YASKAWA DeviceNet SI-N3 User manual

MANUAL NO. SIEP C730600 43A
Technical Manual
DeviceNet
Type SI-N3
YASKAWA AC Drive-Option Card
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

YASKAWA ELECTRIC SIEP C730600 43A YASKAWA AC Drive-Option Card DeviceNet Technical Manual 3
Table of Contents
1 PREFACE AND SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 PRODUCT OVERVIEW. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3 RECEIVING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
4 DEVICENET OPTION COMPONENTS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
5 INSTALLATION PROCEDURE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
6 DEVICENET OPTION DRIVE PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
7 CONFIGURING DEVICENET MESSAGING. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
8 DEVICENET OPTION DETAILS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
9 OUTPUT ASSEMBLIES (DRIVE CONSUMES) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
10 INPUT ASSEMBLIES (DRIVE PRODUCES) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
11 GENERAL CLASS OBJECTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
12 VENDOR-SPECIFIC (YASKAWA) CLASS OBJECTS. . . . . . . . . . . . . . . . . . . . . . . . 69
13 TROUBLESHOOTING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
14 SPECIFICATIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Copyright © 2008 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form
or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of
Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because
Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to
change without notice. Every precaution has been taken in the preparation of this manual. Yaskawa assumes no
responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information
contained in this publication.

4 YASKAWA ELECTRIC SIEP C730600 43A YASKAWA AC Drive-Option Card DeviceNet Technical Manual
1 Preface and Safety
1 Preface and Safety
Yaskawa manufactures products used as components in a wide variety of industrial systems and equipment. The selection
and application of Yaskawa products remain the responsibility of the equipment manufacturer 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
systems or equipment designed to incorporate a product 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 Yaskawa manual. NO OTHER WARRANTY, EXPRESSED
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 DeviceNet Option:
Terms
Note: Indicates a supplement or precaution that does not cause drive damage.
Registered Trademarks
• DeviceNet is a trademark of the ODVA.
• All trademarks are the property of their respective owners.
Option Card
YASKAWA AC Drive-Option Card DeviceNet Installation Manual
Manual No. : TOBPC73060043
Read this manual first.
The installation manual is packaged with the DeviceNet Option and contains a basic overview of wiring, settings,
functions, and fault diagnoses.
YASKAWA AC Drive-Option Card DeviceNet Technical Manual (This book)
Manual No. : SIEPC73060043
The technical manual contains detailed information.
To obtain the technical manual access these sites:
Europe: http://www.yaskawa.eu.com
Japan: http://www.e-mechatronics.com
Other areas: contact a Yaskawa representative.
Yaskawa Drive
Refer to the manual of the drive this option card is being used with.
The instruction manual for the drive covers basic installation, wiring, operation procedures, functions,
troubleshooting, and maintenance information.
It also includes important information on parameter settings and how to tune the drive.
A Quick Start Guide is included with the drive. For the more detailed Technical Manual, visit Yaskawa’s homepage.
Europe: http://www.yaskawa.eu.com
Japan: http://www.e-mechatronics.com
Other areas: contact a Yaskawa representative
DeviceNet Option: YASKAWA AC Drive -SI-N3 DeviceNet option card

1 Preface and Safety
YASKAWA ELECTRIC SIEP C730600 43A YASKAWA AC Drive-Option Card DeviceNet Technical Manual 5
Supplemental Safety Information
Read and understand this manual before installing, operating, or servicing this option card. The option card 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.
General Safety
DANGER
Indicates a hazardous situation, which, if not avoided, will result in death or serious injury.
WARNING
Indicates a hazardous situation, which, if not avoided, could result in death or serious injury.
CAUTION
Indicates a hazardous situation, which, if not avoided, could result in minor or moderate injury.
NOTICE
Indicates an equipment damage message.
General Precautions
• The diagrams in this section may include option cards 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.
• Any illustrations, photographs, or examples used in this manual are provided as examples only and may not apply to all products to which this
manual is applicable.
• 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.
• When ordering a new copy of the manual due to damage or loss, contact your Yaskawa representative or the nearest Yaskawa sales office and
provide the manual number shown on the front cover.
DANGER
Heed the safety messages in this manual.
Failure to comply will result in death or serious injury.
The operating company is responsible for any injuries or equipment damage resulting from failure to heed the warnings
in this manual.
NOTICE
Do not expose the drive to halogen group disinfectants.
Failure to comply may cause damage to the electrical components in the option card.
Do not pack the drive in wooden materials that have been fumigated or sterilized.
Do not sterilize the entire package after the product is packed.
Do not modify the drive circuitry.
Failure to comply could result in damage to the drive and will void warranty.
YASKAWA is not responsible for any modification of the product made by the user. This product must not be
modified.

