YASKAWA JOHB-SMP3 User manual

MANUAL NO. SIEP C730600 0LA
YASKAWA AC Drive Option
EtherCAT
Technical Manual
Model JOHB-SMP3
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 0LA EtherCAT Technical Manual

YASKAWA SIEP C730600 0LA EtherCAT Technical Manual 3
Table of Contents
1. Preface and Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Applicable Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Registered Trademarks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Supplemental Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Section Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Compatible Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3. Receiving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Option Package Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Installation Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
4. Option Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Option PCB Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Communication Modular Connector CN1 Port 1/Port 2 . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Option LED States. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
LEDs L/A OUT and L/A IN: Ethernet Link/Activity for Input and Output Ports . . . . . . . . . 12
RUN LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
ERR LED. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
10/100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Meaning of LED Flash Rates. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
5. Installation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Settings for the DIP Switch S1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Procedures to Install and Wire Options on a Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Procedure A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Procedure B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Option Card Mounting Kit for GA500 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Communication Cable Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Option Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
ESI File. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
6. Related Drive Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
7. Supported Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
8. Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Object Dictionary Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Communication Profile Objects (DS 301) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

4YASKAWA SIEP C730600 0LA EtherCAT Technical Manual
Manufacturer Specific Profile Objects (DS 301). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Converter Specific Profile Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Drives and Motion Specific Profile Objects (DSP 402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Communication Profile Objects (DS 301) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
1000 (Hex.): Device Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
1001 (Hex.): Error Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
1003 (Hex.): Pre-defined Error Field . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
1008 (Hex.): Manufacturer Device Name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
1009 (Hex.): Manufacturer Hardware Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
100A (Hex.) Manufacturer Software Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
1010 (Hex.): Store Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
1011 (Hex.): Restore Default Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
1018 (Hex.): Identity Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
1600 (Hex.), 1629 (Hex.), 1650 (Hex.): Receive PDO Mapping . . . . . . . . . . . . . . . . . . . . . 27
1601 (Hex.) to 1628 (Hex.): Receive PDO Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
1A00 (Hex.), 1A29 (Hex.), 1A50 (Hex.): Transmit PDO Mapping . . . . . . . . . . . . . . . . . . . . 27
1A01 (Hex.) to 1A28 (Hex.): Transmit PDO Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
1C00 (Hex.): Sync Manager Communication Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
1C12 (Hex.): Sync Manager RxPDO Assign . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
1C13 (Hex.): Sync Manager TxPDO Assign . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Manufacturer Specific Profile Objects (DS301) Details . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2000 (Hex.): Operation Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2010 (Hex.): Speed Reference/Speed Limit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2020 (Hex.): Torque Reference/Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2030 (Hex.): Torque Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2040 (Hex.): MEMOBUS/Modbus Read Request . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2050 (Hex.): MEMOBUS/Modbus Write Request . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2051 (Hex.): Advanced MEMOBUS/Modbus Write Response . . . . . . . . . . . . . . . . . . . . . . 31
2060 (Hex.): MEMOBUS/Modbus Unlimited ENTER Command . . . . . . . . . . . . . . . . . . . . 31
2061 (Hex.): MEMOBUS/Modbus Unlimited ENTER Command 2 . . . . . . . . . . . . . . . . . . . 32
2070 (Hex.): MEMOBUS/Modbus Limited ENTER Command . . . . . . . . . . . . . . . . . . . . . . 32
2071 (Hex.): MEMOBUS/Modbus Limited ENTER Command 2. . . . . . . . . . . . . . . . . . . . . 32
2080 (Hex.) to 3100 (Hex.): Freely Configurable Input Objects . . . . . . . . . . . . . . . . . . . . . 32
20D0 (Hex.): FM analog output 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
20E0 (Hex.): AM analog output 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
20F0 (Hex.): Multi-function DO Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
2100 (Hex.): Drive Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
2110 (Hex.): Output Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
2120 (Hex.): Output Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2130 (Hex.): Output Torque Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2140 (Hex.): MEMOBUS/Modbus Read Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2150 (Hex.): MEMOBUS/Modbus Write Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2151 (Hex.): Advanced MEMOBUS/Modbus Write Response . . . . . . . . . . . . . . . . . . . . . . 37
2155 (Hex.): PDO Parameter Write Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2160 (Hex.): MEMOBUS/Modbus Unlimited Enter Command Response . . . . . . . . . . . . . 37
2180 (Hex.) to 21F0 (Hex.): Freely Configurable Output Objects . . . . . . . . . . . . . . . . . . . . 38
2200 (Hex.): Motor Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
2210 (Hex.): DC-Bus Voltage/Control Circuit Voltage (For U1000) . . . . . . . . . . . . . . . . . . 39
2220 (Hex.): Analog Input Monitor A1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2240 (Hex.): Analog Input Monitor A2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2260 (Hex.): Analog Input Monitor A3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2270 (Hex.): Drive DI Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2301 (Hex.): Error Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
2318 (Hex.): Drive Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
251x (Hex.): Main Parameter Group A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
252x (Hex.): Main Parameter Group B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
253x (Hex.): Main Parameter Group C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
254x (Hex.): Main Parameter Group D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
255x (Hex.): Main Parameter Group E . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
256x (Hex.): Main Parameter Group F . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

