YASKAWA CANopen SI-S3 User manual

MANUAL NO. SIEP C730600 85D
YASKAWA AC Drive Option
CANopen
Technical 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 SIEP C730600 85D CANopen Technical Manual

YASKAWA SIEP C730600 85D CANopen Technical Manual 3
Table of Contents
1. Preface and Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Applicable Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Registered Trademarks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Supplemental Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Section Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Compatible Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Install the Option on a GA500 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3. Receiving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Option Package Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Installation Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
4. Option Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Option. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Communication Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Option LED States. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Option LED Status Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
5. Installation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Procedures to Install and Wire Options on a Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Procedure A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Procedure B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Procedure C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Communication Cable Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Option Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Termination Resistor Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
EDS Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6. Related Drive Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
7. Bit Rate and Node ID Setup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Bit Rate Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Setting the Bit Rate Manually . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Using Automatic Bit Rate Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Node ID Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
8. Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

4YASKAWA SIEP C730600 85D CANopen Technical Manual
Object Dictionary Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Communication Profile Objects (DS 301) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Manufacturer Specific Profile Objects (DS 301). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Drives and Motion Profile Objects (DSP 402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Communication Profile Objects (DS 301) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
1000 (Hex.) - Device Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
1001 (Hex.) - Error Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
1003 (Hex.) - Pre-defined Error Field . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
1005 (Hex.) - COB-ID SYNC Message. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
1008 (Hex.) - Manufacturer Device Name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
1009 (Hex.) - Manufacturer Hardware Version. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
100A (Hex.) - Manufacturer Software Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
100C (Hex.) - Guard Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
100D (Hex.) - Life Time Factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
100E (Hex.) - Node Guarding Identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
1010 (Hex.) - Store Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
1011 (Hex.) - Restore Default Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
1014 (Hex.) - COB-ID Emergency Object. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
1016 (Hex.) - Consumer Heartbeat Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
1017 (Hex.) - Producer Heartbeat Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
1018 (Hex.) - Identity Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Manufacturer Specific Profile Objects (DS 301) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
2000 (Hex.) - Operation Command. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
2010 (Hex.) - Frequency Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
2020 (Hex.) - Torque Reference/Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2030 (Hex.) - Torque Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2040 (Hex.) - MEMOBUS/Modbus Read Request. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2050 (Hex.) - MEMOBUS/Modbus Write Request . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2060 (Hex.) - MEMOBUS/Modbus Unlimited ENTER Command. . . . . . . . . . . . . . . . . . . . 37
2070 (Hex.) - MEMOBUS/Modbus Limited ENTER Command . . . . . . . . . . . . . . . . . . . . . 37
2080 (Hex.) to 3100 (Hex.) - Freely Configurable Input Objects . . . . . . . . . . . . . . . . . . . . . 37
2100 (Hex.)/2101 (Hex.) - Drive Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2110 (Hex.)/2111 (Hex.) - Output Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
2120 (Hex.)/2121 (Hex.) - Output Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2130 (Hex.)/2131 (Hex.) - Output Torque Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2140 (Hex.) - MEMOBUS/Modbus Read Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2150 (Hex.) - MEMOBUS/Modbus Write Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2155 (Hex.) - PDO Parameter Write Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
2160 (Hex.) - MEMOBUS/Modbus Unlimited Enter Command Response. . . . . . . . . . . . . 40
2180 (Hex.) to 21F0 (Hex.) - Freely Configurable Output Objects . . . . . . . . . . . . . . . . . . . 40
2200 (Hex.)/2201 (Hex.) - Motor Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Drives and Motion Profile Objects (DSP 402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
6040 (Hex.) - Controlword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
6041 (Hex.) - Statusword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
6042 (Hex.) - vl Target Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
6043 (Hex.) - vl Velocity Demand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
6044 (Hex.) - vl Control Effort . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
6046 (Hex.) - vl Velocity Min Max Amount . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
6048 (Hex.) - vl Velocity Acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
6049 (Hex.) - vl Velocity Deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
604A (Hex.) - vl Velocity Quick Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
604C (Hex.) - vl Dimension Factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
604D (Hex.) - vl Pole Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
6061 (Hex.) - Modes of Operation Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
60FD (Hex.) - Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
60FE (Hex.) - Digital Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
9. Configuring Manufacturer Specific Objects . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Selectable Object Content . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

