Yaskawa Si-t3 mechatrolink-ii a1000 series User manual

MANUAL NO. SIEP C730600 86F

YASKAWA AC Drive Option

MECHATROLINK-II

Technical Manual

Model SI-T3

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

2YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual

YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual 3

Table of Contents

1. Preface and Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Applicable Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Registered Trademarks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Supplemental Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Section Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Compatible Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Install the Option on a GA500 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

3. Receiving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Contents and Packaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Installation Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

4. Drive Components with Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

MECHATROLINK-II Option. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Communication connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

MECHATROLINK-II Option LED Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Defining Option LED States. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

5. Installation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Procedures for Installing and Wiring Options on a Drive . . . . . . . . . . . . . . . . . . . . . . . . . .11

Procedure A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11

Procedure B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

MECHATROLINK-II Communications Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Option Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

6. MECHATROLINK Option Drive Parameters. . . . . . . . . . . . . . . . . . . . . . . . . 19

7. Transmission Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

MECHATROLINK-II Cyclic Transmissions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Basic Format of Data Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Communication Phases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Phase 1: Initial status after power ON. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Phase 2: Asynchronous communications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Phase 3: Synchronous communications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Application Layer Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

8. MECHATROLINK-II Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

4YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual

Main Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

NOP: 00 (Hex.) (No Operation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

PRM_RD: 01 (Hex.) (Read Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

PRM_WR: 02 (Hex.) (Write Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

ID_RD: 03 (Hex.) (Read ID Number) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

CONFIG: 04 (Hex.) (RAM Write and EEPROM Write). . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

ALM_RD: 05 (Hex.) (Read Alarm and Warning) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

ALM_CLR: 06 (Hex.) (Clear Alarm and Warning) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

SYNC_SET: 0DH (Hex.) (Start Synchronous Communications). . . . . . . . . . . . . . . . . . . . . 29

CONNECT: 0E (Hex.) (Connect) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

DISCONNECT: 0F (Hex.) (Disconnect) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

INV_CTL: 40 (Hex.) (Drive Operation Control). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Sub-Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

NOP: 00 (Hex.) (No Operation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

PRM_RD: 01 (Hex.) (Read Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

PRM_WR: 02 (Hex.) (Write Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

ALM_RD: 05 (Hex.) (Read Alarm and Warning) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

INV_I/O: 41 (Hex.) (Drive I/O Control) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

STATUS Field . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

SUBSTATUS Field . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

9. Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Fault Detection Processing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Alarm Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

SI-T3 Communications Fault Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Other Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Drive Fault Notification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Drive-Side Error Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Minor Faults and Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Option Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

10. European Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

EMC Guidelines Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

EMC Guidelines Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

11. Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

12. Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Disposal Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

WEEE Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Revision History. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

1 Preface and Safety

YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual 5

1 Preface and Safety

YASKAWA Electric supplies component parts for use in a wide variety of industrial applications. The selection

and application of YASKAWA products remain the responsibility of the equipment designer 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 products designed to incorporate a component part 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 manual. NO OTHER WARRANTY, EXPRESS OR IMPLIED, IS OFFERED. YASKAWA assumes no

liability for any personal injury, property damage, losses, or claims arising from misapplication of its products.

◆Applicable Documentation

The following manuals are available for the option:

Document Description

YASKAWA AC Drive Option

MECHATROLINK-II

Installation Manual

Manual No: TOBP C730600 86

This guide is packaged together with the product and contains information necessary to install the option and set related drive parameters.

YASKAWA AC Drive Option

MECHATROLINK-II

Technical Manual

Manual No:SIEP C730600 86

(This book)

The technical manual contains detailed information about the option. Access the following sites to obtain the technical manual:

U.S.: http://www.yaskawa.com

Europe: http://www.yaskawa.eu.com

Japan: http://www.e-mechatronics.com

Other areas: Check the back cover of these manuals.

For questions, contact Yaskawa or a Yaskawa representative.

YASKAWA AC Drive

Manual

Drive manuals contain basic installation and wiring information in addition to detailed parameter setting, fault diagnostic, and maintenance

information.

The most recent versions of these manuals are available for download on our documentation websites:

U.S.: http://www.yaskawa.com

Europe: http://www.yaskawa.eu.com

Japan: http://www.e-mechatronics.com

Other areas: Check the back cover of these manuals.

For questions, contact Yaskawa or a Yaskawa representative.