YASKAWA SIEP C730600 0LA EtherCAT Technical Manual 5
258x (Hex.): Main Parameter Group H . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
25Cx (Hex.): Main Parameter Group L . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
25Ex (Hex.): Main Parameter Group N. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
25Fx (Hex.): Main Parameter Group O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
261x (Hex.): Main Parameter Group Q . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
262x (Hex.): Main Parameter Group R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
264x (Hex.): Main Parameter Group T . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
265x (Hex.): Main Parameter Group U . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
2E00 (Hex.): Gateway Mode Communication Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
2E01 (Hex.) to 2E04 (Hex.): Gateway Slave Drive Operation. . . . . . . . . . . . . . . . . . . . . . . 45
2EFF (Hex.): Gateway MEMOBUS/Modbus Read/Write Request . . . . . . . . . . . . . . . . . . . 46
2F01 (Hex.) to 2F04 (Hex.): Gateway Slave Drive Status . . . . . . . . . . . . . . . . . . . . . . . . . . 46
2FFF (Hex.): Gateway MEMOBUS/Modbus Read/Write Response. . . . . . . . . . . . . . . . . . 47
4001 (Hex.): Option Info + Status Record. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4010 (Hex.): Store Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4011 (Hex.): Restore Default Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Converter Specific Profile Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
5000 (Hex.): Regenerated Energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
5001 (Hex.): Input Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
5002 (Hex.): Current Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
5003 (Hex.): AC Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
5004 (Hex.): Consumed Energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
5005 (Hex.): DC Bus Voltage Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
CANopen DSP402 Controlword/Statusword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
CANopen DSP402 Controlword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
CANopen DSP402 Statusword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Controlword Operation Mode Specific Bits in Velocity Mode. . . . . . . . . . . . . . . . . . . . . . . . 51
Statusword Operation Mode Specific Bits in Velocity Mode . . . . . . . . . . . . . . . . . . . . . . . . 51
Controlword State Transition Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Statusword State Transition Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
CANopen DSP402 State Transition Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
CANopen DSP402 State Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
CANopen DSP402 Event Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Drives and Motion Profile Objects (DSP 402) Details. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
6040 (Hex.): Controlword. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
6041 (Hex.): Statusword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
6042 (Hex.): vl Target Velocity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
6043 (Hex.): vl Velocity Demand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
6044 (Hex.): vl Velocity Control Effort/Actual Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
6046 (Hex.): vl Velocity Min Max Amount . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
6048 (Hex.): vl Velocity Acceleration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
6049 (Hex.): vl Velocity Deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
604A (Hex.): vl Velocity Quick Stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
604C (Hex.): vl Dimension Factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
604D (Hex.): vl Pole Number. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
6060 (Hex.): Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
6061 (Hex.): Modes of Operation Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
60FD (Hex.): Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
60FE (Hex.): Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
6502 (Hex.): Supported Drive Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
9. Process Data Objects (PDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Process Data Objects (PDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Transmit PDOs (TxPDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Receive PDOs (RxPDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
RxPDO Mapped Drive Registers Above 0100 (Hex.) Range . . . . . . . . . . . . . . . . . . . . . . . 60
10. Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

