YASKAWA VS-616G5 Series User manual

VS-616G5 SI-N Option Card for DeviceNet Instructions Inst_sin.doc
Printed out; 11 May, 1998
NAO.Taniguchi
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YASKAWA
Energy In Motion
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VS-616G5 SI-N Option Card
for DeviceNet
Instructions
TENTATIVE

VS-616G5 SI-N Option Card for DeviceNet Instructions Inst_sin.doc
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1 Introduction
This instructions is intended to provide information necessary to start-up and use the VS-
616G5 SI-N DeviceNet Option Card.
1.1 Background
The option card adopted to 2CN option connector on the VS-616G5 control card. The
option board supports 4 different Input Assemblies and 4 different Output Assemblies,
two of the input and two off the output are YASKAWA specific. All DeviceNet objects
required to meet the AC Drive type are supported. The VS-616G5 communicates in
DeviceNet as a Group 2 only server.
Supported 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.
2 Board Installation and set-up
2.1 Option board overview
DeviceNet
BUS Connection
Address and Baud Rate
Indication LED’s

VS-616G5 SI-N Option Card for DeviceNet Instructions Inst_sin.doc
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2.2 DeviceNet BUS connectors and cabling
Cable for DeviceNet networks can be found in the product catalogues from ODVA.
Pin No Name Function
1 black V-Power supply from the bus.
2 blue Can Lo CAN signals
3 -Shield Shield from bus cable
4 white Can Hi CAN signals
5 red V+ Power supply from the bus.
2.3 Termination resistors.
Terminating resistors must be mounted on the first and last node in a DeviceNet network.
The value of this resistor is specified by ODVA to 121 Ohm. Terminating resistors can be
found in the product catalogue from ODVA.
2.4 Address and Baudrate configuration
There is one 8-bit DIP-Switch for configuration on the DeviceNet option card.
ON
OFF
1 2 3 4 5 6 7 8
Baud Rate
1 2
OFF OFF 125kbps
OFF ON 250kbps
ON OFF 500kbps
ON ON Not Allowed
MAC ID
3 4 5 6 7 8
OFF OFF OFF OFF OFF OFF 0
OFF OFF OFFOFF OFF ON 1
OFF OFF OFF OFF ON OFF 2
OFF OFF OFF OFF ON ON 3
ON ON ON ON ON OFF 62
ON ON ON ON ON ON 63
If setting the Not Allowed baud rate configuration, “BUS”is indicated on the digital operator.

VS-616G5 SI-N Option Card for DeviceNet Instructions Inst_sin.doc
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2.5 Board LED indications
The board is equipped with four indications LED’s for module and DeviceNet status
indication. The LED’s are located on the board according to the figure below.
2.5.1 DeviceNet indications
The table below describes the function of DeviceNet specific LED’s
LED Colour Indication / Function
Off No power.
Green Device Operational.
DeviceNet Module
Status Flashing Green Device in standby.
(MS) Flashing
Red Minor fault.
Red Unrecoverable Fault
Off Not powered/Not on line
Flashing
Green On-line, Not connected
DeviceNet Net Work
Status Green Link OK, On-line, connected
(NS) Flashing
Red Connection Time-out
Red Critical link failure
WD, Module status LED
PWR, Power OK
DeviceNet Module Status
DeviceNet Net Work Status

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2.5.2 Option board Module status indications
The following LED’s indicates the module (option board) status.
LED Colour Indication/Function
PWR Green Lit when the +5V power to the electronics is OK.
Turned off if the +5V is below +4.5V (min)
WD bicolour
Red/Green Indicates the module status.
Turned off: Option board CPU not running.
Lit green: Initialisation.
Flashing green: Normal operation.
Lit red: Internal option board error.
Flashing red: G5 error detected.
Other indication: Unspecified, option board error
Note
The LED will flash red once (100 ms) after initialisation.
This is used during our internal testing to verify that
the red LED is working,