◆Glossary

Phrase Definition

Option YASKAWA AC Drive Option MECHATROLINK-II

Keypad •LCD Operator for YASKAWA AC Drive 1000-Series

•LED Operator for YASKAWA AC Drive 1000-Series

•LCD Keypad for YASKAWA AC Drive GA500, GA700, GA800, CR700, and CH700

•LED Keypad for YASKAWA AC Drive GA500, GA700, GA800, CR700, and CH700

Drive •YASKAWA AC Drive 1000-Series (A1000, U1000, Z1000U)

•YASKAWA AC Drive GA500

•YASKAWA AC Drive GA700

•YASKAWA AC Drive GA800

•YASKAWA AC Drive CR700

•YASKAWA AC Drive CH700

Hex. (Example: 900 (Hex.)) Indicates a unit for hexadecimal number format.

◆Registered Trademarks

•MECHATROLINK-I/MECHATROLINK-II is a registered trademark of the MECHATROLINK Members

Association (MMA).

•Other company names and product names in this document are trademarks or registered trademarks of the

respective companies.

2 Overview

6YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual

◆Supplemental Safety Information

Read and understand this manual before installing, operating, or servicing this option. The option must be

installed according to this manual and local codes.

The following conventions are used to indicate safety messages in this manual. Failure to heed these messages

could result in serious or possibly even fatal injury or damage to the products or to related equipment and systems.

DANGER This signal word identifies a hazard that will cause serious injury or death if you do not prevent it.

WARNING This signal word identifies a hazard that can cause death or serious injuries if you do not prevent it.

CAUTION Identifies a hazardous situation, which, if not avoided, can cause minor or moderate injury.

NOTICE This signal word identifies a property damage message that is not related to personal injury.

■Section 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 Do not ignore the safety messages in this manual. If you ignore the safety messages in this manual, it will

cause serious injury or death. The manufacturer is not responsible for injuries or damage to equipment.

WARNING Electrical Shock Hazard. Do not modify the body or circuitry of drive or option. Failure to obey can cause

damage to the drive and will void warranty. Yaskawa is not responsible for modifications of the product made by the user.

NOTICE Do not use steam or other disinfectants to fumigate wood for packaging the drive. Use alternative methods,

for example heat treatment, before you package the components. Gas from wood packaging fumigated with halogen

disinfectants, for example fluorine, chlorine, bromine, iodine or DOP gas (phthalic acid ester), can cause damage to the drive.

2 Overview

MECHATROLINK-II Option (Model: SI-T3) uses the MECHATROLINK protocol to connect a drive to a field

network.

Install the option on a drive to use a MECHATROLINK-II master device to do these tasks:

•Operate the drive

•Monitor the drive operation status

•Change drive parameter settings

◆Compatible Products

You can use the option with the products in the following table:

Table 2.1 Compatible Products

Product Series Model (s) Software Version *1

A1000

CIMR-Ax2Axxxx

≥1020

CIMR-Ax4A0002 - 4A0675

CIMR-Ax4A0930, 4A1200 ≥3015

CIMR-Ax5Axxxx ≥5040

≥1020

U1000 *2

CIMR-UxxAxxxx

≥1010

CIMR-UxxExxxx

CIMR-UxxPxxxx

CIMR-UxxWxxxx

Z1000U *2

CIMR-ZxxAxxxx

≥6110

CIMR-ZxxExxxx

CIMR-ZxxPxxxx

CIMR-ZxxWxxxx

2 Overview

YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual 7

Product Series Model (s) Software Version *1

GA500 *3 CIPR-GA50xxxxx ≥1010

GA700 *3 CIPR-GA70xxxxx ≥1010

GA800 *3 CIPR-GA80xxxxx ≥9010

CR700 *3 CIPR-CR70xxxxx ≥1012

CH700 *3 CIPR-CH70xxxxx ≥1012

*1 Refer to “PRG”on the drive nameplate for the software version number.

*2 Before you install the option on a YASKAWA AC Drive U1000 or Z1000U, make sure that the option software version is PRG: 6107

or later.

*3 Before you install the option on a YASKAWA AC Drive GA500, GA700, GA800, CR700, or CH700, make sure that the option

software version is PRG: 6108 or later.

Note:

•Refer to the option package labeling in the field designated “PRG”(four digit number)”or the option labeling in the field designated “C/

N (S + four digit number)”to identify the option software version.