6YASKAWA SIEP C730600 0LA EtherCAT Technical Manual
Example Project with SPEED7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Example Project with TwinCAT System Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Example to Select MEMOBUS/Modbus Register into Freely Configurable Objects. . . . . 66
11. Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
EtherCAT Option Card Error Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Emergency Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
SDO Abort Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Drive-Side Error Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Minor Faults and Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
bUS Fault Tolerance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Option Board Error Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Option Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Option Fault Monitors U6-98 and U6-99 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Self RAM Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
12. European Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
EMC Directive Compliance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Option Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
13. Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
14. Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Disposal Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
WEEE Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Revision History. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

1 Preface and Safety
YASKAWA SIEP C730600 0LA EtherCAT Technical Manual 7
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
Document Description
JOHB-SMP3
Multi-Protocol EtherNet
Quick Setup Procedure
Manual No.: TOBP C730600 0H
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
EtherCAT
Technical Manual
Manual No.: SIEP C730600 0L
(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 JOHB-SMP3 with DIP Switches Set for EtherCAT
Keypad •HOA Operator
•LCD Operator
•LED Operator
•HOA Keypad
•LCD Keypad
•LED Keypad
EtherCAT Ethernet for Control Automation Technology, an open Ethernet-based network
Online-DRV NOID processing mode, process (ctrl/resp) data is active
Online-DRVMB NOID processing mode, process resp data is active, ctrl data is on hold (Until MEMOBUS process is complete)
Online-PRG NOID processing mode, NO process (ctrl/resp) data is active
LED Light Emitting Diode
OPT The unit described in this document
INV Inverter drive
PCB Printed Circuit Board
FCS Frame Check Sequence
INVR MEMOBUS register number

2 Overview
8YASKAWA SIEP C730600 0LA EtherCAT Technical Manual
Terms Definition
ESI EtherCAT Slave Information file
Hex. (Example: 900 (Hex.)) Identifies a unit for hexadecimal number format.
◆Registered Trademarks
•EtherCAT is a registered trademark of Beckhoff Automation GmbH.
•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
This option is designed to contact YASKAWA AC drives or converters to an EtherCAT network.
Using this option and an EtherCAT master you can:
•Operate the drive or converter
•Monitor the drive or converter operation status
•Change drive or converter parameter settings
The option contains support for the Velocity mode according the CANopen Device Profile and Motion Control
(DSP 402) profile. It also contains YASKAWA vendor-specific CANopen objects based on the present CANopen
option specification.
The EtherCAT Option supports the following communication profiles:
•DS 301 Ver.4.02
•DSP 402 Ver.3.0 Velocity Mode (This object is not available for D1000 and R1000.)

3 Receiving
YASKAWA SIEP C730600 0LA EtherCAT Technical Manual 9
◆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
≥ 1017
CIMR-Ax4A0002 - 4A0675
CIMR-Ax4A0930, 4A1200 ≥ 3015
CIMR-Ax5Axxxx ≥ 5045
≥ 1017
D1000
CIMR-Dx2A0005 - 4A0370 ≥ 2006
CIMR-Dx4A0630 ≥ 3014
R1000 CIMR-Rx2A03P5 - 4A0300 ≥ 2102
U1000
CIMR-UxxAxxxx
≥ 1010
CIMR-UxxExxxx
CIMR-UxxPxxxx
CIMR-UxxWxxxx
CR700 CIPR-CR70xxxxx ≥ 1012
GA500 CIPR-GA50xxxxx ≥ 1010
GA700 CIPR-GA70xxxxx ≥ 1010
GA800 CIPR-GA80xxxxx ≥ 9010
*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)”to identify the option software version.
•For Yaskawa customers in the North or South America regions:
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
3 Receiving
After you receive the option package:
•Make sure that there is no damage to the option and no parts are missing.
The Yaskawa warranty does not include damage from shipping. If there is damage to the option or other parts,
contact the shipping company immediately.
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.
•Contact the distributor where you purchased the option or contact Yaskawa or a Yaskawa representative about
any problems with the option.

