YASKAWA CANopen SI-S3 User manual

MANUAL NO. TOEP C730600 85A
YASKAWA AC Drive Option
CANopen
Installation Manual
Model SI-S3
To correctly use the product, read this manual thoroughly and keep it
for easy reference, inspection, and maintenance. Make sure that the
end user receives this manual.

This Page Intentionally Blank
2YASKAWA TOEP C730600 85A CANopen Installation Manual

YASKAWA TOEP C730600 85A CANopen Installation Manual 3
Table of Contents
1. Preface and Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Applicable Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Registered Trademarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Supplemental Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Compatible Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Install the Option on a GA500 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3. Receiving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Option Package Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Installation Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4. Option Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Communication Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Option LED States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Option LED Status Definitions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
5. Installation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Procedures to Install and Wire Options on a Drive . . . . . . . . . . . . . . . . . . . . . . . . . 16
Procedure A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Procedure B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Procedure C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Communication Cable Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Option Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

4YASKAWA TOEP C730600 85A CANopen Installation Manual
Termination Resistor Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
EDS Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
6. Related Drive Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
7. Bit Rate and Node ID Setup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Bit Rate Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Setting the Bit Rate Manually . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Using Automatic Bit Rate Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Node ID Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
8. Communication Objects Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Communication Profile Objects (DS 301). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Manufacturer Specific Profile Objects (DS 301) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Drives and Motion Profile Objects (DSP 402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
PDOs and Default PDO Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Receive PDOs (RxPDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Transmit PDOs (TxPDO). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
9. Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Drive-Side Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Minor Faults and Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
10. European Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
EMC Directive Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Option Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
11. Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
12. Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Disposal Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
WEEE Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

1 Preface and Safety
YASKAWA TOEP C730600 85A CANopen Installation 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
These manuals are available for the option:

1 Preface and Safety
6YASKAWA TOEP C730600 85A CANopen Installation Manual
Document Description
YASKAWA AC Drive Option
CANopen
Installation Manual
(This book)
Read this manual first.
The manual provides information about wiring, settings, functions, and
troubleshooting. The manual is packaged together with the product.
YASKAWA AC Drive Option
CANopen
Technical Manual
Manual No.: SIEP C730600 85
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
Manuals
Refer to the drive manual to connect with the option.
Drive manuals contain basic installation and wiring information in addition to
detailed parameter setting, fault diagnostic, and maintenance information.
The manuals also include important information about parameter settings and
tuning the drive.
The Quick Start Guides are packaged with the drive.
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
Terms Definition
Option YASKAWA AC Drive Option CANopen
Keypad •HOA Operator
•LCD Operator
•LED Operator
•HOA Keypad
•LCD Keypad
•LED Keypad
Hex. (Example: 900 (Hex.)) Identifies a unit for hexadecimal number format.

1 Preface and Safety
YASKAWA TOEP C730600 85A CANopen Installation Manual 7
◆Registered Trademarks
•CANopen is a registered trademark of the CAN in Automation (CiA).
•Trademarks are the property of their respective owners.
◆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 This signal word 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 drive or option circuitry. Failure to obey
can cause serious injury or death, or cause damage to the drive or option and will void warranty. Yaskawa
is not responsible for modifications of the product made by the user.
NOTICE Damage to Equipment. 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
8YASKAWA TOEP C730600 85A CANopen Installation Manual
2 Overview
The CANopen Option (Model: SI-S3) is an option designed to connect the Yaskawa AC
drive to a CANopen network.
Install the option/CANopen option on a drive to do these functions from a CANopen
master device:
•Operate the drive
•Monitor the drive operation status
•Change drive parameter settings
The option supports these communication profiles:
•DS 301 Ver. 4.02
•DSP 402 Ver. 1.1 Velocity Mode
◆Compatible Products
You can use the option with these products:
Table 2.1 Compatible Products
Product Series Model(s) Software Version *1
A1000
CIMR-Ax2Axxxx
≥ 1020
CIMR-Ax4A0002 - 4A0675
CIMR-Ax4A0930, 4A1200 ≥ 3015
U1000
CIMR-UxxAxxxx
≥ 1010
CIMR-UxxExxxx
CIMR-UxxPxxxx
CIMR-UxxWxxxx
U1000L
CIMR-UxxLxxxx
≥ 6210
CIMR-UxxFxxxx
CIMR-UxxRxxxx
CIMR-UxxSxxxx
Z1000U
CIMR-ZxxAxxxx
≥ 6110
CIMR-ZxxExxxx
CIMR-ZxxPxxxx

