIC SIEP C730600 42A YASKAWA AC Drive-Option Card PROFIBUS-DP Technical Manual
◆Installing the Option Card
Insert the option card in the CN5-A connectors located on the drive’s control board.
See the drive manual for directions on removing the front cover.
1. Shut off power to the drive, wait the appropriate amount of time for voltage to dissipate, then remove the operator and front cover.
2. Insert the CN5 connector on the option card into the matching CN5 connector on the drive, then fasten it into place using one of the screws
included with the option card.
Connect one of the lead lines using one of the screws to the ground terminal.
Three separate lead lines have been included with the option card to connect to three separate ports. Use the lead line with the length
appropriate for the distance of the port.
Note: There are only two screw holes on the drive for ground terminals. If three option cards are connected, two of the lead lines will need to share the same ground terminal.
Figure 4
Figure 5 Installing the Option Card
3. Wire the option card to the communication cable connector on the option card.
For exposed cables in drives 2A004 to 0069, 4A0002 to 0044, use a pair of wire cutters to create an opening on the left side of the front
cover that allows wiring to pass through. Sharp edges along the opening that was created should be smoothed down with a file or sand
paper so prevent any damage to the wires.
Drives 2A0081 to 0021, 4A0058 to 0165 have enough space to keep all wiring inside the unit.
Figure 5
Figure 6 Wiring space
4. Place the front cover back onto the drive as it was before.
Note: 1. Take care when wiring the option card so that the front cover easily fits back onto the drive.
2. Install Cable Cover option to maintain the drive Enclosure Type.
5. Attach the LED label packaged with the option card as shown in Figure 5.
A – Connector CN5-C G – Lead line
B – Connector CN5-B H – Use wire cutters to create an
opening for cable lines
C – Connector CN5-A I – Operator
D – Drive grounding terminal (FE) J – LED label
E – Insert connector CN5 here K – Front cover
F – Option card
A – Opening for cable lines
(2A0004 to 0069, 4A0002 to 0044)
B – Space for wiring
(2A0081 to 0211, 4A0058 to 0165)
G
A
EF
I
J
B
C
D
H
K
RUN
ERR
COMM
BF
A
B

5 Installation Procedure
YASKAWA ELECTRIC SIEP C730600 42A YASKAWA AC Drive-Option Card PROFIBUS-DP Technical Manual 13
◆Communication Cable Specifications
To ensure proper performance, Yaskawa recommends using PROFIBUS-DP-dedicated cables that fulfill the specifications in Table 5.For more
information on cables, refer to the PROFIBUS-DP website at http://www.profibus.com.
■Cable Requirements
Table 5 Communication Cable Requirements
■Cable Length
Communication speed determines maximum permissible cable length. Table 6 shows the specifications for Type A bus cables.
Table 6 Cable Length
◆GSD Files
For easy network implementation of drives equipped with an SI-P3, a GSD 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
Condition Specifications
Impedance 135 to 165 Ω at a frequency of (3 to 20 MHz)
Capacity 30 pF/m maximum
Loop Resistance 110 Ω/km maximum
Core Cross-Section 0.34 mm2minimum
Core Diameter 0.64 mm minimum
Communication speed (kbps) Distance per segment (m) Communication speed (kbps) Distance per segment (m)
9.6 1200 500 400
19.2 1200 1500 200
45.45 1200 3000 100
93.75 1200 6000 100
187.5 1000 12000 100

14 YASKAWA ELECTRIC SIEP C730600 42A YASKAWA AC Drive-Option Card PROFIBUS-DP Technical Manual
6 PROFIBUS-DP Option Drive Parameters
6 PROFIBUS-DP Option Drive Parameters
Confirm the proper setting of all parameters in Table 7 before starting network parameters.
Table 7 Parameter Settings
No. Name Description Default
b1-01
<1>
<1> To start and stop the drive through the PROFIBUS-DP network, set b1-02 to “3”. To control the frequency reference of the drive via the PROFIBUS-DP network, set b1-01 to “3”.
<2> If F6-03 is set to 3, then the drive will continue to operate when an EF0 fault is detected. Take proper safety measures, such as installing an emergency stop switch.
<3> 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 Closed Loop Vector for PM motors, this value is read as the torque limit.