3 Receiving
10 YASKAWA SIEP C730600 0LA EtherCAT Technical Manual
◆Option Package Contents
Table 3.1 Contents of Package
Option Contents Quantity
Option 1
Ground Wire *1 1
Screws (M3) 3 *2
LED Labels *3
1000-Series 1
GA500, GA700, GA800, CR700 1
Quick Setup Procedure 1
*1 GA500, GA700, GA800, and CR700 drives do not use the ground wire.
*2 GA700, GA800, and CR700 drives use two screws only.
*3 LED labels are located on this label sheet.
Figure 3.1 LED Label Sheet
◆Installation Tools
You can use these tools to install the option to the drive:
•A Phillips screwdriver or slotted screwdriver *1.
•Non-conductive tweezers or a tool with a tip width of approximately 0.5 mm (0.02 in) to set DIP switch S1.
•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 SIEP C730600 0LA EtherCAT Technical Manual 11
4 Option Components
◆Option PCB Components
A - Connector (CN5)
B - Installation hole
C - LED (L/A IN) *1
D - LED (RUN) *1
E - LED (ERR)
F - LED (L/A OUT)
G - Ground terminal (FE) and installation hole *2
H - Port 2 LED (10/100) *1
I - Option modular connector CN1B (Port 2) (RJ45)
J - DIP switch S1
K - Port 2 LED (LINK/ACT) *1
L - Port 1 LED (10/100) *1
M - Option modular connector CN1A (Port 1) (RJ45)
N - Port 1 LED (LINK/ACT) *1
Figure 4.1 Option PCB Components
*1 Refer to Option LED States on page 11 for more information about the LEDs.
*2 Connect the included ground wire during installation. The ground wire is not necessary for installation on GA700, GA800, and
CR700 drives. For GA500 drives, connect the included ground wire to the separately-sold communication option case (model:
JOHB-GA50).
◆Communication Modular Connector CN1 Port 1/Port 2
Option connections CN1A (Port 1) and CN1B (Port 2) are connection points for customer-supplied EtherCAT
network communication cables. These ports accept customer-supplied male 8-way Ethernet modular RJ45
connectors.
Table 4.1 Male 8-way Ethernet Modular Connector (Customer-Supplied)
Male 8-way Ethernet Modular Connector Pin Description
1 (Pair 2) Transmit data (TXD) +
2 (Pair 2) Transmit data (TXD) -
3 (Pair 3) Receive data (RXD) +
4 (Pair 1) Not used
5 (Pair 1) Not used
6 (Pair 3) Receive data (RXD) -
7 (Pair 4) Not used
8 (Pair 4) Not used
◆Option LED States
A - 1000-Series B - GA500, GA700, GA800, CR700
Figure 4.2 Option LED Labels