6 YASKAWA ELECTRIC SIEP C730600 43A YASKAWA AC Drive-Option Card DeviceNet Technical Manual
2 Product Overview
2 Product Overview
About This Product
The DeviceNet option provides a communications connection between the drive and an ODVA DeviceNet network. The
SI-N3 DeviceNet Option connects the drive to a DeviceNet network and facilitates the exchange of data.
This manual explains the handling, installation and specifications of this product.
DeviceNet is a communications link to connect industrial devices (such as limit switches, photoelectric switches, valve
manifolds, motor starters, smart motor controllers, operator interfaces, and variable frequency drives) as well as control
devices (such as programmable controllers and computers) to a network. DeviceNet is a simple, networking solution that
reduces the cost and time to wire and install factory automation devices, while providing interchangeability of "like"
components from multiple vendors.
By installing the DeviceNet Option to a drive, it is possible to do the following from a DeviceNet master device:
• Operate the drive
• Monitor the operation status of the drive
• Change parameter settings.
Figure 1
Figure 1 DeviceNet Approved

3 Receiving
YASKAWA ELECTRIC SIEP C730600 43A YASKAWA AC Drive-Option Card DeviceNet Technical Manual 7
3 Receiving
Please perform the following tasks after receiving the DeviceNet Option:
• Inspect the DeviceNet Option for damage.
If the DeviceNet Option appears damaged upon receipt, contact the shipper immediately.
• Verify receipt of the correct model by checking the information on the PCB (see Figure 2).
• If you have received the wrong model or the DeviceNet Option does not function properly, contact your supplier.
Contents and Packaging
Table 1 Contents of Package
Tool Requirements
A Phillips screwdriver (M3) metric or (#1, #2) U.S. standard size is required to install the DeviceNet Option.
A straight-edge screwdriver (M2) is required to wire the terminal block.
Description: Option Card Ground Cable Screws LED Lael Installation Manual
_
Quantity: 1 1 3 1 1
NS MS
MANUAL

8 YASKAWA ELECTRIC SIEP C730600 43A YASKAWA AC Drive-Option Card DeviceNet Technical Manual
4 DeviceNet Option Components
4 DeviceNet Option Components
DeviceNet Option
Figure 2
Figure 2 Option Card
Note: For details on the LEDs, Refer to DeviceNet Option LED Display on page 8.
Terminal Block
The communication connector is a pluggable terminal block. This pluggable terminal block is the connection point of the
DeviceNet network communication cable to the Option.
Table 2 Terminal Descriptions
DeviceNet Option LED Display
The DeviceNet Option has two bicolor , red/green LEDs, one for Module Status (MS) and one for Network Status (NS).
The operational states of the DeviceNet Option LEDs after the DeviceNet power-up diagnostic LED sequence is
completed are described in Table 4. Wait at least 2 seconds for the power-up diagnostic process to complete before
verifying the states of the LEDs.
Table 3 DeviceNet Operation LED States
A – Terminal block E – Installation hole
B – Ground terminal
(Installation Hole)
F – Connector (CN5)
C – LED (NS) G – PCB part number
D–LED(MS)
Terminal Pin Color Signal Description
1 Black V- Network common
2 Blue CAN_L CAN data Low
3 – Shield Cable shield
4 White CAN_H CAN data High
5 Red V+ Communications DC+24V
Name Indication Operating Status Remarks
Color Status
MS
– OFF Power supply OFF Power is not being supplied to the drive.
Green ON SI-N3 Option operating The SI-N3 Option card is operating normally.
Green Flashing SI-N3 Option initializing There is an incorrect baud rate setting or there is a MAC ID.
Red ON Fatal error occurred A fatal (irrecoverable) error occurred in the SI-N3 Option.
Red Flashing Non-fatal error occurred A non-fatal (recoverable) error occurred.
Green/Red Flashing Device self-test Device in self-test mode.
F
AG
E
D
CB
SI-N3
Underside