•For Yaskawa customers in the North or South America region:

If your product is not listed in Table 2.1, refer to the web page below to confirm this manual is correct for your product. The web page

provides a list of option manuals by product, and a direct link to download a PDF.

Scan QR code Or refer to: http://www.yaskawa.com/optionlookup

◆Install the Option on a GA500 Drive

An option card mounting kit is necessary to install the option on a GA500 drive. The option card mounting kit

model is: JOHB-GA50. This kit is sold separately.

Refer to the option card mounting kit manual for more information about installation.

A - Option

B - Option card mounting kit

components (sold separately)

C - Drive front cover

Figure 2.1 Option Card Mounting Kit (JOHB-GA50)

3 Receiving

8YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual

3 Receiving

After receiving the option package:

•Make sure that the option is not damaged and no parts are missing.

Contact your sales outlet if the option or other parts appear damaged. Contact your sales outlet if there is

damage to the option or other parts.

NOTICE Damage to Equipment. Do not use damaged parts to connect the drive and the option. Failure to comply

could damage the drive and option.

•Make sure that the model number on the option nameplate and the model number on the purchase order are the

same. Refer to Figure 4.1 for more information.

•Contact the distributor where the option was purchased or contact Yaskawa or a Yaskawa representative about

any problems with the option.

◆Contents and Packaging

Table 3.1 Contents of Package

Description: Option Ground Wire *1 Screws (M3)

LED labels

Installation Manual

1000-Series

GA500, GA700,

GA800, CR700, and

CH700

Quantity: 1 1 3 *2 1 1 1

*1 GA700, GA800, CR700, and CH700 drives do not use the ground wire.

*2 GA700, GA800, CR700, and CH700 drives use two screws only.

◆Installation Tools

•A Phillips screwdriver or slotted screwdriver (blade depth: 0.4 mm (0.02 in), width: 2.5 mm (0.1 in)) *1.

•A pair of diagonal cutting pliers.

•A small file or medium-grit sandpaper.

*1 Phillips screw sizes are different for different drive capacities.

4 Drive Components with Option

YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual 9

4 Drive Components with Option

◆MECHATROLINK-II Option

A - Connector (CN101)

B - Installation hole

C - LED (ERR) *1

D - LED (RUN) *1

E - LED (TX) *1

F - LED (RX) *1

G - Ground terminal (FE) (installation

hole) *2

H - Model

I - Communication connector CN3

J - Connector B

K - Connector A

Figure 4.1 SI-T3 Option Components

*1 Refer to MECHATROLINK-II Option LED Display on page 10 for details on the LEDs.

*2 Connect the provided ground wire during installation. Installation on GA700, GA800, CR700, and CH700 drives does not require the

ground wire.

◆Communication connector

Table 4.1 Communication Connector

Connector Connector Pin No. Signal Name I/O Function

A1 (NC) - -

A2 SRD–I/O Send/receive data (–)

A3 SRD+ I/O Send/receive data (+)

A4 (NC) - -

Shell SLD - Shield

B1 (NC) - -

B2 SRD–I/O Send/receive data (–)

B3 SRD+ I/O Send/receive data (+)

B4 (NC) - -

Shell SLD - Shield

Note:

Connectors A and B are available for the same functions.

5 Installation Procedure

10 YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual

◆MECHATROLINK-II Option LED Display

Option has four LEDs that identify the option card or communication status.

■Defining Option LED States

A - 1000-Series Label B - GA500, GA700, GA800, CR700,

and CH700 Label

Figure 4.2 Option LED Labels

Table 4.2 MECHATROLINK-II Operation LED Status

LED State Status Description

RUN

ON Power supply on •The SI-T3 has power and is prepared for operation •An internal, self-diagnostic check

completed in the SI-T3

OFF

Power supply off •The drive has no power

•The SI-T3 is not properly connected to the drive, or the SI-T3 has no power

•An internal, self-diagnostic check completed in the SI-T3

ERR

ON Connection Error •The SI-T3 is not properly connected to the drive

•Communication error *1

Flashing SI-T3 error Error found during the SI-T3 self-diagnostic check

OFF Normal operation •The SI-T3 is properly connected to the drive

•Communication normal

ON Sending data Data is being sent (LED may appear to be flashing)

OFF Not sending data •No data being sent

•During reset

ON Receiving data Data is being sent (LED may appear to be flashing)

OFF Not receiving data •No data being received

•During reset

*1 For more information about the communication error, refer to Troubleshooting on page 37.

