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.
GEM_EtherCAT_IM_E_conditional.book 2 ページ ２０１８年１０月２５日 木曜日 午後７時２９分

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
GEM_EtherCAT_IM_E_conditional.book 3 ページ ２０１８年１０月２５日 木曜日 午後７時２９分

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
GEM_EtherCAT_IM_E_conditional.book 4 ページ ２０１８年１０月２５日 木曜日 午後７時２９分

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.
GEM_EtherCAT_IM_E_conditional.book 5 ページ ２０１８年１０月２５日 木曜日 午後７時２９分

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.
GEM_EtherCAT_IM_E_conditional.book 6 ページ ２０１８年１０月２５日 木曜日 午後７時２９分

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.
GEM_EtherCAT_IM_E_conditional.book 7 ページ ２０１８年１０月２５日 木曜日 午後７時２９分

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
GEM_EtherCAT_IM_E_conditional.book 8 ページ ２０１８年１０月２５日 木曜日 午後７時２９分

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
GEM_EtherCAT_IM_E_conditional.book 9 ページ ２０１８年１０月２５日 木曜日 午後７時２９分

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
GEM_EtherCAT_IM_E_conditional.book 10 ページ ２０１８年１０月２５日 木曜日 午後７時２９分

4 EtherCAT Option Components
YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual 11
uEtherCAT Option Status LEDs
The EtherCAT Option has four LEDs that indicate the communication status. The
indications conform with DS303, Part 3: Indicator Specification.
nLED Location
Figure 3
Figure 3 LED Location
nLEDs L/A OUT and L/A IN: Ethernet Link/Activity 1 and 2
The Link/Activity indicators show the status of the physical link and show activity on the
link period.
LED Color Display Meaning
L/A OUT, L/A IN
–Off
No link. The communication cable is not physically
connected. The communication controller is not
started up.
Green On
The module is connected to Ethernet.
A communication cable is physically connected,
but no data is being exchanged.
Green Flickering There is traffic on Ethernet, data is being exchanged.
L/A IN RUN
L/A OUT ERR
RUN ERR
L/A OUT L/A IN
A1000
GA700 and GA800 Label
1000-Series Label
GEM_EtherCAT_IM_E_conditional.book 11 ページ ２０１８年１０月２５日 木曜日 午後７時２９分

4 EtherCAT Option Components
12 YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual
nRUN LED
A green lit RUN LED indicates the status of the communication network state machine.
A red lit RUN LED is only used by the NOID firmware loader.
nERR LED
The red error LED indicates the presence of any errors.
LED Color Display Meaning
RUN
– Off The device is in Init state.
Green Blinking The device is in Pre-Operational State.
Green Single Flash The device is in Safe-Operational State.
Green 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 in IDLE state (waiting
for commands from the drive)
6 Hz: Firmware loader protocol is processing
commands
LED Color Display Meaning
ERR
–Off
No link. The communication option card is in working
condition.
Red
Blinking General configuration error.
Single Flash
The slave device application has changed the
communication state autonomously: The parameter
“Change” in the AL status register is set to 01 (Hex):
change/error.
Double Flash The sync manager watchdog time out has occurred.
On
Possible causes:
1: A Process Data Interface error has occurred, the
NOID application interface has failed.
2: An option card FATAL event has occurred (system
has stalled execution, see the technical manual for this
option. for the cause).
Blinking
(1 Hz or 6 Hz)
The option BOOT or APP firmware is executing the
NOID firmware
loader.
1 Hz: Firmware loader protocol in IDLE state (waiting
for commands from drive)
6 Hz: Firmware loader protocol is processing
commands
GEM_EtherCAT_IM_E_conditional.book 12 ページ ２０１８年１０月２５日 木曜日 午後７時２９分

