YASKAWA SI-ES3 User manual

EtherCAT Option
Options Card for AC Drives and Regenerative Units
Installation Manual
Type: SI-ES3
SI-ES3/V

This Page Intentionally Blank
2YASKAWA TOEPYEUOEC101A EtherCAT Option Installation Manual

YASKAWA TOEPYEUOEC101A EtherCAT Option Installation Manual 3
Table of Contents
1. Preface and General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
General Safety Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Intended Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Legal Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2. Product Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
About This Product . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Applicable Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3. Receiving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
4. EtherCAT Option Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
EtherCAT Option SI-ES3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
EtherCAT Option SI-ES3/V for V1000 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
EtherCAT Option Status LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Indicator Flash Rates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Connecting the Option Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
5. Mechanical & Electrical Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Preconditions for Installing the Option Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Installing the Option on a A1000, D1000, R1000 or U1000 . . . . . . . . . . . . . . . . . . . . . . . 13
Installing the Option on a V1000. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Installing the Option on a GA700 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Installing the Option on a Q2A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
ESI File. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
6. EtherCAT Option Related Drive Parameters . . . . . . . . . . . . . . . . . . . . . . . . 21
Parameters for A1000, D1000, R1000, U1000, GA700, V1000. . . . . . . . . . . . . . . . . . . . 21
Parameters for Q2A. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
7. Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Communication Option Card Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Yaskawa-specific SDO Abort Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Minor Faults/Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
8. Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
9. Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

4YASKAWA TOEPYEUOEC101A EtherCAT Option Installation Manual
Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Revision History. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

1 Preface and General Precautions
YASKAWA TOEPYEUOEC101A EtherCAT Option Installation Manual 5
1 Preface and General Precautions
This chapter describes important safety precautions regarding the use of this product. Failure to follow these pre-
cautions may result in serious injury or death, and may lead to damage to this product or related devices and sys-
tems. 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.
◆Safety Information
Read and understand this manual before you install, operate, or do maintenance on the drive. Install the drive as
specified by this manual and local codes.
The symbol marks in this section identify safety messages in this manual. Failure to obey these safety messages
can cause serious injury, death, or damage to the products and related equipment and systems.
These identifier words categorize and emphasize important safety precautions in these instructions.
DANGER Identifies a hazardous situation, which, if not avoided, will cause death or serious injury.
WARNING Identifies a hazardous situation, which, if not avoided, can cause death or serious injury.
CAUTION Identifies a hazardous situation, which, if not avoided, can cause minor or moderate injury.
NOTICE Identifies a property damage message.
■General Safety Instructions
Yaskawa Electric manufactures and supplies electronic components for a variety of industrial applications. The se-
lection and application of Yaskawa products is the responsibility of the designer of the equipment or the customer
that assembles the final product. Yaskawa is not responsible for how our products are incorporated into the final
system design. In all cases, Yaskawa products should not be incorporated into a product or design as the exclusive
or sole safety control function. All control functions are designed to dynamically detect failures and operate safely
without exception. All products that are designed to incorporate parts manufactured by Yaskawa must be provided
to the end user and include proper warnings and instructions regarding their safe use and operation. All warnings
from Yaskawa must be promptly issued to the end user. Yaskawa offers warranties only for the quality of our prod-
ucts, in compliance with standards and specifications that are described in the manual. Yaskawa does not offer oth-
er warranties, either explicit or implied. Yaskawa assumes no responsibility for personal injury, property damage
or loss, or compensation for damage caused by the incorrect application of our products.
Note:
Be aware that serious injury or death may result if the warnings described in this manual are not observed. Yaskawa assumes no respon-
sibility for injuries or equipment damage to your company or customers that are caused by a failure to observe the information contained
in this manual.
•Read this manual carefully when mounting, operating, and repairing AC drives and Communication options.
•Follow all warnings, cautions, and instructions.
•All work should be carried out by qualified personnel.
•Ensure the drive is installed to an area that matches the following conditions.
DANGER Electrical Shock Hazard. Do not examine, connect, or disconnect wiring on an energized drive. Before servic-
ing, disconnect all power to the equipment and wait for the time specified on the warning label at a minimum. The internal ca-
pacitor stays charged after the drive is de-energized. The charge indicator LED extinguishes when the DC bus voltage
decreases below 50 Vdc. When all indicators are OFF, remove the covers before measuring for dangerous voltages to make
sure that the drive is safe. Failure to obey will cause death or serious injury.
WARNING Fire Hazard. Do not connect power supply wiring to drive output terminals U/T1, V/T2, and W/T3. Connect
power supply wiring to main circuit input terminals R/L1, S/L2, and T/L3. Failure to obey can cause death or serious injury.
WARNING Electrical Shock Hazard. Do not make changes to the drive body or drive circuitry. Failure to obey can cause
death or serious injury and will void warranty. Yaskawa is not responsible for changes to the product made by the user.
WARNING Electrical Shock Hazard. Only let authorized persons install, wire, maintain, examine, replace parts, and repair
the drive. Failure to obey can cause death or serious injury.
WARNING Electrical Shock Hazard. Always ground the motor-side grounding terminal. Contacting the motor case can
cause death or serious injury from incorrect equipment grounding.
WARNING Electrical Shock Hazard. Do not work on the drive or around the drive while wearing loose clothing or jewelry.
Tighten loose clothing and remove all metal objects such as watches or rings. Failure to obey can cause death or serious injury.