4 DeviceNet Option Components
YASKAWA ELECTRIC SIEP C730600 43A YASKAWA AC Drive-Option Card DeviceNet Technical Manual 9
Power-Up Diagnostics
An LED test is performed each time the drive is powered up. The initial boot sequence may take several seconds. After
the LEDs have completed the DeviceNet diagnostic LED sequence, the DeviceNet Option is successfully initialized. The
LEDs then assume operational conditions as shown in Tabl e 3.
Table 4 Power-Up Diagnostic LED Sequence
Set the DeviceNet Option MAC ID
Parameter F6-50, MAC ID Setting
Range: 0~64
The MAC ID is set by drive parameter F6-50. A MAC ID setting in the range of 0~63 is considered a valid MAC ID. A
value other than 0~63 indicates the MAC ID is settable over the network.
The DeviceNet Option SI-N3 reads the MAC ID value from parameter F6-50 upon power-up and upon a network reset.
Set the DeviceNet Option Baud Rate
The DeviceNet Option will support standard baud rates of 125 k bit/s, 250 k bit/s, and 500 k bit/s.
Table 5 Parameter F6-51 Baud Rate Setting
Auto Baud Rate Sensing (F6-51 = 4)
Setting parameter F6-51 = 4, "Auto Detect" causes the DeviceNet Option to determine the data rate of the DeviceNet
Network and configure itself appropriately.
Note: The auto baud capability will only be valid when there is more than one node physically on the DeviceNet network segment. The
drive digital operator will display “bUS” and the DeviceNet option LEDs will be (NS-OFF and MS=Solid Green) as long as auto
baud rate sensing fails to detect the baud rate.
NS
–OFF
Offline or Power supply
OFF –
Green ON Online communications
established Device is on-line and has connections in the established state.
Green Flashing Online communications not
established
Device is on-line but has no connections in the established state.
Dup Mac-ID test has been passed, is on-line but has no open
connections to other nodes.
Red ON Communications error
An error occurred that disables DeviceNet communications.
MAC ID duplication
Bus Off detected
Red Flashing Communications time-out A communications time-out occurred with the master.
Green/Red Flashing Communication faulted
Specific communication faulted device.
The device has detected a network access error and is in the
communications faulted state.
The device has then received and accepted an Identify communication
fault request-long protocol message.
Sequence Module Status (MS) Network Status (NS) Time (ms)
1 GREEN OFF 250
2 RED OFF 250
3 GREEN GREEN 250
4 GREEN RED 250
5 GREEN OFF -
Description Value
125 k bit/s 0
250 k bit/s 1
500 k bit/s 2
Programmable From Network 3
Auto Detect 4
Name Indication Operating Status Remarks
Color Status

10 YASKAWA ELECTRIC SIEP C730600 43A YASKAWA AC Drive-Option Card DeviceNet Technical Manual
5 Installation Procedure
5 Installation Procedure
Section Safety
DANGER
Electrical Shock Hazard
Power to the drive must be shut off when installing the DeviceNet Option.
Even though the power has been shut off, voltage still remains in the drive’s DC bus. Wait before removing the front
cover once the drive has been turned off.
The CHARGE light on the drive will go out after voltage in the DC bus drops below 50 V, at which point it is safe to
remove the front cover.
Due to the risk of electric shock, be sure that all LEDs have gone out and that the DC bus voltage has reached a safe
level prior to performing any work on the drive.
WARNING
Electrical Shock Hazard
Do not remove the front cover of the drive while the power is on.
Failure to comply could result in death or serious injury.
The diagrams in this section may include option cards and drives without covers or safety shields to show 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.
Do not allow unqualified personnel to use equipment.
Failure to comply could result in death or serious injury.
Maintenance, inspection, and replacement of parts must be performed only by authorized personnel familiar with
installation, adjustment, and maintenance of this product.
Do not touch circuit boards while the power to the drive is on.
Failure to comply could result in death or serious injury.
Do not use damaged wires, place excessive stress on wiring, or damage the wire insulation.
Failure to comply could result in death or serious injury.
NOTICE
Damage to Equipment
Observe proper electrostatic discharge (ESD) procedures when handling the option card, drive, and circuit
boards.
Failure to comply may result in ESD damage to circuitry.
Never shut the power off while the drive is outputting voltage.
Failure to comply may cause the application to operate incorrectly or damage the drive.
Do not operate damaged equipment.
Failure to comply may cause further damage to the equipment.
Do not connect or operate any equipment with visible damage or missing parts.
Tighten all terminal screws to the specified tightening torque.
Loose electrical connections could result in death or serious injury by fire due to overheating of electrical connections.