YASKAWA SIEP C730600 85D CANopen Technical Manual 5
Selecting the Object Content. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Limitations Affecting Object Content Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
10. Process Data Objects (PDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
PDOs and Default PDO Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Receive PDOs (RxPDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Transmit PDOs (TxPDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Receive PDO Configuration and Mapping. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
PDO Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
PDO Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Transmit PDO Configuration and Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
PDO Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
PDO Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Transmission Type FE (Hex.) for Transmit PDOs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Change of State Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
11. Drive Parameter, Monitor and Control Register Access . . . . . . . . . . . . . . . . 48
Drive Parameter and Monitor Access by MEMOBUS/Modbus Read/Write
Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Reading a Drive Register, Parameter or Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Writing to a Parameter or Drive Control Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Accessing Drive Parameters and Monitors that are Mapped to Objects . . . . . . . . . . . . . . 49
Accessing Drive Parameters, Monitors and Control Registers Using SDOs . . . . . . . . . . . 49
Accessing Drive Parameters, Monitors and Control Registers Using PDOs . . . . . . . . . . . 49
Initializing the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
12. Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Option Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Drive-Side Error Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Minor Faults and Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
SDO Abort Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
13. European Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
EMC Directive Compliance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Option Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
14. Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
15. Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Disposal Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
WEEE Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Revision History. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

1 Preface and Safety
6YASKAWA SIEP C730600 85D CANopen Technical Manual
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:
Document Description
YASKAWA AC Drive Option
CANopen
Installation Manual
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
(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
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.
◆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.

2 Overview
YASKAWA SIEP C730600 85D CANopen Technical Manual 7
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
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

3 Receiving
8YASKAWA SIEP C730600 85D CANopen Technical Manual
Product Series Model(s) Software Version *1
Z1000U
CIMR-ZxxAxxxx
≥ 6110
CIMR-ZxxExxxx
CIMR-ZxxPxxxx
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.
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.

3 Receiving
YASKAWA SIEP C730600 85D CANopen Technical Manual 9
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 10 for more information.
•Contact the distributor where you purchased the option or contact Yaskawa or a Yaskawa representative about
any problems with the option.
◆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.
◆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
10 YASKAWA SIEP C730600 85D CANopen Technical Manual
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 10 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)
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

5 Installation Procedure
YASKAWA SIEP C730600 85D CANopen Technical Manual 11
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
*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.
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.

5 Installation Procedure
12 YASKAWA SIEP C730600 85D CANopen Technical Manual
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 12
U1000 Procedure A 12
U1000L Procedure A 12
Z1000U Procedure A 12
GA500 *1 -
GA700 Procedure B 16
GA800 Procedure B 16
FP605 Procedure C 19
*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.

5 Installation Procedure
YASKAWA SIEP C730600 85D CANopen Technical Manual 13
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
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
14 YASKAWA SIEP C730600 85D CANopen Technical Manual
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
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)

5 Installation Procedure
YASKAWA SIEP C730600 85D CANopen Technical Manual 15
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.
• 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 5.6 Wire Routing Examples
*1 If there is wiring outside the enclosure, the drive will not meet Enclosed wall-mounted type (IP20/UL Type 1)
requirements.
6. Firmly connect the CANopen communication cable to option communication connector 9-pin D-sub.
Isolate communication cables from main circuit wiring and other electrical and power lines. Make sure that
you firmly connect the cable end. (Refer to Figure 5.22). Refer to Communication Cable Specifications on
page 26 for more information.
Note:
Do not connect or disconnect the communication cable while the drive is energized or while the drive is in operation. Failure
to obey can cause a static discharge, which will cause the option to stop working correctly. Cycle power on the drive and
option to start using the option again.