1 Preface and General Precautions
6YASKAWA TOEPYEUOEC101A EtherCAT Option Installation Manual
WARNING Electrical Shock Hazard. The leakage current of the drive will be more than 3.5 mA in drive models 2xxxB,
2xxxC, 4002B to 4371B, 4002C to 4371C (with built-in EMC filter turned ON) and 4389 to 4675. The IEC/EN 61800-5-1: 2007
standard specifies that users must wire the power supply to automatically turn off when the protective ground wire disconnects.
Users can also connect a protective ground wire that has a minimum cross-sectional area of 10 mm2(copper wire) or 16 mm2
(aluminum wire). Failure to obey these standards can cause death or serious injury.
WARNING Sudden Movement Hazard. Remove all persons and objects from the area around the drive, motor, and load
before starting Auto-Tuning. The drive and motor can start suddenly during Auto-Tuning and cause death or serious injury.
WARNING Sudden Movement Hazard. Remove all persons and objects from the area around the drive, motor, and ma-
chine area and attach covers, couplings, shaft keys, and machine loads before energizing the drive. Failure to obey can cause
death or serious injury.
WARNING Fire Hazard. Do not use the main circuit power supply (Overcurrent Category III) at incorrect voltages. Make
sure that the drive rated voltage aligns with the power supply voltage before energizing the drive. Failure to obey can cause
death or serious injury.
WARNING Fire Hazard. Do not put flammable or combustible materials on top of the drive and do not install the drive near
flammable or combustible materials. Attach the drive to metal or other noncombustible material. Failure to obey can cause death
or serious injury.
WARNING Fire Hazard. Tighten all terminal screws to the correct tightening torque. Connections that are too loose or too
tight can cause incorrect operation and damage to the drive. Incorrect connections can also cause death or serious injury from
fire.
WARNING Electrical Shock Hazard. Do not cause a short circuit on the drive output circuit. Failure to obey can cause
death or serious injury.
WARNING Electrical Shock Hazard. Always use a type B Residual Current Monitor/Residual Current Device (RCM/RCD)
where a residual current operated protective or monitoring device protects against direct or indirect contact as specified by IEC/
EN 60755 The drive can cause a residual current with a DC component in the protective earthing conductor. Failure to obey can
cause death or serious injury.
WARNING Electrical Shock Hazard. Ground the neutral point on the power supply of drive models 2xxxB/C and 4xxxA/B/
C to comply with the EMC Directive before turning on the EMC filter or if there is high resistance grounding. If the EMC filter is
switched ON without the neutral point being grounded or if there is high resistance grounding, it can cause death or serious
injury.
WARNING Electrical Shock Hazard. Do not immediately energize the drive or operate peripheral devices after the drive
blows a fuse or trips an RCM/RCD. Wait for the time specified on the warning label at a minimum and make sure that all indica-
tors are OFF. Then check the wiring and peripheral device ratings to find the cause of the problem. Contact Yaskawa before en-
ergizing the drive or peripheral devices if the cause is not known. Failure to obey can cause death or serious injury and damage
to the drive.
WARNING Fire Hazard. Install sufficient branch circuit short circuit protection as specified by applicable codes and this
manual. The drive is suited for circuits that supply not more than 100,000 RMS symmetrical amperes, 240 Vac maximum (200 V
Class), 480 Vac maximum (400 V Class). Failure to obey can cause death or serious injury.
CAUTION Burn Hazard. Do not touch a hot drive heatsink. De-energize the drive, wait 15 minutes minimum, and make
sure that the heatsink is cool to replace the cooling fans. Failure to obey can cause minor to moderate injury.
NOTICE Observe correct electrostatic discharge (ESD) procedures when touching the drive and circuit boards. Failure
to obey can cause ESD damage to the drive circuitry.
NOTICE Do not connect or disconnect the motor from the drive while the drive is supplying voltage. Incorrect equip-
ment sequencing can cause damage to the drive.
NOTICE Do not do a withstand voltage test or Megger test on the drive. Failure to obey can cause damage to the drive.
NOTICE Do not connect or operate damaged equipment or equipment with missing parts. Failure to obey can cause
damage to the drive and connected equipment.
NOTICE Install fuses and an RCM/RCD. Failure to obey can cause damage to the drive.
NOTICE Do not use unshielded wire for control wiring. Use shielded, twisted-pair wires and ground the shield to the
ground terminal of the drive. Failure to obey can cause electrical interference and unsatisfactory system performance.
NOTICE Make sure that all connections are correct after you install the drive and connecting peripheral devices. Failure
to obey can cause damage to the drive.
■Intended Use
This communication option card is electrical equipment intended to enable Yaskawa drives to communicate with
an additional fieldbus system for commercial use. Do not use this product for any other purpose.
1. Read and understand all safety precautions.
2. Wire and ground the drive and communication option card in accordance with all applicable standards and
safety precautions.