5 Installation Procedure
YASKAWA ELECTRIC SIEP C730600 43A YASKAWA AC Drive-Option Card DeviceNet Technical Manual 11
Wiring Diagram
Figure 3
Figure 3 Wiring Diagram
Prior to Installing the Option Card
Prior to installing the DeviceNet Option, wire the drive and make necessary connections to the drive terminals. Refer to
the Quick Start Guide for information on wiring and connecting the drive. Verify that the drive functions normally prior
to installing the Option.
Installing the Card Option
This DeviceNet Option can be inserted into the either only CN5-A connectors located on the drive’s control board.
See the drive manual for directions on removing the front cover.
1. Shut off power to the drive, wait the appropriate amount of time for voltage to dissipate, then remove the
operator and front cover.
2. Insert the CN5 connector on the DeviceNet Option into the matching CN5 connector on the drive, then fasten it
into place using one of the screws included with the DeviceNet Option.
Connect one of the lead lines using one of the screws to the ground terminal.
Three separate lead lines have been included with the DeviceNet Option to connect to three separate ports. Use
the lead line with the length appropriate for the distance of the port.
Note: There are only two screw holes on the drive for ground terminals. If three option cards are connected, two of the lead lines will need to share the same ground terminal.
Do not use unshielded cable for control wiring.
Failure to comply may cause electrical interference resulting in poor system performance.
Use shielded twisted-pair wires and ground the shield to the ground terminal of the drive.
Properly connect all pins and connectors.
Failure to comply may prevent proper operation and possibly damage equipment.
Check wiring to ensure that all connections are correct after installing the option card and connecting any other
devices.
Failure to comply may result in damage to the option card.
<1> The FE terminal on the DeviceNet Option is supplied with a ground cable that should be connected to the ground terminal on the
drive.
NOTICE
Drive
SI-N3
M
U
V
W
R
V+
V-
CAN_H
CAN_L
Shield
S
T
CN5
FE
<1>
DeviceNet Master
or
drop line
DeviceNet Cable
MotorPower
（Red）
（Black）
（White）
（Blue）

5 Installation Procedure
12 YASKAWA ELECTRIC SIEP C730600 43A YASKAWA AC Drive-Option Card DeviceNet Technical Manual
Figure 4
Figure 4 Installing the Option
3. Wire the DeviceNet Option to the terminal block on the DeviceNet Option.
For exposed cables in drives 2A004 to 0069, 4A0002 to 0044, use a pair of wire cutters to create an opening on
the left side of the front cover that allows wiring to pass through. Sharp edges along the opening that was
created should be smoothed down with a file or sand paper so prevent any damage to the wires.
Drives 2A0081 to 0021, 4A0058 to 0165 have enough space to keep all wiring inside the unit.
Figure 5
Figure 5 Wiring space
4. Place the front cover back onto the drive as it was before.
Note: 1. Take care when wiring the DeviceNet Option so that the front cover easily fits back onto the drive.
2. Install Cable Cover option to maintain the drive Enclosure Type.
A – Connector CN5-C G – Lead line
B – Connector CN5-B H – Use wire cutters to create
an opening for cable lines
C – Connector CN5-A I – Operator
D – Drive grounding terminal
(FE)
J – LED label
E – Insert connector CN5 here K – Front cover
F – DeviceNet Option
A – Opening for cable lines
(2A0004 to 0069, 4A0002 to
0044)
B – Space for wiring
(2A0081 to 0021, 4A0058 to
0165)
NS MS
G
A
EF
I
J
B
C
D
H
K
B
A

5 Installation Procedure
YASKAWA ELECTRIC SIEP C730600 43A YASKAWA AC Drive-Option Card DeviceNet Technical Manual 13
Communication Cable Wiring
Procedure
Follow the instructions below to connect the communications cable to the terminal block.
WARNING! Tighten all terminal screws according to the specified tightening torque. Tightening screws too tight could damage the
terminal block, and leaving screws too loose can cause a short-circuit or drive malfunction.
1. Connect the communications cable to the terminal block as shown in the diagram below.
Note: Communication lines should be separated from main circuit wiring and other electrical lines. (Tightening torque: 0.5 to 0.6
(Nxm) or 4.4 to 5.3 (inch-lbs)) for Network Cable Wiring.
Figure 6
Figure 6 Communication Cable Wiring
2. Ensure all wiring connections are tightened and wire insulation is not pinched in the terminal block. Remove any
stray wire strands that touch other terminals.
3. After the terminal block is fully attached to the option card, tighten the screws on the left and right sides of the
terminal block. (Tightening torque: 0.5 to 0.6 (Nxm) or 4.4 to 5.3 (inch-lbs)).
Figure 7
Figure 7 Terminal Block Installation
Termination Resistor Connection
A network termination resistor (121 Ω, ±1%, 1/4 W) must be connected only to nodes of the two ends of trunkline. Refer
to ODVA specification for more details on DeviceNet termination.
Communication Cable Specifications
Refer to the ODVA website for more information on network cabling (http://www.odva.org/).
DA DB DG SLD SLD
Terminal block
Preparing wire ends: Screwdriver blade size
When not using
terminal extensions
about 5.5 mm
Pull back the sheilding and lightly
twist the end with fingers, keeping
the ends from fraying
CC-Link comm cable
(do not soldered ends)
Loosen the screws and
insert the cable into the
opening on the terminal block
Blade depth of
0.6 mm or less
Blade width of
3.5 mm or less
screwdriver blade size
Blade depth of
0.6 mm or less
Blade width of
3.5 mm or less