5 Installation Procedure
16 YASKAWA SIEP C730600 85D CANopen Technical Manual
7. Reattach the front cover (A), terminal cover (C), and keypad (B).
Refer to the drive manuals for more information.
NOTICE Do not pinch cables between the front covers and the drive. Failure to comply could cause
erroneous operation.
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 5.7 Replace the Front Cover, Terminal Cover, and Keypad
8. Set drive parameters in Related Drive Parameters on page 26 for correct option performance.
Make sure that you set F6-35 [CANopen Node ID Selection] to a node address that is unique on the
network.
■Procedure B
This section shows the procedure to install and wire the option on a GA700 or GA800 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.

5 Installation Procedure
YASKAWA SIEP C730600 85D CANopen Technical Manual 17
A - Insertion point for CN5 connector
B - Option
C - Included screws
D - Drive front cover
E - LED label
F - Keypad
G - LED Status Ring board
H - Connector CN5-A
I - Connector CN5-B (Not available for
communication option installation.)
J - Connector CN5-C (Not available for
communication option installation.)
Figure 5.8 Drive Components with Option
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. Put the LED label (A) in the correct position on the drive front cover (B).
A - LED label B - Drive front cover
Figure 5.9 Put the LED Label on the Drive Front Cover
2. Remove the keypad (E) and front cover (D).
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.
Note:
Remove the keypad, then move the keypad connector to the holder on the drive, then remove the front cover.

5 Installation Procedure
18 YASKAWA SIEP C730600 85D CANopen Technical Manual
A - Holder
B - Keypad connector tab
C - Keypad connector
D - Drive front cover
E - Keypad
Figure 5.10 Remove the Front Cover and Keypad
3. Carefully remove the LED Status Ring board (A) and put it in the temporary placement holes (B) on the
right side of the drive.
Refer to the drive manuals for more information.
NOTICE Do not remove the LED Status Ring board cable connector. If you disconnect the LED Status Ring
board, it can cause incorrect operation and damage to the drive.
A - LED Status Ring board B - Temporary placement holes
Figure 5.11 Remove the LED Status Ring Board
4. Install the option (A) into the CN5-A connector (C) on the drive and use the included screws (B) to put it in
place.
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)
Note:
1. A ground wire is not necessary. Do not use the ground wire.
2. Only two screws are necessary to install the option on GA700 and GA800 drives.

5 Installation Procedure
YASKAWA SIEP C730600 85D CANopen Technical Manual 19
A - Option
B - Included screws
C - Connector CN5-A
Figure 5.12 Install the Option
5. Firmly connect the CANopen communication cable to option communication connector 9-pin D-sub.
Isolate communication cables from main circuit wiring and other electrical and power lines. Make sure that
you firmly connect the cable end. (Refer to Figure 5.22). Refer to Communication Cable Specifications on
page 26 for more information.
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.
6. Reattach the LED Status Ring board (E), front cover (C), and keypad (D).
Refer to the drive manuals for more information.
NOTICE Do not pinch cables between the front cover or the LED Status Ring board and the drive. Failure to
comply could cause erroneous operation.
Note:
• Replace the keypad connector, then install the keypad.
• Put the keypad connector tab into the holder when you install the keypad connector to the holder.
A - Keypad connector tab
B - Keypad connector
C - Drive front cover
D - Keypad
E - LED Status Ring board
Figure 5.13 Install the LED Status Ring board, Front Cover, and Keypad
7. Set drive parameters in Related Drive Parameters on page 26 for correct option performance.
Make sure that you set F6-35 [CANopen Node ID Selection] to a node address that is unique on the
network.
■Procedure C
This section shows the procedure to install and wire the option on an FP605 drive.

5 Installation Procedure
20 YASKAWA SIEP C730600 85D CANopen Technical Manual
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 - Drive grounding terminal (FE)
B - Option
C - Included screws
D - Drive front cover
E - Keypad
F - LED label
G - Ground wire
H - Option connector CN4 (9-pin D-sub female
connector)
I - Insertion point for connector CN5-A
J - Connector CN5-A
Figure 5.14 Drive Components with Option
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) and front cover (A).
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.
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.