2 Product Overview
YASKAWA TOEPYEUOEC101A EtherCAT Option Installation Manual 7
3. Firmly attach all parts and protective covers.
4. Always use the product in the proper environmental conditions as specified in this manual.
DANGER Electrical Shock Hazard. Make sure that all electrical connections are correct and install all drive covers be-
fore energizing the drive. Use terminals for their intended function only. Incorrect wiring or ground connections, and incorrect re-
pair of protective covers can cause death or serious injury.
WARNING Electrical Shock Hazard. Do not make changes to the drive body or drive circuitry. Failure to obey can cause
death or serious injury and will void warranty. Yaskawa is not responsible for changes to the product made by the user.
◆Legal Information
■Exclusion of Liability
This product is not designed and manufactured for use in life-support machines or systems.
Contact a Yaskawa representative or your Yaskawa sales representative if you are considering the application of
this product for special purposes, such as machines or systems used for passenger cars, medicine, airplanes and
aerospace, nuclear power, electric power, or undersea relaying.
WARNING Injury to Personnel. Yaskawa manufactured this product with strict quality-control guidelines. Install applicable
safety devices to minimize the risk of accidents when installing the product where its failure could cause a life-or-death situation,
loss of human life, or a serious accident or physical injury.
■About 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.
2 Product Overview
◆About This Product
The EtherCAT Communication Option (Models: SI-ES3 and SI-ES3/V) is an option card designed to connect the
YASKAWA AC drives or regenerative units to an EtherCAT network. Using this option card and an EtherCAT
master you can:
•Operate the AC drive or regenerative unit
•Monitor the AC drive or regenerative unit operation status
•Read or modify AC drive or regenerative unit 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 (not available for D1000 and R1000)
◆Applicable Models
The option can be used with these drive series:

3 Receiving
8YASKAWA TOEPYEUOEC101A EtherCAT Option Installation Manual
Table 2.1 Applicable Models
Option Card Model Drive Series Software Version
SI-ES3 A1000 For models up to 630 kW: VSA901017 and higher
For models more than 630 kW: VSA903015 and higher
D1000 For models up to 630 kW: VSD902006 and higher
For models more than 630 kW: VSD903014 and higher
R1000 VSD902102 and higher
U1000 VSU901010 and higher
GA700 VSAA1010 and higher
Q2A VSAA923010 and higher
SI-ES3/V V1000 VSV901020 and higher
For software version, see “PRG”on the nameplate of the drive or regenerative unit.
3 Receiving
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 shipping company immediately.
•Verify receipt of the correct model by checking the information:
For V1000: Find the information on the mounting frame label of the option card.
For other units: Find the information on the PCB.
•If you have received the wrong option card model or the Communication Option card does not function prop-
erly, contact your supplier.
◆Packaging Content
Table 3.1 Option Package Contents for SI-ES3 (AC Drives and Regenerative Units)
Description Option Card Ground Cables Screws (M3) LED Label Installation Manual
Illustration
Quantity 1 1 3 2 1
Table 3.2 Option Package Contents for SI-ES3/V (V1000 AC Drive)
Description Option Card Ground Cables Installation Manual
Illustration
Quantity 1 4; of different length 1
L/A IN RUN
L/A OUT ERR
ERR
L/A OUT
RUN
L/A IN
MANUAL
MANUAL

4 EtherCAT Option Components
YASKAWA TOEPYEUOEC101A EtherCAT Option Installation Manual 9
4 EtherCAT Option Components
◆EtherCAT Option SI-ES3
A - Communication cable connector
(RJ45)
B - Ground terminal (installation
hole)
C - Model number
D - Installation hole
E - LED (RUN)
F - LED (ERR)
G - LED (L/A OUT)
H - LED (L/A IN)
I - Connector (CN5)
Figure 4.1 Option Card
◆EtherCAT Option SI-ES3/V for V1000
A - LED (ERR)
B - LED (RUN)
C - LED (L/A IN)
D - LED (L/A OUT)
E - Option Cover
F - Communication cable connector
(RJ45)
G - Mounting clip
H - Connector (CN5)
I - Option Card PCB
J - Attachment screw hole for option
cover
K - Nameplate
L - Ground terminal (FE)
M - Mounting clip
N - Wire
O - Through-hole for wire
Figure 4.2 Option Card for V1000
Underside
I
Looking from the connector
A
D
E
F
H GB
SI-ES3
C
IN OUT
H
G
J
I
M
L
N
O
K
F
FE
IN OUT
RUN ERR
L/A IN L/A OUT
B
A
C
D
E
EtherCAT with cover attached EtherCAT with cover removed
Underside

4 EtherCAT Option Components
10 YASKAWA TOEPYEUOEC101A EtherCAT Option Installation Manual
◆EtherCAT Option Status LEDs
The EtherCAT Option has four LEDs that indicate the communication status. The indications conform with
DS303, Part 3: Indicator Specification.
■LEDs 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
Link Activity 1/2 – Off No link. The communication cable is not physically connected. The communication con-
troller 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.
■RUN 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.
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
■ERR LED
The red error LED indicates the presence of any errors.
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 pa-
rameter "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 object
4000 (Hex) 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

4 EtherCAT Option Components
YASKAWA TOEPYEUOEC101A EtherCAT Option Installation Manual 11
■Indicator Flash Rates
Figure 4.3 Meaning of LED Flash Rates
◆Connecting the Option Card
■Communication Connector
The Communication Option card is connected to the network using a RJ45 connector.
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
1 2 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