5 Installation Procedure

◆Section Safety

DANGER Electrical Shock Hazard. Do not examine, connect, or disconnect wiring on an energized drive. Before

servicing, disconnect all power to the equipment and wait for the time specified on the warning label at a minimum. The internal

capacitor 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, measure for dangerous voltages to make sure that the drive is safe. If

you do work on the drive when it is energized, it will cause serious injury or death from electrical shock.

WARNING Electrical Shock Hazard. Do not operate the drive when covers are missing. Replace covers and shields

before you operate the drive. Use the drive only as specified by the instructions. Some figures in this section include drives

without covers or safety shields to more clearly show the inside of the drive. If covers or safety shields are missing from the

drive, it can cause serious injury or death.

WARNING Electrical Shock Hazard. Only let approved personnel install, wire, maintain, examine, replace parts, and

repair the drive. If personnel are not approved, it can cause serious injury or death.

WARNING Electrical Shock Hazard. Do not remove covers or touch circuit boards while the drive is energized. If you

touch the internal components of an energized drive, it can cause serious injury or death.

WARNING Electrical Shock Hazard. Do not use damaged wires, put too much force on the wiring, or cause damage to

the wire insulation. Damaged wires can cause serious injury or death.

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.

NOTICE Observe correct electrostatic discharge (ESD) procedures when touching the option. Failure to obey can

cause ESD damage to the option circuitry.

5 Installation Procedure

YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual 11

NOTICE Damage to Equipment. Do not de-energize the drive while the drive is outputting voltage. Incorrect equipment

sequencing can cause damage to the drive.

NOTICE Do not operate a drive or connected equipment that has damaged or missing parts. You can cause damage to

the drive and connected equipment.

NOTICE Use Yaskawa connection cables or recommended cables only. Incorrect cables can cause the drive or option

to function incorrectly.

NOTICE Damage to Equipment. Correctly connect the connectors. Incorrect connections can cause malfunction or

damage to the equipment.

NOTICE Damage to Equipment. Make sure that all connections are correct after you install the drive and connecting

peripheral devices. Incorrect connections can cause damage to the option.

◆Procedures for Installing and Wiring Options on a Drive

Procedures to install and wire the option are different for different drivel models.

Refer to the following table to check the procedures to install and wire the option on a drive.

Product Series Procedures for Installing and Wiring Options on

a Drive Page

A1000 Procedure A 11

U1000 Procedure A 11

Z1000U Procedure A 11

GA500 *1 *2 -

GA700 Procedure B 16

GA800 Procedure B 16

CR700 Procedure B 16

CH700 Procedure B 16

*1 To install the option on GA500 drives, use the option card mounting kit manual.

*2 Before you install the option on a YASKAWA AC Drive GA500, make sure that the option software version is PRG: 6108 or later.

■Procedure A

This section shows the procedure to install and wire the option on a 1000-series drive.

Prepare the Drive for the Option

Note:

Refer to the Peripheral Devices & Options section of the drive instruction manual for more information.

Before you install the option on a YASKAWA AC Drive U1000 or Z1000U, make sure that the option software

version is PRG: 6107 or later.

Correctly wire the drive as specified by the manual packaged with the drive. Make sure that the drive functions

correctly. Refer to the following figure for an exploded view of the drive with the option and related components

for reference in the installation procedure.

5 Installation Procedure

12 YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual

A - Insertion point for CN101

connector

B - Option

C - Drive front cover

D - Keypad

E - LED label

F - Drive terminal cover

G - Removable tabs for wire routing

H - Included screws

I - Ground wire

J - Option modular connector CN3

K - Drive grounding terminal (FE)

L - Connector CN5-A

M - Connector CN5-B (Not available

for communication option

installation.)

N - Connector CN5-C (Not available

for communication option

installation.)

Figure 5.1 Drive Components with Option

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 examine, connect, or disconnect wiring on an energized drive. Before

servicing, disconnect all power to the equipment and wait for the time specified on the warning label at a minimum. The internal

capacitor 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, measure for dangerous voltages to make sure that the drive is safe. If

you do work on the drive when it is energized, it will cause serious injury or death from electrical shock.