4 EtherCAT Option Components
YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual 13
nIndicator Flash Rates
Figure 4
Figure 4 Meaning of LED Flash Rates
Flickering
on
50 ms
200 ms
200 ms
200 ms 200 ms 200 ms
200 ms 200 ms 200 ms
200 ms 200 ms 200 ms
200 ms 200 ms 200 ms
200 ms 200 ms
200 ms
12 n
200 ms1000 ms
1000 ms
1000 ms
1000 ms
1000 ms
200 ms
off
on
off
on
off
on
off
on
off
on
off
on
off
Blinking
Single
Flash
Double
Flash
Triple
Flash
n Flashes
Inverted
Double
Flash
GEM_EtherCAT_IM_E_conditional.book 13 ページ ２０１８年１０月２５日 木曜日 午後７時２９分

4 EtherCAT Option Components
14 YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual
uCommunication Connector
The Communication Option card is connected to the network using a RJ45 connector.
Table 3 Pin Assignment of RJ45 Communication Connector
nCommunication Cable
YASKAWA recommends using EtherCAT dedicated Cat5e or better communication cables.
nNetwork Termination
If the drive is the last node in the network, network termination is automatically realized by
the ASIC of the Communication Option card.
EtherCAT Connector Pin Signal Description
Figure 5
1TD+Senddata
2TD-Senddata
3 RD+ Receive data
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)
6 RD- Receive data
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
18 ... ...
GEM_EtherCAT_IM_E_conditional.book 14 ページ ２０１８年１０月２５日 木曜日 午後７時２９分

YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual 15
5 Mechanical & Electrical Installation
5 Mechanical & Electrical Installation
uSafety Precautions
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.
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.
GEM_EtherCAT_IM_E_conditional.book 15 ページ ２０１８年１０月２５日 木曜日 午後７時２９分

5 Mechanical & Electrical Installation
16 YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual
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
GEM_EtherCAT_IM_E_conditional.book 16 ページ ２０１８年１０月２５日 木曜日 午後７時２９分

5 Mechanical & Electrical Installation
YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual 17
uProcedures for Installing and Wiring Options on a Drive
Procedures for installing and wiring options differ depending on the drive model.
Refer to Table 4 to check the procedures for installing and wiring options on a drive.
Table 4 Procedures for Installing and Wiring Options on a Drive
Product Series Procedures for Installing and
Wiring Options on a Drive Page
A1000 Procedure A 18
GA700 Procedure B 24
GA800 Procedure B 24
GEM_EtherCAT_IM_E_conditional.book 17 ページ ２０１８年１０月２５日 木曜日 午後７時２９分

5 Mechanical & Electrical Installation
18 YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual
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 6
Figure 5 Drive Components with Option
A – Insertion point for CN5 connector K – Option modular connector IN
B – SI-ET3 option L – Drive grounding terminal (FE)
C – Drive front cover M – Connector CN5-A
D – Keypad N – Connector CN5-B
(Not available for communication
option installation.)
E – LED label
F – Drive terminal cover
G – Removable tabs for wire routing O – Connector CN5-C
(Not available for communication
option installation.)
H – Included screws
I – Ground wire
J – Option modular connector OUT
F
H
M
N
O
L
K
I
BC
D
E
A
G
J
L/A IN RUN
L/A OUT ERR
GEM_EtherCAT_IM_E_conditional.book 18 ページ ２０１８年１０月２５日 木曜日 午後７時２９分

5 Mechanical & Electrical Installation
YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual 19
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 7
Figure 6 Remove the keypad, Front Cover, and Terminal Cover
C
D
F
A1000
GEM_EtherCAT_IM_E_conditional.book 19 ページ ２０１８年１０月２５日 木曜日 午後７時２９分

5 Mechanical & Electrical Installation
20 YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual
2. Affix the LED label (E) in the appropriate position on the drive front cover (C).
Figure 8
Figure 7 Affix the LED Label
3. Insert the option card (B) into the CN5-A (M) connector on the drive and fasten it
into place using one of the included screws (H). Tighten the screw to 0.5 to 0.6 Nm
(4.4 to 5.3 inlb).
Figure 9
Figure 8 Insert the Option
L/A IN RUN
L/A OUT ERR
C
E
A1000
NS MS
M
H
B
A1000
GEM_EtherCAT_IM_E_conditional.book 20 ページ ２０１８年１０月２５日 木曜日 午後７時２９分