5 Mechanical & Electrical Installation
12 YASKAWA TOEPYEUOEC101A EtherCAT Option Installation Manual
Table 4.1 Pin Assignment of RJ45 Communication Connector
Connector Pin Signal Description
1 TD+ Send data
2 TD- Send data
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
■Communication Cable
YASKAWA recommends using EtherCAT® dedicated Cat5e or better communication cables.
■Network Termination
If the drive is the last node in the network, network termination is automatically realized by the ASIC of the Com-
munication Option card.
5 Mechanical & Electrical Installation
◆Safety Precautions
DANGER Electrical Shock Hazard. Do not examine, connect, or disconnect wiring on an energized drive. Before servic-
ing, disconnect all power to the equipment and wait for the time specified on the warning label at a minimum. The internal ca-
pacitor stays charged after the drive is de-energized. The charge indicator LED extinguishes when the DC bus voltage
decreases below 50 Vdc. When all indicators are OFF, remove the covers before measuring for dangerous voltages to make
sure that the drive is safe. Failure to obey will cause death or serious injury.
WARNING Electrical Shock Hazard. Do not operate equipment when covers are missing. Some figures in this section in-
clude drives without covers or safety shields to more clearly show the inside of the drive. Replace covers and shields before op-
eration. Use drives only as specified by the instructions. Failure to obey can cause death or serious injury.
WARNING Electrical Shock Hazard. Do not work on the drive or around the drive while wearing loose clothing or jewelry.
Tighten loose clothing and remove all metal objects such as watches or rings. Failure to obey can cause death or serious injury.
WARNING Electrical Shock Hazard. Do not remove covers or touch circuit boards while the drive is energized. Failure to
obey can cause death or serious injury.
WARNING Electrical Shock Hazard. Only let authorized persons install, wire, maintain, examine, replace parts, and repair
the drive. Failure to obey can cause death or serious injury.
WARNING Electrical Shock Hazard. Do not make changes to the drive body or drive circuitry. Failure to obey can cause
death or serious injury and will void warranty. Yaskawa is not responsible for changes to the product made by the user.
WARNING Fire Hazard. Tighten all terminal screws to the correct tightening torque. Connections that are too loose or too
tight can cause incorrect operation and damage to the drive. Incorrect connections can also cause death or serious injury from
fire.
CAUTION Crush Hazard. Do not hold the drive by the front cover or terminal cover. Tighten the screws correctly before
moving the drive. Failure to obey can cause minor to moderate injury.
NOTICE Observe correct electrostatic discharge (ESD) procedures when touching the drive. Failure to obey can cause
ESD damage to the drive circuitry.
NOTICE Do not lift the drive with the cover removed. Failure to obey can cause damage to the drive board and terminal
block.
NOTICE Do not use unshielded wire for control wiring. Use shielded, twisted-pair wires and ground the shield to the
ground terminal of the drive. Failure to obey can cause electrical interference and unsatisfactory system performance.
NOTICE Do not change the drive circuitry. Failure to obey can cause damage to the drive and will void warranty. Yaska-
wa is not responsible for modifications of the product made by the user.
NOTICE Make sure that all connections are correct after you install the drive and connecting peripheral devices. Failure
to obey can cause damage to the drive.
18 ... ...

5 Mechanical & Electrical Installation
YASKAWA TOEPYEUOEC101A EtherCAT Option Installation Manual 13
◆Preconditions for Installing the Option Card
Prior to installing the Communication Option Card, wire the AC drive or regenerative unit and connect to the drive
terminals. For more information on wiring and connecting the inverter drive or regenerative unit, refer to the man-
ual packaged with the AC drive or regenerative unit.
Verify that the AC drive or regenerative unit runs normally without the option installed.
■Tools 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.
◆Installing the Option on a A1000, D1000, R1000 or U1000
1. Turn off the power. Wait until the CHARGE LED turns off and then remove the cover. Refer to the drive
manual for direction on removing the front cover.
2. Plug the option card (E) to the CN5-A connector (C).
Fieldbus option cards must always be plugged into CN5-A connector.
3. Connect the ground wire (F) to option card and fix with screw (1).
Select shortest possible cable for ground connection.
4. Fix option card to the inverter with screw (2) additionally. Connect the ground wire (F) to inverter ground
terminal (D).
Note:
There are only two screw holes on the drive for ground terminals. If three different option cards are connected, two of the
ground wires will need to share the same ground terminal.
A - Connector CN5-C
B - Connector CN5-B
C - Connector CN5-A
D - Drive grounding terminal (FE)
E - Option cards
F - Ground wire
G - Opening for cable lines (use cut-
ter to create the opening)
H - Operator
I - LED labels
J - Front cover
Figure 5.1 Installing the Option Card on a A1000, D1000, R1000 or U1000
5. Prepare the RJ45 network cable connectors.
For inverter drives CIMR-Ax2A0004 to 0040 and 4A0002 to 0023: the network cable should be routed to
the outside through the openings at the left side (G) of the front cover. Make sure no sharp edges remain.
For Inverter drives 2A0056 to 0211, and 4A0031 to 0165: enough space to keep all wiring inside the unit is
available.
RUN ERR
L/A IN L/A OUT
F
A
E
H
I
B
C
D
G
J
2
1