VS-616G5 SI-N Option Card for DeviceNet Instructions Inst_sin.doc
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3 DeviceNet
The SI-N follows the specification for the AC/DC-profile from ODVA .
∗ Identity Object (Class 01 hex)
∗ Message Router Object (Class 02 hex)
∗ DeviceNet Object (Class 03 hex)
∗ Assembly Object (Class 04 hex)
∗ Connection Object (Class 05 hex)
∗ Motor Data Object (Class 28 hex)
∗ Control Supervisor Object (Class 29 hex)
∗ AC/DC Drive Object (Class 2A hex)

VS-616G5 SI-N Option Card for DeviceNet Instructions Inst_sin.doc
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Identity Object (Class 01hex)
Services supported
Service Code No. (hex) Service Name
0E Get Attribute Single
05 Reset
Attribute Supported
Instance ID Attribute Description Get Set Size
01Object Software Revision X-UINT
1Vendor ID X-UINT
2Device Type X-UINT
3Product Code X-UINT
14Revision X-Array of 2
SINT
5Status X-WORD
6Serial Number X-UDINT
7Product Name X-SHORT
STRING
8State X-USINT
Message Router Object (Class 02hex)
Services supported
Service Code No. (hex) Service Name
0E Get Attribute Single
Attribute Supported
Instance ID Attribute Description Get Set Size
01Object Software Revision X-UINT
DeviceNet Object (Class 03hex)
Services supported
Service Code No. (hex) Service Name
0E Get Attribute Single
05 Reset
Attribute Supported
Instance ID Attribute Description Get Set Size
01Object Software Revision X-UINT
1MAC ID X-USINT
2Baud Rate X-USINT
5Allocation Information X-WORD
The MAC ID and Baud Rate are set by DIP-switch on the SI-N card.

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Supported Objects (Cont.)
Assembly Object (Class 04hex)
Services supported
Service Code No. (hex) Service Name
0E Get Attribute Single
10 Set Attribute Single
Attribute Supported
Instance ID Attribute Description Get Set Size Default Value
01Object Software Revision X-Word 1
20 3Data XXArray 4 bytes 00 00 00 00
21 3Data XXArray 4 bytes 00 00 00 00
70 3Data X-Array 4 bytes 00 00 00 00
71 3Data X-Array 4 bytes 00 00 00 00
100 3Data XXArray 5 bytes 00 00 00 00 00
101 3Data XXArray 8 bytes 00 00 00 00 00 00 00 00
150 3Data X-Array 5 bytes 00 00 00 00 00
151 3Data X-Array 8 bytes 00 00 00 00 00 00 00 00
See the I/O Assembly Description

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DeviceNet Connection Object (Class 05hex)
Services supported
Service Code No. (hex) Service Name
0EGet Attribute Single
10 Set Attribute Single
Attribute Supported
Instance
ID Attribute Description Get Set Size Default Value
01Object Software Revision X-Word 1
1State X-USINT 3
2Instance type X-USINT 0
3Transport class trigger X-Byte 83hex
4Produced connection ID X-UINT Depends on master
ID
5Consumed connection ID X-UINT Depends on node ID
6Initial comm characteristics X-Byte 21hex
17Produced connection size X-UINT 32
(Explicit
Message) 8Consumed connection size X-UINT 32
9Expected packet rate XXUINT 2500
12 Watchdog time-out action X-USINT 1
13 Produced connection path length X-UINT 0
14 Produced connection path X-Array of
USINT 0
15 Consumed connection path length X-UINT 0
16 Consumed connection path X-Array of
USINT 0
1State X-USINT 1
2Instance type X-USINT 1
3Transport class trigger X-Byte 82hex
4Produced connection ID X-UINT Depends on master
ID
5Consumed connection ID X-UINT Depends on node ID
6Initial comm characteristics X-Byte 1
27Produced connection size X-UINT 4
(Remote I/O) 8Consumed connection size X-UINT 4
9Expected packet rate XXUINT 0
12 Watchdog time-out action XXUSINT 0
13 Produced connection path length X-UINT 3
14 Produced connection path XXArray of
USINT 62 34 36
15 Consumed connection path length X-UINT 3
16 Consumed connection path XXArray of
USINT 62 31 34
Produced connection path instance 2 can be set to following values:
62 34 36 (Instance 70)
62 34 37 (Instance 71)
62 39 36 (Instance 150)
62 39 37 (Instance 151)
Consumed connection path instance 2 can be set to following values:
62 31 34 (Instance 20)
62 31 35 (Instance 21)
62 36 34 (Instance 100)
62 36 35 (Instance 101)