5 Installation Procedure
14 YASKAWA ELECTRIC SIEP C730600 43A YASKAWA AC Drive-Option Card DeviceNet Technical Manual
Cable Length
Trunk Line
The maximum allowed trunk line length depends on the type of cable used and the network baud rate. The total cable
length includes the length of the trunk and the sum of all the drop lines.
Table 6 Trunk Line Cable Length
To calculate the maximum total length for trunk lines of mixed thick and thin cables, use the following formulas:
• 125 k bit/s: Lthick + (5 x Lthin) ≤500 m
• 250 k bit/s: Lthick + (2.5 x Lthin) ≤250 m
• 500 k bit/s: Lthick + Lthin ≤100 m
Drop Line
The drop line is measured from the tap on the trunk line to the transceiver of the DeviceNet node. Note that the total
cable length includes the length of the trunk and the sum of all the drop lines.
Table 7 Drop Line Cable Length
EDS Files
For easy network implementation of drives equipped with a SI-N3, an EDS file can be obtained from:
Europe: http://www.yaskawa.eu.com
Japan: http://www.e-mechatronics.com
Other areas: contact a Yaskawa representative.
Baud Rate (k bit/s) Thick Cable (m) Thin Cable (m)
125 500 100
250 250 100
500 100 100
Baud Rate (k bit/s) Maximum at Each Drop (m) Maximum Total (m)
125
6
156
250 78
500 39

6 DeviceNet Option Drive Parameters
YASKAWA ELECTRIC SIEP C730600 43A YASKAWA AC Drive-Option Card DeviceNet Technical Manual 15
6 DeviceNet Option Drive Parameters
Confirm proper setting of the all parameters in Table 8 before starting network communications.
Table 8 Parameter Settings
No.
(Addr.
Hex)
Name Description Values
b1-01
(180)
<1>
Frequency Reference Selection
Selects the frequency reference input source
0: Digital Operator - Digital preset speed d1-01 to d1-17
1: Terminals - Analog input terminal A1 or A2
2: MEMOBUS/Modbus communications
3: Option PCB
4: Pulse Input (Terminal RP)
Default: 1
Range: 0~4
(Set to 3 for DeviceNet only)
b1-02
(181)
<1>
Run Command Selection
Selects the run command input source
0: Digital Operator - RUN and STOP keys
1: Digital input terminals S
2: MEMOBUS/Modbus communications
3: Option PCB
Default: 1
Range: 0~3
(Set to 3 for DeviceNet only)
F6-01
(3A2)
Operation Selection after
Communications Error
Determines drive response when a bUS error is detected during
communications with the DeviceNet Option
0: Ramp to Stop
1: Coast to Stop
2: Fast-Stop
3: Alarm Only <2>
Default: 1
Range: 0~3
F6-02
(3A3)
External Fault Detection Conditions
(EF0)
Sets the condition for external fault detection (EF0)
0: Always detected
1: Detected only during operation
Default: 0
Range: 0~1
F6-03
(3A4)
Stopping Method for External Fault
from Communication Option
Determines drive response for external fault input (EF0)
detection during DeviceNet communication
0: Ramp to Stop
1: Coast to Stop
2: Fast-Stop
3: Alarm Only <2>
Default: 1
Range: 0~3
F6-06
<3>
Torque Reference/Torque Limit
Selection from Communications
Option
0: Torque reference / torque limit via network communications
are disabled.
1: Torque reference / torque limit via network communications
are enabled. <4>
0
F6-07
(3A8) NetRef/ComRef Selection Function 0: Multi-step speed reference disabled (F7 mode) 1: Multi-step speed reference allowed (V7 mode) Default: 0
F6-08
(36A)
Reset Communication Related
Parameters
Determines which F6- and F7- parameters are reset to
default values when the drive is initialized using A1-03.
0: Do not reset parameters
1: Reset parameters
Default: 0
F6-50
(3C1)
<5> <7>
MAC ID Selects the drive MAC address
Note: Used in the DeviceNet Object
Default: 0
Range: 0~64
F6-51
(3C2)
<7>
Baud Rate
DeviceNet communication speed
0: 125 k bit/s
1: 250 k bit/s
2: 500 k bit/s
3: Programable from Network
4: Detect automatically
Note: Used in the DeviceNet Object
Default: 0
Range: 0~4
F6-52
(3C3)
<6>
PCA setting I/O Polled Consuming Assembly data instance
Note: Used in the Connection Object
Default: 21
Range: 0~255
F6-53
(3C4)
<6>
PPA setting I/O Polled Producing Assembly data instance
Note: Used in the Connection Object
Default: 71
Range: 0~255
F6-54
(3C5)
<7>
Idle Mode Fault Detection Selection
When detection is enabled and idle messages are detected, the
option will set Run and Frequency to 0.
0: Detection enabled
1: No detection
Default: 0
Range: 0~1