5 Mechanical & Electrical Installation
14 YASKAWA TOEPYEUOEC101A EtherCAT Option Installation Manual
A - Opening for network cables
(CIMR-Ax2A0004 to 0040, 4A0002
to 0023)
B - Space for wiring (CIMR-Ao2A0056
to 0211, 4A0031 to 0165)
Figure 5.2 Network Cable Routing
6. Plug in the RJ45 network cable connector to the option.
7. Reinstall the front cover back onto the drive as it was before.
8. Attach the LED label (I) as shown in Figure 5.1.
9. Switch on the drive power supply.
◆Installing the Option on a V1000
1. Turn off the power. Wait until the CHARGE LED turns off and then remove the cover.
2. Remove the front cover. Refer to the drive manual for direction on removing the front cover.
Note:
The original front cover may be discarded because it will be replaced by the cover of the Communication Option card.
3. Remove the bottom cover and connect the Communication Option ground wire to the ground terminal.
A - Bottom Cover
B - Ground Cable
C - Wire
D - Communication Option card con-
nection (screw size: M3)
E - Drive-side connection (screw
size: M3.5 to M6)
Figure 5.3 Connect Ground Wire
Select shortest possible cable for ground connection.
4. Re-attach the bottom cover.
A B
C
B
A
D
E

5 Mechanical & Electrical Installation
YASKAWA TOEPYEUOEC101A EtherCAT Option Installation Manual 15
5. Connect the Communication Option card to the drive. Properly secure the tabs on the left and right side of
the Communication Option card to the drive case.
A - Tabs should line up
Figure 5.4 Attach Communication Option Card
6. Connect the ground wire to the Communication Option card.
When wiring the Communication Option card, pass the ground wire through the inside of the drive bottom
cover, then pass the ground wire into the through-hole for the ground wire at the front of the Communica-
tion Option card.
A - Through-hole for ground wire
B - Ground wire
C - Pass ground wire through the
bottom cover of the drive
D - Drive ground terminal
Figure 5.5 Connect Ground Wire
7. Connect the communication wire to the Communication Option card modular connector.
8. Attach the cover to the front of the Communication Option card.
9. Switch on the drive power supply.
A
A
A B
C D

5 Mechanical & Electrical Installation
16 YASKAWA TOEPYEUOEC101A EtherCAT Option Installation Manual
◆Installing the Option on a GA700
A - Insertion for CN5 connector
B - Option card
C - Screws (included)
D - Drive front cover
E - LED label
F - Keypad
G - Option terminal block (CN1)
H - LED Status Ring board
I - Connector CN5-A
J - Connector CN5-B (Not for com-
munication option installation)
K - Connector CN5-C (Not for com-
munication option installation)
Figure 5.6 GA700 Components with Option Card
The procedures for removing and re-attaching the front cover of the inverter drives, and for removing the LED
Status Ring board, differ by model. For detailed information please refer to the Technical Manual of the inverter
drive. Communication option cards can only be inserted into the CN5-A connector located on the drive control
board.
1. Affix the LED label (E) in the appropriate position on the drive front cover (D).
Figure 5.7 Affix the LED Label
2. Turn off the power. Wait until the CHARGE LED turns off and then remove the cover. Refer to the drive
manual for direction on removing the front cover.
C
K
G
J
I
BA
D
E
F
H
D
E

5 Mechanical & Electrical Installation
YASKAWA TOEPYEUOEC101A EtherCAT Option Installation Manual 17
3. Move the keypad connector to the holder on the drive after removing the keypad and before removing the
front cover. Insert the keypad connector tab into the holder when installing the keypad connector to the
holder.
Figure 5.8 Remove the Front Cover and Keypad
4. Carefully remove the LED Status Ring board (H) and place it on the right side of the drive using the tempo-
rary placement holes. Do not remove the LED Status Ring board cable connector.
Figure 5.9 Remove the LED Status Ring Board
5. Insert the option card (B) into the CN5-A connector (I) on the drive and fasten it into place using the in-
cluded screws (C). Tighten both screws to 0.5 to 0.6 Nm (4.4 to 5.3 in. lbs).
Note:
Installing the option card on a GA700 drive requires only two screws and does not require a ground wire. The option package
ships with three screws and a ground wire for installation on other drive series. Do not use the ground wire or the extra screw.
Figure 5.10 Insert the Option Card
6. Firmly connect the communication cable to option terminal block. Install communications cables apart
from main-circuit wiring and other electrical and power lines. Ensure the cable end is firmly connected.
7. Reattach and secure the LED Status Ring board (H). Use the open space provided inside the LED Status
Ring board to route option wiring. Do not pinch cables between the front cover or the LED Status Ring
board and the drive.
HolderKeypad connector tab
Keypad
connector
D
H
Temporary placement holes
I
CB