4 Option Components
12 YASKAWA SIEP C730600 0LA EtherCAT Technical Manual
■LEDs L/A OUT and L/A IN: Ethernet Link/Activity for Input and Output Ports
The Link/Activity indicators show the status of the physical link and show activity on the link period.
LED Color Display Meaning
Link Activity IN (L/A
IN)
Link Activity OUT (L/A
OUT)
- OFF No link. The communication cable is not physically connected. The communication
controller is not started up.
Green ON The module is connected to Ethernet. A communication cable is physically connected,
but there is no data exchange.
Green Flickering There is traffic on Ethernet, data is being exchanged.
■RUN LED
A green lit RUN LED indicates the status of the communication network state machine.
A red lit RUN LED is only used when updating the option firmware.
LED Color Display Meaning
RUN
- OFF The device is in Init state.
Green Blinking The device is in Pre-Operational State.
Green Single Flash The device is in Safe-Operational State.
Green ON The device is in Operational State.
Red Blinking (1 Hz or 6 Hz)
The firmware upgrade process for the option is in progress.
1 Hz: Firmware loader in IDLE state (waiting for commands from the drive)
6 Hz: Firmware loader is processing commands
■ERR LED
The red error LED indicates the presence of any errors.
LED Color Display Meaning
ERR
- OFF No link. The communication option is in working condition.
Red
Blinking General configuration error.
Single Flash The slave device application changed the communication state autonomously: The
parameter “Change”in the AL status register is set to 01 (Hex.): change/error.
Double Flash There was a sync manager watchdog time out.
ON
Possible causes:
1. There was a Process Data Interface error, the NOID application interface failed.
2. An option FATAL event occurred.
Blinking (1 Hz or 6 Hz)
The firmware upgrade process for the option is in progress.
1 Hz: Firmware loader in IDLE state (waiting for commands from the drive)
6 Hz: Firmware loader is processing commands
■10/100
The 10/100 LED indicates the status of the physical link.
LED Color Display Meaning
10/100
- OFF Link is not established.
Green ON Link is established.

5 Installation Procedure
YASKAWA SIEP C730600 0LA EtherCAT Technical Manual 13
■Meaning of LED Flash Rates
Figure 4.3 Meaning of LED Flash Rates
5 Installation Procedure
◆Section Safety
DANGER Electrical Shock Hazard. Do not examine, connect, or disconnect wiring on an energized drive. Before
servicing, disconnect all power to the equipment and wait for the time specified on the warning label at a minimum. The internal
capacitor stays charged after the drive is de-energized. The charge indicator LED extinguishes when the DC bus voltage
decreases below 50 Vdc. When all indicators are OFF, measure for dangerous voltages to make sure that the drive is safe. If
you do work on the drive when it is energized, it will cause serious injury or death from electrical shock.
WARNING Electrical Shock Hazard. Do not operate the drive when covers are missing. Replace covers and shields
before you operate the drive. Use the drive only as specified by the instructions. Some figures in this section include drives
without covers or safety shields to more clearly show the inside of the drive. If covers or safety shields are missing from the
drive, it can cause serious injury or death.
WARNING Electrical Shock Hazard. Only let approved personnel install, wire, maintain, examine, replace parts, and
repair the drive. If personnel are not approved, it can cause serious injury or death.
WARNING Electrical Shock Hazard. Do not remove covers or touch circuit boards while the drive is energized. If you
touch the internal components of an energized drive, it can cause serious injury or death.
WARNING Electrical Shock Hazard. Do not use damaged wires, put too much force on the wiring, or cause damage to
the wire insulation. Damaged wires can cause serious injury or death.
WARNING Fire Hazard. Tighten all terminal screws to the correct tightening torque. Connections that are too loose or too
tight can cause incorrect operation and damage to the drive. Incorrect connections can also cause death or serious injury from
fire.
NOTICE 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.