<4> Default setting specifies that the torque reference or torque limit is to be provided via network communications (F6-06 = 1). The motor may not rotate if no torque reference or torque
limit is supplied from the PLC.
<5> All node addresses must be unique. Node addresses 0, 1, and 2 are typically reserved for control, maintenance, and diagnostic equipment. The ERR light will illuminate when 0 or greater
than 125 is entered.
<6> Power must be cycled in order for any setting changes to take affect.
Frequency Reference Selection
Selects the frequency reference input source
0: Operator - Digital preset speed d1-01 to d1-17
1: Terminals - Analog input terminal A1 or A2
2: MEMOBUS/Modbus communications
3: Option card
4: Pulse Input (Terminal RP)
1
b1-02
<1> Run Command Selection
Selects the run command input source
0: Digital Operator - RUN and STOP keys
1: Digital input terminals S1 to S7
2: MEMOBUS/Modbus communications
3: Option card
1
F6-01 Operation Selection after Communications Error
Determines drive response when a bUS error is detected during communications with the
PROFIBUS-DP Option
0: Ramp to Stop
1: Coast to Stop
2: Fast-Stop
3: Alarm Only <2>
1
F6-02 External Fault Detection Conditions (EF0)
Sets the condition for external fault detection (EF0)
0: Always detected
1: Detected only during operation
0
F6-03 Stopping Method for External Fault from
Communication Option Board
Determines drive response for external fault input (EF0) detection during PROFIBUS
communication
0: Ramp to Stop
1: Coast to Stop
2: Fast-Stop
3: Alarm Only <2>
1
F6-06
<3>
Torque Reference/Torque Limit selection from
Communications Option
0: Torque reference/torque limit via network communications are disabled.
1: Torque reference/torque limit via network communications are enabled. <4> 0
F6-07 NetRef/ComRef Selection Function 0: Multi-step speed reference disabled (F7 mode)
1: Multi-step speed reference allowed (V7 mode) 0
F6-08 Reset Communication Related Parameters
Determines which communication-related parameters are set back to their original default
values when the drive is initialized.
0: Do not reset F6- and F7- parameters when the drive is initialized using parameter
A1-03.
1: Rest F6- and F7- parameters when the drive is initialized using parameter A1-03.
Note: Setting this parameter does not affect communication-related parameters.
Setting this parameter only determines if communication-related parameters
(F6- and F7-) are also reset when A1-03 is used to initialize the drive.
0
F6-30
<5> <6> Node Address 0 to 125 0
F6-31 Clear Mode Selection
Selects the action to take when a "Clear Mode" command is received
0: Resets back to 0
1: Maintains the previous value
0
F6-32
<6> PROFIBUS Map Selection 0: PPO Type
1: Conventional 0
F6-33
<6> IND Data Size Selection 0: word
1: byte 0

7 Conventional Formats
YASKAWA ELECTRIC SIEP C730600 42A YASKAWA AC Drive-Option Card PROFIBUS-DP Technical Manual 15
7 Conventional Formats
◆Conventional Formats
The configuration tool of PROFIBUS-DP master sets the input and output data length of SI-P3 from Extended Data 1 (32 bytes), Extended Data 2
(12 bytes), and Basic Data (6 bytes).
Conventional formats have two message types: High-speed I/O Data and MEMOBUS/Modbus message.
Set parameter F6-32 to “1” to use conventional formats.
■High-Speed I/O Data
High-speed I/O data is directly transferred to or from the drive and can control the drive. For example, when the drive is set for PROFIBUS-DP
communications, the drive Run/Stop and Frequency Reference commands are typically transferred to the drive within 2 ms after being received by
the option.
■MEMOBUS/Modbus Message
MEMOBUS/Modbus message data is transferred to the drive using MEMOBUS/Modbus messages. All drive parameters and data can be accessed
through MEMOBUS/Modbus. Because the data in this message type is transferred to the drive after the SI-P3 receives and edits it, more time is
required to return the data to the master. The master must synchronize the timing of sending and receiving the data by handshaking.
■Memory Maps
The following memory maps show the I/O data bytes.