5 Mechanical & Electrical Installation
18 YASKAWA TOEPYEUOEC101A EtherCAT Option Installation Manual
8. Install the keypad to the drive after replacing the keypad connector and then the keypad connector. At that
time, insert the keypad connector tab into the drive.
9. Reattach and secure the front cover of the drive (D) including the keypad (F).
Figure 5.11 Reinstall the Front Cover and Keypad
10. Switch on the drive power supply.
◆Installing the Option on a Q2A
A - Insertion for CN5 connector
B - Option card
C - Screws (included)
D - Drive front cover
E - LED label
F - Keypad
G - Option terminal block (CN1)
H - USB port board
I - Connector CN5-A
J - Connector CN5-B (Not for com-
munication option installation)
K - Connector CN5-C (Not for com-
munication option installation)
Figure 5.12 Q2A Components with Option Card
The procedures for removing and re-attaching the front cover of the inverter drives, and for removing the USB
port board, differ by model. For detailed information please refer to the Technical Manual of the inverter drive.
Communication option cards can only be inserted into the CN5-A connector located on the drive control board.
H
D
F
Tab
Keypad
connector

5 Mechanical & Electrical Installation
YASKAWA TOEPYEUOEC101A EtherCAT Option Installation Manual 19
1. Affix the LED label (E) in the appropriate position on the drive front cover (D).
Figure 5.13 Affix the LED Label
2. Turn off the power. Wait until the CHARGE LED turns off and then remove the cover. Refer to the drive
manual for direction on removing the front cover.
3. Move the keypad connector to the holder on the drive after removing the keypad and before removing the
front cover. Insert the keypad connector tab into the holder when installing the keypad connector to the
holder.
Figure 5.14 Remove the Front Cover and Keypad
4. Carefully remove the USB port board (H) and place it on the right side of the drive using the temporary
placement holes. Do not remove the USB port board cable connector.
Figure 5.15 Remove the USB Port Board
5. Insert the option card (B) into the CN5-A connector (I) on the drive and fasten it into place using the in-
cluded screws (C). Tighten both screws to 0.5 to 0.6 Nm (4.4 to 5.3 in. lbs).
Note:
Installing the option card on a Q2A drive requires only two screws and does not require a ground wire. The option package
ships with three screws and a ground wire for installation on other drive series. Do not use the ground wire or the extra screw.
D
E
H
Temporary placement holes

5 Mechanical & Electrical Installation
20 YASKAWA TOEPYEUOEC101A EtherCAT Option Installation Manual
Figure 5.16 Insert the Option Card
6. Firmly connect the communication cable to option terminal block. Install communications cables apart
from main-circuit wiring and other electrical and power lines. Ensure the cable end is firmly connected.
7. Reattach and secure the USB port board (H). Use the open space provided inside the USB port board to
route option wiring. Do not pinch cables between the front cover or the USB port board and the drive.
8. Install the keypad to the drive after replacing the keypad connector and then the keypad connector. At that
time, insert the keypad connector tab into the drive.
9. Reattach and secure the front cover of the drive (D) including the keypad (F).
Figure 5.17 Reinstall the Front Cover and Keypad
10. Switch on the drive power supply.
◆ESI File
For easy network implementation of drives equipped with a Communication Option card, the ESI file can be ob-
tained from these sources:
•Europe:
http://www.yaskawa.eu.com
•Japan:
http://www.e-mechatronics.com
•USA:
http://www.yaskawa.com
Note:
For other areas, and when using Q2A AC drives, contact your sales representative.