YASKAWA SI-ES3 User manual

EtherCAT通信
安川インバータオプション
取扱説明書
形式 SI-ES3
EtherCAT
YASKAWA AC Drive Option
Installation Manual
Type: SI-ES3
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，本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 改版<1>2011.8
MANUAL NO. TOBP C730600 96C

2YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual
Copyright © 2018 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 96C YASKAWA AC Drive Option SI-ES3 Installation Manual 3
Table of Contents
1 PREFACE AND GENERAL PRECAUTIONS. . . . . . . . . . . . 4
2 OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3 RECEIVING. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
4 ETHERCAT OPTION COMPONENTS . . . . . . . . . . . . . . . . 10
5 MECHANICAL & ELECTRICAL INSTALLATION . . . . . . . 15
6 ETHERCAT OPTION RELATED DRIVE PARAMETERS .30
7 SUPPORTED MODES OF OPERATION . . . . . . . . . . . . . . 32
8 OBJECT DICTIONARY. . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
9 PROCESS DATA OBJECTS (PDO). . . . . . . . . . . . . . . . . . 36
10 EXAMPLES. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
11 TROUBLESHOOTING . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
12 EUROPEAN STANDARDS. . . . . . . . . . . . . . . . . . . . . . . . . 51
13 SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
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4 YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual
1 Preface and General Precautions
1 Preface and General Precautions
This chapter describes important safety precautions regarding the use of this product. Failure
to follow these precautions may result in serious injury or death, and may lead to damage to
this product or related devices and systems. Yaskawa shall not be held responsible for any
injury or equipment damage as a result of failure to observe the precautions and instructions
contained in this manual.
uReceiving
This instruction manual contains the information necessary to use the product correctly.
Thoroughly read this manual before installing, wiring, operating, or performing maintenance
and inspections. Make sure to read and understand the safety information and precautions
before using the product.
nAbout Terms and Abbreviations in This Document
Representations Used
in This Manual Description
Option YASKAWA AC Drive Option EtherCAT
Drive • YASKAWA AC Drive 1000-Series (A1000)
• 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 GA700 and GA800
• LED Keypad for YASKAWA AC Drive GA700 and GA800
EtherCAT Ethernet for Control Automation Technology, an open Ethernet-based network
Online-DRV NOID processing mode, process (ctrl/resp) data is active
Online-DRVMB
NOID processing mode, process resp data is active, ctrl data is on hold (Until
MEMOBUS
process is complete)
Online-PRG NOID processing mode, NO process (ctrl/resp) data is active
Host YASKAWA inverter drive
LED Light Emitting Diode
OPT, Option The unit described in this document
INV, Inverter Inverter drive
PCB Printed Circuit Board
FCS Frame Check Sequence
INVR MEMOBUS register number
ESI EtherCAT Slave Information file
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1 Preface and General Precautions
YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual 5
nAbout Registered Trademarks
• EtherCAT is a registered trademark of Beckhoff Automation GmbH.
• Other company names and product names that appear in this document are trademarks or
registered trademarks of the respective companies.
uSupplemental 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.
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.
CAUTION
Indicates a hazardous situation, which, if not avoided, could cause minor or
moderate injury.
NOTICE
Indicates an equipment damage message.
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1 Preface and General Precautions
6YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual
nGeneral Safety
General Precautions
• The diagrams in this section may include options and drives without covers or safety
shields to illustrate details. Be sure to reinstall covers or shields before operating any
devices. The option 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.
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.
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1 Preface and General Precautions
YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual 7
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 96C YASKAWA AC Drive Option SI-ES3 Installation Manual
2 Overview
2 Overview
The EtherCAT Communication Option (Model: SI-ES3) is an option card designed to
connect the YASKAWA inverter drives to an EtherCAT network. Using this option card and
an EtherCAT master you can:
• Operate the inverter drive
• Monitor the inverter drive operation status
• Read or modify inverter drive parameters.
The option contains support for 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
uCompatible Products
The option can be used with the products in Table 1.
Table 1 Compatible Products
Note: Refer to the option package labeling in the field designated “PRG” (four digit number)” or the
option nameplate designated “V: option software version” to identify the option software
version.
Product Series Model(s) Software Version <1>
<1> Refer to “PRG” on the drive nameplate for the software version number.
<2> Before you install the option on a YASKAWA AC Drive GA700 or GA800, make sure that the option
software version is PRG: 2.01 or later.
A1000
CIMR-A2A ≥1017
CIMR-A4A0002 to 4A0675 ≥1017
CIMR-A4A0930 and 4A1200 ≥3015
CIMR-A5A ≥5045
≥1017
GA700
<2> CIPR-GA70 ≥1010
GA800
<2> CIPR-GA80 ≥9010
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YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual 9
3 Receiving
3 Receiving
This instruction manual contains the information necessary to use the product correctly.
Thoroughly read this manual before installing, wiring, operating, or performing maintenance
and inspections. Make sure to read and understand the safety information and precautions
before using the product.
uReceiving the Option Card
Please perform the following tasks after receiving the Communication Option card:
• Inspect the Communication Option card for damage. If the Communication Option card
appears damaged upon receipt, contact the shipper immediately.
• Verify receipt of the correct model by checking the information:
Find the model number on the nameplate on the PCB.
• If you have received the wrong option card model or the Communication Option card
does not function properly, contact Yaskawa or a Yaskawa representative.
uContent and Packaging
Table 2 Option Package Contents for Inverter Drives
uTools Required
A Phillips screwdriver PH1 (#1) or PH2 (#2) is required to install the Communication
Option card.
Note: Tools required to prepare communication network cables for wiring are not listed in this manual.
Description
<1> GA700 and GA800 drives does not use the ground wire.
<2> GA700 and GA800 drives uses two screws only.
Option Card
Ground
Cables
<1>
Screws
(M3)
LED Labels Installation
Manual
1000-Series GA700 and
GA800
Illustration
Quantity 113 <2> 111
L/A IN RUN
L/A OUT ERR
RUN ERR
L/A OUT L/A IN
MANUAL
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10 YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual
4 EtherCAT Option Components
4 EtherCAT Option Components
uEtherCAT Option
Figure 2
Figure 2 Option Card
A – Connector (CN5)
<1> Refer to EtherCAT Option Status LEDs on page 11 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.
G – Model number
B – Installation hole H – Ground terminal
(installation hole) <2>
C – LED (RUN) <1>
D – LED (ERR) I – Communication cable
connector OUT (JP3)
E – LED (L/A OUT)
<1>
F – LED (L/A IN) <1> J – Communication cable
connector IN (JP2)
Underside
A
Looking from the connector
B
C
D
FE
H
I
J
SI-ES3
G
IN OUT
A1000
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