■Basic and Extended Register Maps
Table 8 Basic Data Register Map Detail
Table 9 Extended Data 1 Register Map
Basic Data
(6 bytes)
Extended Data 1
(32 bytes)
Extended Data 2
(12 bytes)
High-speed I/O Data Bytes 0 to 5 Bytes 0 to 15 Bytes 0 to 3
MEMOBUS/Modbus Data – Bytes 16 to 31 Bytes 4 to 11
Output (Master Device → Drive) Input (Drive → Master Device)
Byte
<1> Enabled in CLV, AOLV/PM, and CLV/PM control modes (A1-02 = 3, 6, or 7).
<2> Set when network communication is designated as the source of the torque limit and torque reference (F6-06 = 1).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 Closed Loop Vector for PM motors, this value is read as the torque limit.
<3> Unit depends on the setting of o1-03 (Digital Operator Display Scaling). When the drive is operating in the V/f Control mode or Open loop vector for PM mode, the drive's output
frequency becomes the input data.
<4> Data is displayed in units of either 0.01 A for drives 7.5 kW and smaller, or in units of 0.1 A for drives 11 kW and larger. This is the same regardless of whether the drive is set for Normal
Duty or Heavy Duty operation.
Description Byte Description
0 Operation Command High Byte 0 Drive Status High Byte
1 Operation Command Low Byte 1 Drive Status Low Byte
2 Frequency Reference High Byte 2 Motor Speed High Byte <3>
3 Frequency Reference Low Byte 3 Motor Speed Low Byte <3>
4 Torque Reference/Torque Limit High Byte <1> <2> 4 Output Current High Byte <4>
5 Torque Reference/Torque Limit Low Byte <1> <2> 5 Output Current High Byte <4>
Output (Master Device → Drive) Input (Drive → Master Device)
Byte Description Byte Description
0 Operation Command High Byte 0 Drive Status High Byte
1 Operation Command Low Byte 1 Drive Status Low Byte
2 Frequency Reference High Byte 2 Motor Speed High Byte <5>
3 Frequency Reference Low Byte 3 Motor Speed Low Byte <5>
4 Torque Reference High Byte <1> <2> 4 Torque Reference Monitor High Byte <6>
5 Torque Reference Low Byte <1> <2> 5 Torque Reference Monitor Low Byte <6>
6 Torque Compensation High Byte <1> 6 Speed Detection PG Pulse Count 1 High Byte
7 Torque Compensation Low Byte <1> 7 Speed Detection PG Pulse Count 1 Low Byte
8Reserved 8 Frequency Reference High Byte
99 Frequency Reference Low Byte
10 Analog Output Channel 1 High Byte <3> 10 Output Frequency High Byte
11 Analog Output Channel 1 Low Byte <3> 11 Output Frequency Low Byte
12 Analog Output Channel 2 High Byte <3> 12 Output Current High Byte <7>
13 Analog Output Channel 2 Low Byte <3> 13 Output Current Low Byte <7>
14 Digital Output High Byte <4> 14 Analog Input Channel 1 High Byte
15 Digital Output Low Byte <4> 15 Analog Input Channel 1 Low Byte
16 MEMOBUS/Modbus Function Code 16 MEMOBUS/Modbus Function Code
17 MEMOBUS/Modbus Starting Register Address High Byte 17 MEMOBUS/Modbus Starting Register Address High Byte
18 MEMOBUS/Modbus Starting Register Address Low Byte 18 MEMOBUS/Modbus Starting Register Address Low Byte
19 MEMOBUS/Modbus Number of Data 19 MEMOBUS/Modbus Number of Data
20 MEMOBUS/Modbus Data 1 High Byte 20 MEMOBUS/Modbus Data 1 High Byte

7 Conventional Formats
16 YASKAWA ELECTRIC SIEP C730600 42A YASKAWA AC Drive-Option Card PROFIBUS-DP Technical Manual
Table 10 Operation Command
Table 11 Drive Status: U1-12
21 MEMOBUS/Modbus Data 1 Low Byte 21 MEMOBUS/Modbus Data 1 Low Byte
22 MEMOBUS/Modbus Data 2 High Byte 22 MEMOBUS/Modbus Data 2 High Byte
23 MEMOBUS/Modbus Data 2 Low Byte 23 MEMOBUS/Modbus Data 2 Low Byte
24 MEMOBUS/Modbus Data 3 High Byte 24 MEMOBUS/Modbus Data 3 High Byte
25 MEMOBUS/Modbus Data 3 Low Byte 25 MEMOBUS/Modbus Data 3 Low Byte
26 MEMOBUS/Modbus Data 4 High Byte 26 MEMOBUS/Modbus Data 4 High Byte
27 MEMOBUS/Modbus Data 4 Low Byte 27 MEMOBUS/Modbus Data 4 Low Byte
28
Reserved
28
Reserved29 29
30 30
31 Handshaking Register 31 Handshake Register
<1> Enabled in CLV, AOLV/PM, and CLV/PM control modes (A1-02 = 3, 6, or 7).