2 Overview
YASKAWA TOEP C730600 85A CANopen Installation Manual 9
Product Series Model(s) Software Version *1
CIMR-ZxxWxxxx
GA500 CIPR-GA50xxxxx ≥ 1010
GA700 CIPR-GA70xxxxx ≥ 1010
GA800 CIPR-GA80xxxxx ≥ 9010
FP605 CIPR-FP65xxxxx ≥ 1010
*1 Refer to “PRG”on the drive nameplate for the software version number.
Note:
•Refer to the option package labeling in the field designated “PRG (four digit number)”or the option labeling in
the field 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 of
the manual.
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.

3 Receiving
10 YASKAWA TOEP C730600 85A CANopen Installation Manual
A - Option card mounting kit
components (sold separately)
B - Option
C - Drive front cover
Figure 2.1 Option Card Mounting Kit (JOHB-GA50)
3 Receiving
After receiving the option package:
•Make sure that the option is not damaged and no parts are missing.
The Yaskawa warranty does not include damage from shipping. Contact your sales
outlet if the option or other parts appear damaged.
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 Option on page 13 for more information.
•Contact the distributor where you purchased the option or contact Yaskawa or a
Yaskawa representative about any problems with the option.

3 Receiving
YASKAWA TOEP C730600 85A CANopen Installation Manual 11
◆Option Package Contents
Table 3.1 Contents of Package
Option Contents Quantity
Option 1
Ground Wire *1 1
Screws (M3) 3 *2
LED Labels
1000-Series 1
GA500, GA700, GA800 1
Installation Manual 1
*1 GA700 and GA800 drives do not use the ground wire.
*2 Only two screws are necessary to install the option on GA700, GA800, and FP605 drives.
Note:
The LED label for FP605 drives is packaged with the FP605 drive.

3 Receiving
12 YASKAWA TOEP C730600 85A CANopen Installation Manual
◆Installation Tools
You can use these tools to install the option to the drive:
•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. Prepare different
screwdrivers for different screw sizes.

4 Option Components
YASKAWA TOEP C730600 85A CANopen Installation Manual 13
4 Option Components
◆Option
A - Communication cable connector
(9 pin D-sub)
B - Option model number
C - Connector (CN5)
D - Installation hole
E - LED (RUN) *1
F - LED (ERR) *1
G - Ground terminal (FE) and
installation hole *2
Figure 4.1 Option
*1 Refer to Option LED States on page 14 for more information about the LEDs.
*2 Connect the included ground wire during installation. The ground wire is not necessary for installations on
GA700 and GA800 drives.
◆Communication Connector
The CANopen Option is connected to the network using a 9-pin D-sub connector. The pin
assignment is explained in the table below.
Table 4.1 Communication connector (9-pin D-sub)
CANopen Connector Pin Signal Description
1 - -
2 CAN_L CAN_H bus line (dominant high)
3 CAN_GND CAN Ground
4 - -
5 CAN_SHLD CAN shield
6 - -
7 CAN_H CAN_H bus line (dominant high)

4 Option Components
14 YASKAWA TOEP C730600 85A CANopen Installation Manual
CANopen Connector Pin Signal Description
8 - -
9 - -
- CAN_SHLD CAN shield
◆Option LED States
Option has two LEDs that identify the option or communication status.
■Option LED Status Definitions
A - 1000-Series
B - GA500, GA700, GA800
C - FP605
Figure 4.2 Option LED Labels
Table 4.2 Option LED States
LED Name Color Display Operating Status
RUN Green
ON Option operating
Blinking Pre-Operational State
Single Flash Stopped
Flickering *1 Automatic bit rate detection in progress
(alternately flickering with ERR LED)
ERR Red
ON Bus off
Blinking Bus initialization failed (parameter setting error)
Single Flash Fault has occurred/Receiving CAN error frame
(too many error frames)
Double Flash Guard/Heartbeat event has occurred
Flickering *1 Automatic bit rate detection in progress
(alternately flickering with RUN LED)
OFF Online

5 Installation Procedure
YASKAWA TOEP C730600 85A CANopen Installation Manual 15
*1 Available in option software version 3102 and later. 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.
Figure 4.3 explains the indicator flash rates.
Figure 4.3 LED Flash Rates and Meaning
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.