1. Shut off power to the drive, wait the appropriate amount of time for voltage to dissipate, then remove the

keypad (B) and front covers (A, C).

Refer to the manual packaged with the drive for more information about how to remove the keypad and

covers.

NOTICE Observe correct electrostatic discharge (ESD) procedures when touching the option. Failure to obey

can cause ESD damage to the option circuitry.

A - Drive front cover

B - Keypad

C - Drive terminal cover

Figure 5.2 Remove the Keypad, Front Cover, and Terminal Cover

5 Installation Procedure

YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual 13

2. Put the LED label (B) in the appropriate position on the drive front cover (A).

A - Drive front cover B - LED label

Figure 5.3 Put the LED Label on the Drive Front Cover

3. Insert the option card (A) into the CN5-A connector (C) on the drive and use the included screws (B) to put

it in place.

A - Option

B - Included screws

C - Connector CN5-A

Figure 5.4 Insert the Option

4. Connect one end of the ground wire (C) to the ground terminal (B) using one of the remaining provided

screws (D). Connect the other end of the ground wire (C) to the remaining ground terminal and installation

hole on the option (A) using the last remaining provided screw (D).

• Tighten the screws to 0.5 to 0.6 N•m (4.4 to 5.3 in•lb).

A - Option

B - Drive grounding terminal (FE)

C - Ground wire

D - Included screws

Figure 5.5 Connect the Ground Wire

5 Installation Procedure

14 YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual

Note:

The drive has only two ground terminal screw holes. When you connect three options, two options will share one ground

terminal.

Figure 5.6 Connecting the Ground Terminal

5. Route the option wiring.

• You can route the option wiring through openings on the front cover of some models. Remove the

perforated tabs on the left side of the front cover as shown in Figure 5.7-A to create the necessary

openings on these models.

• Route the option wiring inside the enclosure as shown in Figure 5.7-B. Make sure that the front covers

will easily fit back onto the drive.

Refer to the Peripheral Devices & Options section of the drive instruction manual for more information.

Note:

• Isolate communication cables from main circuit wiring and other electrical lines to avoid potential sources of electrical

interference.

• Connect the terminator (model No.: JEPMC-W6022-E) to the option modular connector (CN3) on the end drive of the

communication lines.

A - Route wires through the

openings provided on the left

side of the front cover. *1

B - Use the open space provided

inside the drive to route option

wiring.

Figure 5.7 Wire Routing Examples

*1 If wiring is exposed outside the enclosure, the drive will not meet Enclosed wall-mounted type (IP20/UL Type 1)

requirements.

6. Firmly connect the MECHATROLINK-II communication cable to option communication connector CN3.

Isolate the communications cables from main circuit wiring and other electrical and power lines. Ensure

the cable end is firmly connected (see Figure 5.15). Refer to MECHATROLINK-II Communications Cables

on page 18 for more information.

7. Reattach the drive front cover (A, C) and the keypad (B).

Refer to the manual packaged with the drive for more information about how to reattach the keypad and

covers.

NOTICE Do not pinch cables between the front covers and the drive. Failure to comply could cause

erroneous operation.

5 Installation Procedure

YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual 15

A - Drive front cover

B - Keypad

C - Drive terminal cover

Figure 5.8 Replace the Front Covers and Keypad

8. Set drive parameters in MECHATROLINK Option Drive Parameters on page 19 for correct option

performance.

5 Installation Procedure

16 YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual

■Procedure B

This section shows the procedure to install and wire the option on a GA700, GA800, CR700, or CH700 drive.

Prepare the Drive for the Option

Before you install the option on a YASKAWA AC Drive GA700, GA800, CR700, or CH700, make sure that the

option software version is PRG: 6108 or later.

Correctly wire the drive as specified by the manual packaged with the drive. Make sure that the drive functions

correctly. Refer to the following figure for an exploded view of the drive with the option and related components

for reference in the installation procedure.

A - Insertion point for CN5 connector

B - Option

C - Included screws

D - Drive front cover

E - LED label

F - Keypad

G - Option modular connector CN3

H - LED Status Ring board

I - Connector CN5-A

J - Connector CN5-B (Not available

for communication option

installation.)

K - Connector CN5-C (Not available

for communication option

installation.)

Figure 5.9 Drive Components with Option