YASKAWA V1000 SI-S3/V User manual

MANUAL NO. SIEP C730600 24A
Technical Manual
CANopen
Type SI-S3/V
YASKAWA AC Drive-V1000 Option
To properly use the product, read this manual thoroughly and retain
for easy reference, inspection, and maintenance. Ensure the end user
receives this manual.

YASKAWA ELECTRIC SIEP C730600 24A V1000 Option CANopen Technical Manual 3
Table of Contents
1 Preface and Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 Product Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3 Receiving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
4 CANopen Option Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
5 Installation Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
6 CANopen Option Drive Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
7 Communication Objects Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
8 Object Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
9 Fault Diagnosis and Possible Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
10 MEMOBUS/Modbus Data Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
11 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Copyright © 2007 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.

4YASKAWA ELECTRIC SIEP C730600 24A V1000 Option CANopen 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, EXPRESS OR IMPLIED, IS OFFERED. Yaskawa assumes no liability for any personal injury,
property damage, losses, or claims arising from misapplication of its products.

1 Preface and Safety
YASKAWA ELECTRIC SIEP C730600 24A V1000 Option CANopen Technical Manual 5
◆Applicable Documentation
The following manuals are available for SI-S3/V CANopen Option unit:
For the drive setup, refer to one of the documentation listed below.
◆Terms
Note: Indicates a supplement or precaution that does not cause drive damage.
◆Registered Trademarks
• CANopen is a registered trademark of the CAN in Automation (CiA).
• Other company names and product names listed in this manual are registered trademarks of those companies.
◆Supplemental Safety Information
Read and understand this manual before installing, operating, or servicing this option unit. The option unit 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.
Option Unit
V1000 Option CANopen Installation Manual
Manual No. : TOBP C730600 24
Read this manual first.
The installation manual is packaged with the CANopen Option and contains a basic overview of wiring, settings, functions, and
fault diagnoses.
V1000 Option CANopen Technical Manual (this book)
Manual No. : SIEP C730600 24
The technical manual contains detailed information and command registers.
To obtain the technical manual access these sites:
Europe: http://www.yaskawa.eu.com
Japan: https://www.e-mechatronics.com
Other areas: contact a Yaskawa representative.
Yaskawa Drive
V1000 Series AC Drive Technical Manual
Manual No. : SIEP C710606 16
This manual describes installation, wiring, operation procedures, functions, troubleshooting, maintenance, and inspections to perform before operation.
To obtain instruction manuals for Yaskawa products access these sites:
Europe: http//www.yaskawa.eu.com
Japan: https//www.e-mechatronics.com
Other areas: contact a Yaskawa representative
V1000 Series AC Drive Quick Start Guide
This guide is packaged together with the product. It contains basic information required to install and wire the drive. This guide provides basic
programming and simple set-up and adjustment.
Drive: Yaskawa AC Drive -V1000 Series
CANopen Option: Yaskawa AC Drive -SI-S3/V CANopen option unit for the Yaskawa V1000 drive
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.
STOP
(Hz)
(Hz)
(A)
(V)










V1000
๟ᵄᢙᜰ઎
ᱜォㅒォㆬᛯ
಴ജ๟ᵄᢙ
಴ജ㔚ᵹ
಴ജ㔚࿶
ࡕ࠾࠲
ࡌ࡝ࡈࠔࠗ
࠮࠶࠻ࠕ࠶ࡊ
ࡄ࡜ࡔ࡯࠲⸳ቯ
ࠝ࡯࠻࠴ࡘ࡯࠾ࡦࠣ
ᝪ߃ઃߌޔㆇォߩ೨ߦߪᔅߕขᛒ⺑᣿ᦠࠍ⺒߻ߎߣޕ
ㅢ㔚߅ࠃ߮㔚Ḯㆤᢿᓟ
5
ಽએౝߪࡈࡠࡦ࠻ࠞࡃ࡯ࠍ
ᄖߐߥ޿ߎߣޕ
400V
⚖ࠗࡦࡃ࡯࠲ߩ႐วߪޔ㔚Ḯߩᕈὐ߇ធ࿾
ߐࠇߡ޿ࠆߎߣࠍ⏕⹺ߔࠆߎߣޕ㧔ޓޓኻᔕ㧕
ߌ߇㧚ᗵ㔚ߩ߅ߘࠇ߇޽ࠅ߹ߔޕ
ෂޓ㒾

1 Preface and Safety
6 YASKAWA ELECTRIC SIEP C730600 24A V1000 Option CANopen Technical Manual
■General Safety
■Option Unit Label Warnings
Warning information is displayed on the option unit as shown in the figure below. Follow all warnings and safety instructions when using the
product.
When using the drive in an area that may require displaying warning information in Japanese or Chinese, a sticker is provided with the CANopen
Option. This sticker can be placed over the English and French warnings on the front of the CANopen Option.
■Warning Contents
General Precautions
• The diagrams in this section may include option units and drives without covers or safety shields to illustrate details. Be sure to reinstall covers or
shields before operating any devices. The option board 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 unit.
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.
V1000
Warning
information
AVERTISSEMENT
Lire le manuel avant l'installation.
Attendre 5 minutes apres la coupure de l'alimentation,
pour permettre la decharge des condensateurs.
Pour repondre aux exigences , s assurer que le
neutre soit relie a la terre, pour la serie 400V.
WARNING
Read manual before installing.
Wait 5 minutes for capacitor discharge after
disconnecting power supply.
To conform to ޓrequirements, make sure
to ground the supply neutral for 400V class.
Risk of electric shock.
Risque de decharge
electrique.
AVERTISSEMENT
Lire le manuel avant l'installation.
Attendre 5 minutes apres la coupure de l'alimentation,
pour permettre la decharge des condensateurs.
Pour repondre aux exigences , s assurer que le
neutre soit relie a la terre, pour la serie 400V.
WARNING
Read manual before installing.
Wait 5 minutes for capacitor discharge after
disconnecting power supply.
To conform to ޓrequirements, make sure
to ground the supply neutral for 400V class.
Risk of electric shock.
Risque de decharge
electrique.