5 Installation Procedure
16 YASKAWA TOEP C730600 85A CANopen Installation Manual
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 Damage to Equipment. When you touch the option, make sure that you observe
correct electrostatic discharge (ESD) procedures. If you do not follow procedures, it can cause ESD
damage to the drive circuitry.
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 to Install and Wire 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.
Table 5.1 Procedures to Install and Wire Options on a Drive
Product Series Procedures to Install and Wire
Options on a Drive Page
A1000 Procedure A 17
U1000 Procedure A 17
U1000L Procedure A 17
Z1000U Procedure A 17
GA500 *1 -
GA700 Procedure B 22

5 Installation Procedure
YASKAWA TOEP C730600 85A CANopen Installation Manual 17
Product Series Procedures to Install and Wire
Options on a Drive Page
GA800 Procedure B 22
FP605 Procedure C 27
*1 To install the option on GA500 drives, use the option mounting kit (JOHB-GA50) and manual.
■Procedure A
This section shows the procedure to install and wire the option on a 1000-series drive.
Prepare the Drive for the Option
Correctly wire the drive as specified by the manual packaged with the drive. Make sure
that the drive functions correctly. Refer to the drive manuals for more information.
A - Insertion point for CN5 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 - Drive grounding terminal (FE)
K - Connector CN5-A
L - Connector CN5-B (Not available
for communication option
installation.)
M - Connector CN5-C (Not available
for communication option
installation.)
Figure 5.1 Drive Components with Option

5 Installation Procedure
18 YASKAWA TOEP C730600 85A CANopen Installation Manual
Install the Option
Use this procedure to install the option.
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. Remove the keypad (B), front cover (A), and terminal cover (C).
Shut off power to the drive and wait for the time specified on the drive warning
label at a minimum. Make sure that the charge indicator LED is unlit, then remove
the keypad and front cover. Refer to the drive manuals for more information.
You can only install this option into the CN5-A connector on the drive control
board.
NOTICE Damage to Equipment. When you touch the option, make sure that
you observe correct electrostatic discharge (ESD) procedures. If you do not follow
procedures, it can cause ESD damage to the drive 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 TOEP C730600 85A CANopen Installation Manual 19
2. Put the LED label (B) in the correct 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. Install the option (A) into the CN5-A connector (C) on the drive and use one of the
included screws (B) to put it in place.
A - Option
B - Included screw
C - Connector CN5-A
Figure 5.4 Install the Option

5 Installation Procedure
20 YASKAWA TOEP C730600 85A CANopen Installation Manual
4. Use one of the remaining included screws (B) to connect one end of the ground
wire (C) to the ground terminal (D). Use the last remaining included screw (B) to
connect the other end of the ground wire (C) to the remaining ground terminal and
installation hole on the option (A).
Tighten the screws to a correct tightening torque:
• 0.5 N∙m to 0.6 N∙m (4.4 lbf∙in to 5.3 lbf∙in)
A - Option
B - Included screws
C - Ground wire
D - Drive grounding terminal (FE)
Figure 5.5 Connect the Ground Wire
Note:
The drive has only two ground terminal screw holes. When you connect three options, two options will
share one ground terminal.
5. Route the option wiring.
Procedures to wire the option are different for different drive models.
• 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 5.6-A to create the necessary openings on these models. To
prevent damage to the cable from the cut end, treat the cut surface with
sandpaper.
• Route the option wiring inside the enclosure as shown in Figure 5.6-B.
Refer to the drive manuals for more information.
Note:
• Isolate communication cables from main circuit wiring and other electrical and power lines.