5 Installation Procedure
14 YASKAWA SIEP C730600 0LA EtherCAT Technical Manual
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.
◆Settings for the DIP Switch S1
Use the DIP switch S1 on the option to select the communication protocol.
WARNING Electrical Shock Hazard. Make sure that the drive power supply was de-energized, then set DIP switch S1 .
Failure to obey will cause death or serious injury.
Use non-conductive tweezers or a tool with a tip width of approximately 0.5 mm (0.02 in) to set DIP switch S1.
Figure 5.1 shows the default settings for the DIP switch S1.
As the communication protocol is not selected, when the drive is energized during the default setting, it causes
oFA00 [Option Not Compatible with Port] or PSE [JOHB-SMP3 Protocol Set Error].
Figure 5.1 Default Settings for DIP Switch S1
When you use EtherCAT, set the DIP switch S1 as shown in Figure 5.2.
Figure 5.2 Settings for the DIP Switch S1
◆Procedures to Install and Wire Options on a Drive
Procedures to install and wire the option are different for different drive models.
Refer to Table 5.1 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
Drive Procedures to Install and Wire Options on a Drive Page
A1000 Procedure A 15
D1000 Procedure A 15
R1000 Procedure A 15
U1000 Procedure A 15
GA500 *1 -
GA700 Procedure B 16
GA800 Procedure B 16
CR700 Procedure B 16
*1 To install the option on GA500 drives, use the option mounting kit (JOHB-GA50) and manual.
1
2
3
4
O
N
S1

5 Installation Procedure
YASKAWA SIEP C730600 0LA EtherCAT Technical Manual 15
■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 - Option modular connector CN1B (Port 2) (RJ45)
K - Option modular connector CN1A (Port 1) (RJ45)
L - Drive grounding terminal (FE)
M - Connector CN5-A
N - Connector CN5-B (Not available for
communication option installation.)
O - Connector CN5-C (Not available for
communication option installation.)
Figure 5.3 Drive Components with Option
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.
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:
You can only install this option into the CN5-A connector on the drive control board.
1. 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. Refer to the drive manuals for more information.
2. Remove the keypad (D), front cover (C), and terminal cover (F).
3. Put the LED label (E) in the correct position on the drive front cover (C).
4. Install the option (B) into the CN5-A connector (M) on the drive and use the included screws (H) to put it in
place.
5. Use one of the remaining included screws (H) to connect one end of the ground wire (I) to the ground
terminal (L). Use the last remaining included screw (H) to connect the other end of the ground wire (I) to
the remaining ground terminal and installation hole on the option (B).
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:
The drive has only two ground terminal screw holes. When you connect three options, two options will share one ground
terminal.
6. Route the option wiring.
Procedures to wire the option are different for different drive models.

5 Installation Procedure
16 YASKAWA SIEP C730600 0LA EtherCAT Technical Manual
• 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 5.4-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 5.4-B.
Refer to the drive manuals for more information.
Note:
Isolate communication cables from main circuit wiring and other electrical and power 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 5.4 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.
7. Firmly connect the Ethernet communication cables to CN1B (Port 2) (J), and/or CN1A (Port 1) (K).
Isolate communication cables from main circuit wiring and other electrical and power lines. Make sure that
you firmly connect the cable end. Refer to Communication Cable Specifications on page 18 for more
information.
8. Reattach the front cover (C), terminal cover (F), and keypad (D).
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.
9. Set drive parameters in Related Drive Parameters on page 19 for correct option performance.
■Procedure B
This section shows the procedure to install and wire the option on a GA700, GA800, or CR700 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 0LA EtherCAT Technical Manual 17
A - Insertion point for CN5 connector
B - Option
C - Included screws
D - Drive front cover
E - Keypad connector
F - Keypad connector tab
G - Holder
H - LED label
I - Keypad
J - LED Status Ring board temporary placement
holes
K - Option modular connector CN1B (Port 2) (RJ45)
L - Option modular connector CN1A (Port 1) (RJ45)
M - LED Status Ring board
N - Connector CN5-A
O - Connector CN5-B (Not available for
communication option installation.)
P - Connector CN5-C (Not available for
communication option installation.)
Figure 5.5 Drive Components with Option
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.
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:
You can only install this option into the CN5-A connector on the drive control board.
1. Put the LED label (H) in the correct position on the drive front cover (D).
2. 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.
3. Remove the keypad (I), then move the keypad connector (E) to the holder (G) on the drive, then remove
the front cover.
4. Carefully remove the LED Status Ring board (M) and put it in the temporary placement holes (J) 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.