6 DeviceNet Option Drive Parameters
16 YASKAWA ELECTRIC SIEP C730600 43A YASKAWA AC Drive-Option Card DeviceNet Technical Manual
F6-55
(3C6) Baud rate from Network
(Read only)
DeviceNet actual communication speed
0: 125 k bit/s
1: 250 k bit/s
2: 500 k bit/s
Note: Used in the DeviceNet Object
Range: 0~2
F6-56
(3D7) Speed Scaling
Sets the scaling factor for the Speed Monitor in the DeviceNet
Object Class 2A hex
Note: Used in the AC/DC Drive Object
Default: 0
Range: -15~15
F6-57
(3D8) Current Scaling
Sets the scaling factor for the Output Current Monitor in the
DeviceNet Object Class 2A hex
Note: Used in the AC/DC Drive Object
Default: 0
Range: -15~15
F6-58
(3D9) Torque Scaling
Sets the scaling factor for the Torque Monitor in the DeviceNet
Object Class 2A hex
Note: Used in the AC/DC Drive Object
Default: 0
Range: -15~15
F6-59
(3DA) Power Scaling
Sets the scaling factor for the Power Monitor in the DeviceNet
Object Class 2A hex
Note: Used in the AC/DC Drive Object
Default: 0
Range: -15~15
F6-60
(3DB) Voltage Scaling
Sets the scaling factor for the Voltage Monitor in the DeviceNet
Object Class 2A
Note: Used in the AC/DC Drive Object
Default: 0
Range: -15~15
F6-61
(3DC) Time Scaling
Sets the scaling factor for the Time Monitor in the DeviceNet
Object Class 2A hex
Note: Used in the AC/DC Drive Object
Default: 0
Range: -15~15
F6-62
(3DD) Heart Beat Sets the heartbeat interval
Note: Used in the Identity Object
Default: 0
Range: 0~10
F6-63
(3DE) MAC ID from Network
(Read only)
Actual MAC address
Note: Used in the DeviceNet Object
Range: 0~63
U6-98
(7F8) Previous Option Fault
Displays previous faulted status.
0: No fault
1: Option failure
2: PLC in idle state
3: Forcefault
1000: Network power loss
1001: Connection timeout
1002: Duplicate MAC ID
1003: Bus-Off
Note: Used in DeviceNet Option Faults
Range: 0~3; 1000~1003
U6-99
(7F9) Current Option Fault
Displays the most recent fault status.
0:No fault
1: Option failure
2: PLC in idle state
3: Force fault
1000: Network power loss
1001: Connection timeout
1002: Duplicate MAC ID
1003: Bus-Off
Note: Used in DeviceNet Option Faults
Range: 0~3; 1000~1003
<1> To start and stop the drive with the DeviceNet master device using serial communications, set b1-02 to “3” or set the “Net Control” bit in the
assemblies or Control Supervisor Object. To control the frequency reference of the drive via the master device, set b1-01 to “3” or set the “Net
Reference” bit in the assemblies or AC/DC object.
<2> If F6-01 or F6-03 is set to 3, then the drive will continue to operate when a fault is detected. Take proper safety measures, such as installing an
emergency stop switch.
<3> Enabled in CLV, PM OLV 2, and PM CLV control modes (A1-02 = 3, 6, or 7). When enabled, d5-01 determines whether the value is read as the
torque limit value (d5-01 = 0) or read as the torque reference value (d5-01 = 1). In Closed Loop Vector for PM motors, this value is read as the
torque limit.
<4> Default setting specifies that the torque reference or torque limit is to be provided via network communications (F6-06 = 1). The motor may not
rotate if no torque reference or torque limit is supplied from the PLC.
<5> All MAC addresses must be unique.
<6> PCA and PPA will be initialized if unavailable values are set.
<7> Power must be cycled in order for any setting changes to take affect.
No.
(Addr.
Hex)
Name Description Values