<2> Set when network communication is designated as the source of the torque limit and torque reference (F6-06 = 1).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 Closed Loop Vector for PM motors, this value is read as the torque limit.
<3> To select drive analog output channel for communications, set H4-01 (Multi-Function Analog Output Terminal FM) and H4-04 (Multi-Function Analog Output Terminal AM) to 000
(through-mode).
<4> Drive digital output ON/OFF during communications, set H2-01 (Terminal M1, M2 and MC Function Selection (relay)), H2-02 (Terminal P1 Function Selection (open-collector)), and
H2-03 (Terminal P2 Function Selection (open-collector)) to F (through-mode).
<5> Unit depends on the setting of o1-03 (Digital Operator Display Scaling). Input data is 0 when the drive is set for V/f Control or Open loop vector for PM mode.
<6> Not possible when using V/f control, V/f with PG, or Open loop vector for PM motors (A1-02 = 0, 1, or 5).
<7> Data is displayed in units of either 0.01 A for drives 7.5 kW and smaller, or in units of 0.1 A for drives 11 kW and larger. This is the same regardless of whether the drive is set for Normal
Duty or Heavy Duty operation.
Command Signal Description
0H5-12 = 0: Forward Run/Stop, 1: FRUN
H5-12 = 1: Run/Stop, 1: RUN
1H5-12 = 0: Reverse Run/Stop, 1: RRUN
H5-12 = 1: Forward/Reverse, 1: REV
2 Multi-function digital input command 3
3 Multi-function digital input command 4
4 Multi-function digital input command 5
5 Multi-function digital input command 6
6 Multi-function digital input command 7
7 Multi-function digital input command 8
8 External Fault, 1: Fault (EF0)
9 Fault Reset, 1: Fault Reset
A
Reserved
B
C
D
EFault Trace and Fault History Reset
1: Fault information is reset by raising edge of this bit.
FBaseblock command
1: Ext Baseblock
Drive Status Description
0 1: During run
1 1: During zero speed
2 1: During reverse run
3 1: During fault reset signal input
4 1: During speed agree
5 1: Drive ready
61:Alarm
7 1: Fault
8 1: During operation error (oPE)
9 1: During momentary power loss
A 1: NetCtrl status
B 1: M1-M2 relay closed
C 1: Photocoupler output 1 closed
D 1: Photocoupler output 2 closed
E1:Motor2selected
F 1: Zero Servo Complete
Output (Master Device → Drive) Input (Drive → Master Device)
Byte Description Byte Description

7 Conventional Formats
YASKAWA ELECTRIC SIEP C730600 42A YASKAWA AC Drive-Option Card PROFIBUS-DP Technical Manual 17
Table 12 Extended Data 2 Register Map
◆MEMOBUS/Modbus Message Area
In this area, a MEMOBUS/Modbus message is transferred to the SI-P3 card, and the parameters in the drive can be set, read, and monitored. Up to
four data items can be written or read at one time.
Because the SI-P3 card edits the MEMOBUS/Modbus message internally and transfers it to the drive after receiving the message, more time is
required to return the message. Use the handshaking register to synchronize sending or receiving of the data between the PROFIBUS-DP master and
the SI-P3 card. For details on the handshaking register, refer to Handshaking Register on page 19.
Execute an Enter command to write a parameter to the drive. Execution of the Enter command validates the written data. For the details of the Enter
command. Refer to the Enter Command in Appendix C of the Technical Manual for the drive.
Note: Refer to the MEMOBUS/Modbus Data Table in Appendix C of the Technical Manual for the drive for a list of monitor data using the MEMOBUS/Modbus message
area.
■Configuration of MEMOBUS/Modbus Command Message
Table 1 3 shows the configuration of MEMOBUS/Modbus command messages when the Extended Data 1 is selected.