5 Installation Procedure
18 YASKAWA SIEP C730600 0LA EtherCAT Technical Manual
5. Install the option (B) into the CN5-A connector (N) on the drive and use the included screws (C) 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, GA800, and CR700 drives.
6. Firmly connect the Ethernet communication cables to CN1B (Port 2) (K), and/or CN1A (Port 1) (L).
Isolate communication cables from main circuit wiring and other electrical and power lines. Make sure that
you firmly connect the cable end. Refer to Communication Cable Specifications on page 18 for more
information.
Note:
Maximum transmission distance is 100 m (328 ft). Minimum wiring distance between stations is 0.2 m (7.9 in).
7. Install the LED status ring board (M), front cover (D), and the keypad to their initial positions, then install
the keypad (I).
Put the keypad connector tab (F) into the holder when you install the keypad connector to the holder.
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.
8. Set drive parameters in Related Drive Parameters on page 19 for correct option performance.
◆Option Card Mounting Kit for GA500
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 5.6 Option Card Mounting Kit (JOHB-GA50)
◆Communication Cable Specifications
Yaskawa recommends using EtherCAT dedicated Cat5e or better communication cables. The Yaskawa warranty
does not cover other cable types.

6 Related Drive Parameters
YASKAWA SIEP C730600 0LA EtherCAT Technical Manual 19
■Option Connection Diagram
Figure 5.7 Option Connection Diagram
*1 Connect the specified ground wire for installations on 1000-series and GA500 drives. The ground wire is not necessary for
installations on GA700, GA800, or CR700 drives.
◆ESI File
Use the ESI file to easily register the option to an EtherCAT network. You can get the ESI file from these sources:
•Europe: http://www.yaskawa.eu.com
•Japan: http://www.e-mechatronics.com
•America: http://www.yaskawa.com
•Other areas: Contact Yaskawa or your nearest sales representative.
6 Related Drive Parameters
These parameters set the drive for operation with the option. Make sure that the parameter settings in this table are
correct before you start network communications.
Note:
•Hex.: MEMOBUS addresses that you can use to change parameters over network communication are represented in hexadecimal
numbers.
•Expert: The parameter that is available in Expert Mode only. When A1-01 = 3 [Access Level Selection = Expert Level], you can use the
drive keypad to access and set Expert Mode parameters.
No.
(Hex.) Name Description Default (Range)
b1-01
(0180)
Frequency Reference
Selection 1
Selects the input method for frequency reference.
0 : Keypad
1 : Analog Input
2 : Memobus/Modbus Communications
3 : Option PCB
4 : Pulse Train Input
Note:
•Set b1-01 = 3 to use the master device to control the frequency reference of the drive.
•The default setting is different for different drives. Refer to the instruction manual of your
specific drive for more information.
1
(0 - 4)
b1-02
(0181)
Run Command Selection 1 Sets the input method for the Run command.
0 : Keypad
1 : Digital Input
2 : Memobus/Modbus Communications
3 : Option PCB
7 : AUTO Command + Term Run
8 : AUTO Command + Serial Run
9 : AUTO Command + Option Run
Note:
•Set b1-02 = 3 or 9 to start and stop the drive with the master device using serial
communications.
•The setting range is different for different drives. Refer to the instruction manual of your
specific drive for more information.
1
(0 - 9)