7 Configuring DeviceNet Messaging
YASKAWA ELECTRIC SIEP C730600 43A YASKAWA AC Drive-Option Card DeviceNet Technical Manual 17
7 Configuring DeviceNet Messaging
This section provides information on the various methods used to control the drive on DeviceNet.
Drive Configuration on DeviceNet
Polled Configuration
The Drive DeviceNet Polled connection must be configured before receiving commands from a Master device. The two
parameters that must be configured are:
• F6-52: Polled Consuming Assembly (PCA)
Note: Output assembly consumed by the drive.
• F6-53: Polled Producing Assembly (PPA)
Note: Input assembly produced by the drive.
The default connection paths for the DeviceNet Option are set for Extended Speed Control.
The PCA and PPA parameters can be accessed by two methods.
• A software configuration tool (not supplied), and Yaskawa Electronic Data Sheet (EDS)
Note: The PCA and PPA parameters can be accessed from the “DN: Polled Config” parameter group.
• A software configuration tool (not supplied), via a DeviceNet message path, such as (Extended Speed Control)
Note: Use DeviceNet Connection Object to change the PCA or PPA if required by the application (Class 5, Instance 1, Attributes 14
and 16)
One each PCA and PPA assembly from the following table must be selected to configure the drive for polled operation.
Table 9 Supported Polled Assemblies (PCA and PPA)
Assembly
Number (decimal) Description Type Bytes Page
20 Basic Speed Control Output - 20 (0x14) PCA 4 20
21 Extended Speed Control Output - 21 (0x15) (Default Setting) PCA 4 20
22 Speed and Torque Control Output - 22 (0x16) PCA 6 21
23 Extended Speed and Torque Control Output - 23 (0x17) PCA 6 21
70 Basic Speed Control Input - 70 (0x46) PPA 4 37
71 Extended Speed Control Input - 71 (0x47) (Default Setting) PPA 4 37
72 Speed and Torque Control Input - 72 (0x48) PPA 6 38
73 Extended Speed and Torque Control Input - 73 (0x49) PPA 6 39
100 MEMOBUS/Modbus Message Command (Vendor Specific YE Assy) - 100 (0x64) PCA 5 22
101 Standard Control (Vendor Specific YE Assy) - 101 (0x65) PCA 8 23
102 Accel/Decel Time (Vendor Specific YE Assy) - 102 (0x66) PCA 8 24
105 Enhanced Speed Control, Dynamic (Vendor Specific YE Assy) - 105 (0x69) PCA 8 25
106 Enhanced Control (Vendor Specific YE Assy) - 106 (0x6A) PCA 8 27
107 Standard DI/DO Control (Vendor Specific YE Assy) - 107 (0x6B) PCA 8 28
108 Enhanced Torque Control, Dynamic (Vendor Specific YE Assy) - 108 (0x6C) PCA 8 29
120 Speed Command 1 (Vendor Specific YE Assy) - 120 (0x78) PCA 4 30
121 Torque Command 1 (Vendor Specific YE Assy) - 121 (0x79) PCA 4 31
122 Speed Command 2 (Vendor Specific YE Assy) - 122 (0x7A) PCA 6 32
123 Torque Command 2 (Vendor Specific YE Assy) - 123 (0x7B) PCA 6 33
124 Speed Dynamic Assy (Vendor Specific YE Assy) - 124 (0x7C) PCA 8 34
125 Torque Dynamic Assy (Vendor Specific YE Assy) - 125 (0x7D) PCA 8 35
126 Speed/Torque Assy (Vendor Specific YE Assy) - 126 (0x7E) PCA 8 36
130 Speed Status (Vendor Specific YE Assy) - 130 (0x82) PPA 4 40
131 Current Status (Vendor Specific YE Assy) - 131 (0x83) PPA 4 41
132 Current & Speed Status (Vendor Specific YE Assy) - 132 (0x84) PPA 6 42
134 Speed Status Dynamic Assy (Vendor Specific YE Assy) - 134 (0x86) PPA 8 43
135 Current Status Dynamic Assy (Vendor Specific YE Assy) - 135 (0x87) PPA 8 44
136 Torque and Speed Status (Vendor Specific YE Assy) - 136 (0x88) PPA 8 45
150 MEMOBUS/Modbus Message Reply (Vendor Specific YE Assy) - 150 (0x96) PPA 5 46
151 Standard Status 1 (Vendor Specific YE Assy) - 151 (0x97) PPA 8 47