Table 13 MEMOBUS/Modbus Command Message
■Configuration of MEMOBUS/Modbus Response Messages
Table 1 4 shows the configuration of MEMOBUS/Modbus response messages when the Extended Data 1 is selected.
Table 14 MEMOBUS/Modbus Response Messages
Output (Master Device → Drive) Input (Drive → Master Device)
Byte
<1> Unit depends on the setting of o1-03 (Digital Operator Display Scaling). When the drive is operating in the V/f Control mode or Open loop vector for PM mode, the drive's output
frequency becomes the input data.
Description Byte Description
0 Operation Command High Byte 0 Drive Status High Byte
1 Operation Command Low Byte 1 Drive Status Low Byte
2 Frequency Reference High Byte 2 Motor Speed High Byte <1>
3 Frequency Reference Low Byte 3 Motor Speed Low Byte <1>
4 MEMOBUS/Modbus Function Code 4 MEMOBUS/Modbus Function Code
5 MEMOBUS/Modbus Starting Register Address High Byte 5 MEMOBUS/Modbus Starting Register Address High Byte
6 MEMOBUS/Modbus Starting Register Address Low Byte 6 MEMOBUS/Modbus Starting Register Address Low Byte
7 MEMOBUS/Modbus Data Length 7 MEMOBUS/Modbus Data Length
8 MEMOBUS/Modbus Data 1 High Byte 8 MEMOBUS/Modbus Data 1 High Byte
9 MEMOBUS/Modbus Data 1 Low Byte 9 MEMOBUS/Modbus Data 1 Low Byte
10 Reserved 10 Reserved
11 Handshaking Register 11 Handshake Register
Byte
<1> Setting is needed only for the write command. Select 00H for the read command.
Name Function
16 Function code
MEMOBUS/Modbus command code:
03H: Read command (reading Drive internal data)
08H: Loop back
10H: Write command (writing data into the drive)
Other codes: Not supported.
17 Starting Resistor No. Starting resistor No. High Byte
18 Low Byte
19 Number of Data Items Sets the number of bytes to read or write (only 2, 4, 6, or 8 allowed)
20 Data 1 <1> Data word 1 High Byte
21 Low Byte
22 Data 2 <1> Data word 2 High Byte
23 Low Byte
24 Data 3 <1> Data word 3 High Byte
25 Low Byte
26 Data 4 <1> Data word 4 High Byte
27 Low Byte
28
Reserved Reserved29
30
31 Handshaking Register Refer to Handshaking Register on page 19.
Byte Name Function
16 Function code
MEMOBUS/Modbus response codes
00H: Waiting for response from drive
03H: Response to read operation
10H: Response to write operation
83H: Read command error
90H: Write command error
Other codes: Not supported.

7 Conventional Formats
18 YASKAWA ELECTRIC SIEP C730600 42A YASKAWA AC Drive-Option Card PROFIBUS-DP Technical Manual
If an error occurs, the SI-P3 card sets the MSB (Most Significant Bit) in the MEMOBUS/Modbus response code to 1 and returns the error response.
The number of data items is set to 02H and one of the following error codes is written into the Low Byte of Data 1. Refer to the Communication
Errors in Appendix C of the Technical Manual for the drive for the details of the MEMOBUS/Modbus Error Codes.
■Parameter Settings Using MEMOBUS/Modbus Commands
The written or read data of each parameter is transferred in a hexadecimal value.
Negative values are expressed as a two complement.
Example 1:The frequency reference is 30Hz.
30 Hz/0.01 Hz = 3000 →BB8H
Example 2:–5% is assigned as the bias for terminal FM of multi-function analog output 1.
5/0.1 = 50 →32H
Converted into a two complement →FFCEH
Example 3:60.00 Hz is assigned for d1-01 (register No.: 0280H).
60.00Hz/0.01Hz = 6000 →1770H
Table 15 Parameter Settings Using MEMOBUS/Modbus Commands
17 Starting resistor No. Starting resistor No. High Byte
18 Low Byte
19 Number of data items Write: Set double number of written data items
Read: Set double number of read data items
20 Data 1 <1> Data word 1 High Byte
21 Low Byte
22 Data 2 <1> Data word 2 High Byte
23 Low Byte
24 Data 3 <1> Data word 3 High Byte
25 Low Byte
26 Data 4 <1> Data word 4 High Byte
27 Low Byte
28
Reserved29
30
31 Handshaking register Refer to Handshaking Register on page 19.
<1> Data is returned only for the read command.