2 Product Overview
YASKAWA ELECTRIC SIEP C730600 24A V1000 Option CANopen Technical Manual 7
2 Product Overview
◆About This Product
The SI-S3/V is an option unit designed to connect the V1000 drive to a CANopen network. Using this option unit a CANopen master can
• Operate the drive
• Monitor the drive operation status
• Read or modify drive parameters
The SI-S3/V supports the following communication profiles
• DS 301 Ver. 4.02
• DSP 402 Ver. 1.1 Velocity Mode
◆Applicable Models
The CANopen Option can be used with the drive models in Table 1 .
Table 1 Applicable Models
<1> See “PRG” on the drive nameplate for the software version number.
Drive Software Version <1>
CIMR-VABA5010, 1010 or later
CIMR-VAFA5010, 1010 or later
CIMR-VAJA5010, 1010 or later

8YASKAWA ELECTRIC SIEP C730600 24A V1000 Option CANopen Technical Manual
3 Receiving
3 Receiving
Please perform the following tasks after receiving the CANopen Option:
• Inspect the CANopen Option for damage.
If the CANopen Option appears damaged upon receipt, contact the shipper immediately.
• Verify receipt of the correct model by checking the information on the PCB (see Figure 1).
• If you have received the wrong model or the CANopen Option does not function properly, contact your supplier.
◆Contents and Packaging
Table 2 Contents of Package
◆Tool Requirements
A Phillips screwdriver (for screw size <1> #1 or #2, U.S. standard size) is required to install the CANopen Option.
<1> Screw sizes vary by drive capacity. Select a screwdriver that matches the drive capacity.
Note: Tools required to prepare CANopen cables for wiring are not listed in this manual.
Description: Option Unit Ground Cables Warning Labels Installation Manual
_
Quantity: 1411
MANUAL

4 CANopen Option Components
YASKAWA ELECTRIC SIEP C730600 24A V1000 Option CANopen Technical Manual 9
4 CANopen Option Components
◆CANopen Option
Figure 2
Figure 1 Option Unit
<1> Cables are not connected to the CANopen Option and are packaged separately in the box.
◆Dimensions
The installed CANopen Option adds 27 mm (1.06 in.) to the total depth of the drive.
Figure 3
Figure 2 Dimensions
Figure 1
A – LED (RUN: green) G – Function Earth cable connection (FE)
B – LED (ERR: red) H – Mounting clip
C – Option cover I – Cable <1>
D – CANopen PCB J – Through-hole for cable
E – Attachment screw hole for option
cover
K – Communication cable connector
(9 pin D-SUB)
F – PCB part number L – Option board connector
A
B
C
CANopen with cover attached
L
H
E
D
H
G
I
J
CANopen with cover removed
underside
K
F
FE
27 mm (1.06 in.)

4 CANopen Option Components
10 YASKAWA ELECTRIC SIEP C730600 24A V1000 Option CANopen Technical Manual
◆Communication connector
The SI-S3/V is connected to the network using a 9 pin D-SUB connector. The connector location is illustrated in Figure 3, the pin assignment is
explained in Table 3.
Figure 4
Figure 3 Communication connector location
Table 3 Communication connector (9 pin D-SUB)
◆CANopen Option LED Display
The SI-S3/V has two LEDs that indicate the Option unit or communication status. The indications are conform with the DS303, Part 3: Indicator
Specification.
■Checking LED Operation
Table 4 LED Display
Figure 4 explains the indicator flash rates.
Figure 4 LED Flash Rates and Meaning
◆Setting Node Address
Set the node address in the drive parameter F6-35. The node address can be set between 1 and 127 but has to be unique in the network. If the Node
address is set to 0, communications will not be possible and the ERR LED will flash.
CANopen Connector Pin Signal Description
1––
2 CAN_L CAN_L bus line (dominant low)
3 CAN_GND CAN Ground
4––
5 CAN_SHLD CAN shield
6––
7 CAN_H CAN_H bus line (dominant high)
8––
9––
– CAN_SHLD CAN shield
LED Color Display Meaning
RUN Green
On Operational State
Blinking Pre-operational State
Single flash Stopped
ERR Red
On Bus off
Blinking Bus initialization failed (parameter setting error)
Single flash Fault has occurred
Receiving CAN error frame (too many error frames)
Double flash Guard / Heartbeat event has occurred
Off Online
1
5
6
9
Bottom View
7
8
2
3
4
Blinking
ON
1s 2s
ON
ON
ON
ON
ERR
RUN
ERR
RUN
Single flash
ERR
Double flash