6 Related Drive Parameters
20 YASKAWA SIEP C730600 0LA EtherCAT Technical Manual
No.
(Hex.) Name Description Default (Range)
E2-04
(0311)
Motor Pole Count Sets the number of motor poles.
Note:
•The setting range is different for different product series.
–1000-Series: 2 - 48
–GA500, GA700, GA800: 2 - 120
•Necessary to set up when the Drive Profile DSP402 objects are used. Refer to o1-03
[Frequency Display Unit Selection].
•Parameter is available when A1-02 = 0, 1, 2, 3, 4 [Control Method Selection = V/f Control,
V/f Control with Encoder, Open Loop Vector, Closed Loop Vector, Advanced Open Loop
Vector].
4
(2 - 120)
E4-04
(0324)
Motor 2 Motor Poles Sets the number of poles for motor 2.
Note:
•The setting range is different for different product series.
–1000-Series: 2 - 48
–GA500, GA700, GA800: 2 - 120
•Necessary to set up when the Drive Profile DSP402 objects are used. Refer to o1-03
[Frequency Display Unit Selection].
•Parameter is available in A1-02 = 0, 1, 2, 3 [Control Method Selection = V/f Control, V/f
Control with Encoder(PG Open Loop Vector, PG Vector Control(CLV)].
4
(2 - 120)
E5-04
(032C)
PM Motor Pole Count Sets the number of PM motor poles.
Note:
•The setting range is different for different product series.
–1000-Series: 2 - 48
–GA500, GA700, GA800: 2 - 120
•Necessary to set up when the Drive Profile DSP402 objects are used. Refer to o1-03
[Frequency Display Unit Selection].
•Parameter is available in A1-02 = 5, 6, 7 [Control Method Selection = Open Loop Vector,
PM Advanced Open Loop Vector, for PM PM Vector Control(CLV/ PM)].
Determined by E5-01
(2 - 120)
E9-08
(11EB)
PM Motor Pole Count Sets the number of motor poles.
Note:
•The setting range is different for different product series.
–GA500, GA700, GA800: 2 - 120
•Necessary to set up when the Drive Profile DSP402 objects are used. Refer to o1-03
[Frequency Display Unit Selection].
•Parameter is available in A1-02 = 8 [Control Method Selection = EZ Vector Control
(EZOLV)].
4
(2 - 120)
F6-01
(03A2)
Communication Error
Selection
Selects drive response when the drive detects a bUS [Option Communication Error] error during
communications with the option.
0 : Ramp to Stop
1 : Coast to Stop
2 : Fast Stop (Use C1-09)
3 : Alarm Only
4 : Alarm (Run at d1-04)
5 : Alarm - Ramp Stop
Note:
•When you set this parameter to 3or 4, the drive will continue operation after it detects a
fault. Separately prepare safety protection equipment and systems, for example fast-stop
switches.
•Refer to the drive manual to know if settings 4and 5are available.
•The setting range for 1000-Series drives is different for different software versions. Refer to
the Peripheral Devices & Options section of the drive instruction manual for more
information.
•Changes to this parameter take effect immediately. It is not necessary to cycle power on the
drive.
1
(0 - 5)
F6-02
(03A3)
Comm External Fault (EF0)
Detect
Selects the conditions at which EF0 [Option Card External Fault] is detected.
0 : Always Detected
1 : Detected during RUN Only
0
(0, 1)
F6-03
(03A4)
Comm External Fault (EF0)
Select
Selects the operation of the drive when EF0 [Option Card External Fault] is detected.
0 : Ramp to Stop
1 : Coast to Stop
2 : Fast Stop (Use C1-09)
3 : Alarm Only
Note:
When you set this parameter to 3, the drive will continue operation after it detects a fault.
Separately prepare safety protection equipment and systems, for example fast stop switches.
1
(0 - 3)
F6-06
(03A7)
Torque Reference/Limit by
Comm
Sets the function that enables and disables the torque reference and torque limit received from the
communication option.
0 : Disabled
1 : Enabled
Note:
•Control method availability of this parameter is different for different product series.
–1000-Series
Parameter is available in A1-02 = 3, 6, 7 [Control Method Selection = Closed Loop Vector,
PM Advanced Open Loop Vector, PM Closed Loop Vector].
When you enable this parameter, d5-01 [Torque Control Selection] sets the drive to read
the value as the Torque Limit value or the Torque Reference value.
d5-01 = 0 [Speed Control]: Torque Limit
d5-01 = 1 [Torque Control]: Torque Reference
0
(0, 1)