7 Configuring DeviceNet Messaging
18 YASKAWA ELECTRIC SIEP C730600 43A YASKAWA AC Drive-Option Card DeviceNet Technical Manual
152 Standard Status 2 (Vendor Specific YE Assy) -152 (0x98) PPA 8 48
155 Enhanced Speed Status, Dynamic (Vendor Specific YE Assy) - 155 (0x9B) PPA 8 50
156 Enhanced Control Status (Vendor Specific YE Assy) -156 (0x9C) PPA 8 51
157 Standard DI/DO Status (Vendor Specific YE Assy) - 157 (0x9D) PPA 8 53
158 Enhanced Torque Status, Dynamic (Vendor Specific YE Assy) - 158 (0x9E) PPA 8 54
199 Change of State Response (Vendor Specific YE Assy) - 199 (0xC7) PPA 8 56
Assembly
Number (decimal) Description Type Bytes Page

8 DeviceNet Option Details
YASKAWA ELECTRIC SIEP C730600 43A YASKAWA AC Drive-Option Card DeviceNet Technical Manual 19
8 DeviceNet Option Details
Support Message Type
Explicit Messages: Fragmentation is supported. Up to 32 Bytes can be input and output.
Polled I/O Messages: Fragmentation is not supported. Up to 8 Bytes can be input and output.
COS Messages: Fragmentation is not supported.
Faulted Node Recovery / Offline Connection Set Messages
Support Connection Path Type
Logical encoding is used for the Polled Consumed and Produced connection paths. To support application tools and
development tools that do not handle explicit message fragmentation this option supports Symbolic encoding. Symbolic
encoding only requires a 3 byte long message where logical encoding requires eleven bytes. This option has a third
method of setting Polled Consumed and Produced connection paths. Class 5, Instance 2, Attributes (100, 101) allow
setting connection path with a single byte. For instance, to set the Consumed connection path to 100, write 100 (0x64) to
Attribute 101. See appendix C of "The CIP Networks Library, Volume 1" for more information on CIP segments.

20 YASKAWA ELECTRIC SIEP C730600 43A YASKAWA AC Drive-Option Card DeviceNet Technical Manual
9 Output Assemblies (Drive Consumes)
9 Output Assemblies (Drive Consumes)
Note: The convention in this manual is from the PLC perspective. As such, an assembly is called an “Output Assembly” when
outputted from the PLC and received by this node. An “Input Assembly” is outputted from this node and read by the PLC. This
section details “Output Assemblies” that are “Consumed” by this drive.
Basic Speed Control Output - 20 (0x14)
Extended Speed Control Output - 21 (0x15)
Output Instance Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
20
0 –––––
Fault
Reset –Run
Fwd
1-
2 Speed Reference (Low Byte)
3 Speed Reference (High Byte)
Name Description
Run Fwd
Forward Run Command
0: Stop
1: Forward Run
Fault Reset
Fault Reset
0: No Fault Reset
1: Fault Reset
Speed Reference
Speed Command
Sets drive speed reference
Speed reference data:
Frequency reference / 2SS (SS: Speed scale)
Setting range: 0 to 0xFFFF
For example, when setting a reference of 1024 with a speed scale of 2
Speed reference data = 1024 / 22= 256 = 0x0100
Unit depends on o1-03.
Output Instance Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
21
0–
Net
Ref
Net
Ctrl ––
Fault
Reset
Run
Rev
Run
Fwd
1–
2 Speed Reference (Low Byte)
3 Speed Reference (High Byte)
Name Description
Run Fwd
Forward Run Command
0: Stop
1: Forward Run
Run Rev
Reverse Run Command
0: Stop
1: Reverse Run
Fault Reset
Fault Reset
0: No Fault Reset
1: Fault Reset
NetCtrl
Run command from Network
0: Depends on b1-02
1: Enables the run command from network
NetRef
Speed reference from Network
0: Depends on b1-01
1: Enables the speed reference from network