Byte
<1> Depends on the status of the previous data.
<2> Depends on the status of the fault.
Name Data
Command Message Response Message Response Message (at Fault) <2>
16 Function code 10H 10H 90H
17 Starting Register No. High Byte 02H 02H 00H
18 Low Byte 80H 80H 00H
19 Number of Data Items 02H 02H 02H
20 Data 1 High Byte 17H 00H 00H
21 Low Byte 70H 00H 02H
22 Data 2 High Byte 00H 00H 00H
23 Low Byte 00H 00H 00H
24 Data 3 High Byte 00H 00H 00H
25 Low Byte 00H 00H 00H
26 Data 4 High Byte 00H 00H 00H
27 Low Byte 00H 00H 00H
28
Reserved
00H 00H 00H
29 00H 00H 00H
30 00H 00H 00H
31 Handshaking Register <1> 80H 80H 80H
Byte Name Function

7 Conventional Formats
YASKAWA ELECTRIC SIEP C730600 42A YASKAWA AC Drive-Option Card PROFIBUS-DP Technical Manual 19
■Handshaking Register
Handshaking is used to synchronize the timing of the sending or receiving of MEMOBUS/Modbus message data between the SI-P3 card and the
PROFIBUS-DP master.
When the master toggles bit 7 of the handshaking register in the output data, the SI-P3 starts to process the data in the MEMOBUS/Modbus
registers. Ensure that the data in the MEMOBUS/Modbus registers is valid before toggling bit 7.
When the SI-P3 toggles bit 7 of the handshaking register in the input data to the same value as handshake register bit 7 in the output data, the content
of the input data MEMOBUS/Modbus registers is valid.
Handshaking Output Register
PROFIBUS-DP Master to SI-P3 Card
Handshaking Input Register
SI-P3 Card to PROFIBUS-DP Master
Bit7654321 0
HS––––––INIT
Bit Name Function
7HS
Handshaking bit. Synchronizes send and receive timing. Changes status when sending new command messages.
Note: This bit is reset to 0 at power up or by setting the handshaking output register bit INIT to 1.
1 to 6 – Not used
0 INIT Clears the handshaking bit to 0
Bit7654321 0
HS STATUS WD –
Bit
<1> STATUS and WD are for reference.
Name Function
7HS
Handshaking bit. Synchronizes send and receive timing. Changes status when sending new command messages.
Note: This bit is reset to 0 at power up or by initializing the handshaking output register bit INIT back to 0.
5 to 6 STATUS <1>
Status of the data exchange between the PROFIBUS-DP master and the drive.
00H: Idle
01H: SI-P3 sends a MEMOBUS/Modbus command to the drives.
10H: SI-P3 waits for a MEMOBUS/Modbus response from the drives.
11H: SI-P3 receives a MEMOBUS/Modbus response from the drives.
1 to 4 WD <1> Counter increases every 64 ms
0–Notused

7 Conventional Formats
20 YASKAWA ELECTRIC SIEP C730600 42A YASKAWA AC Drive-Option Card PROFIBUS-DP Technical Manual
■Example of Handshaking
Clear the handshaking register HS bit (bit 7) to 0 for the PLC program after turning on the power supply or after re-initializing. Figure 7 describes
the handshaking function. The arrow marks indicate whether the PROFIBUS-DP master or the SI-P3 card has the control for the protocol.
Figure 6
Figure 7 Example of Handshaking
0
0
1
1
1
1
0
0
0
0
1
0
0
0
0
1
1
1
1
0
0
0
PROFIBUS-DP Master
Handshaking Output Register
⇓
⇓
⇒
⇓
⇓
⇓
⇓
⇒
⇓
⇓
⇓
⇓
⇒
⇓
etc.
SI-P3 Card
Handshaking Input Register
Command Executed
Response Valid
New MEMOBUS/Modbus
Command to SI-P3 Card
Response Valid
Create
Command
Signal New
Message Waiting
Create
Command
Synchronize Command Bits
to Start the Message Process
Synchronize command bits
to start the message process
Signal New
Message Waiting
Signal New
Message Waiting
Create
Command
Command Executed
New MEMOBUS/Modbus
Command to SI-P3 Card
New MEMOBUS/Modbus
Command to SI-P3 Card