VS-616G5 SI-N Option Card for DeviceNet Instructions Inst_sin.doc
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Motor Data Object (Class 28hex)
Services supported
Service Code No. (hex) Service Name
0E Get Attribute Single
10 Set Attribute Single
Attribute Supported
Instance ID Attribute Description Get Set Size Default Value
01Object Software Revision X-UINT 1
3Motor type X-BYTE 7 Fixed
(Squirrel Cage Induction Motor)
16Rated Current [0.1A/2CS]XXINT Parameter E2-01
7Rated Voltage [1V/2VS]XXINT Parameter E1-13 *1
CS; Current Scale (AC/DC Drive Object Attr. 23)
VS; Voltage Scale (AC/DC Drive Object Attr. 27)
*1; When E1-13 setting is “0”, parameter E1-05 is used for this attribute instead of E1-13.

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Control Supervisor Object (Class 29hex)
Services supported
Service Code No. (hex) Service Name
0E Get Attribute Single
10 Set Attribute Single
05 RESET
Attribute Supported
Instance ID Attribute Name Get Set Type Description
01Object Software Revision X-UINT -
3Run 1 XXBOOL 1= Forward Run Command
14Run 2 XXBOOL 1= Reverse Run Command
5Net Control XXBOOL 1= Operation Command from DeviceNet
6State X-BYTE 3= Inverter Ready
7= Inverter Faulted
7Running 1 X-BOOL 1= Forward Running
8Running 2 X-BOOL 1= Reverse Running
9Ready X-BOOL 1= Inverter Ready
10 Faulted X-BOOL 1= Inverter Fault
11 Warning X-BOOL 1= Inverter Minor Fault
12 Fault Reset XXBOOL 1= Fault Reset Command
13 Fault Code X-UINT Current Fault
See the Fault code table below.
15 Control from Net X-BOOL 1= DeviceNet Operation Command is
valid
16 DeviceNet Fault Mode X-BYTE Action on loss of DeviceNet
2(Fixed); depends on parameter F9-06
17 Force Fault XXBOOL 1= External Fault Command (EF0)
18 Force Status X-BOOL 1= External Fault Status (EF0)

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Table for Control Supervisor Object fault code:
DeviceNet Fault Code
[hex] Description
0000 None
5120 DC Bus Fuse Open (PUF)
3220 DC Bus Under volt (UV1)
5110 CTL PS Under volt (UV2)
3222 MC Answer back (UV3)
2130 Short Circuit (SC)
2120 Ground Fault (GF)
2300 Over Current (OC)
3210 DC Bus Over volt (OV)
4200 Heatsnk Over temp (OH)
4210 Heatsnk Max Temp (OH1)
2220 Motor Overload (OL1)
2200 Inv Overload (OL2)
2221 Over torque Det 1 (OL3)
2222 Over torque Det 2 (OL4)
7110 Dyn Brk Transistor (RR)
7112 Dyn Brk Resistor (RH)
9000 External Fault 0 (EF0)
9000 External Fault 3 (EF3)
9000 External Fault 4 (EF4)
9000 External Fault 5 (EF5)
9000 External Fault 6 (EF6)
9000 External Fault 7 (EF7)
9000 External Fault 8 (EF8)
4140 Heat sink Fan (FAN)
7310 Over speed Det (OS)
7310 Speed Deviation (DEV)
7310 PG Open (PGO)
3130 Input Phase Loss (PF)
3130 Output Phase Loss (LF)
5210 DCCT fault
5300 Operator Disconnected (OPE)
6320 EEPROM R/W Error (ERR)
0000 None
7500 Memo bus Com Fault (CE)
7500 SI-B Com Error (BUS)
7500 SI-F/G Com Error (E-15)
7500 SI-F/G CPU Down (E-10)
8321 Out of Control (CF)
8313 Zero Servo Fault (SVE)

VS-616G5 SI-N Option Card for DeviceNet Instructions Inst_sin.doc
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AC/DC Drive Object (Class 2Ahex)
Services supported
Service Code No. (hex) Service Name
0E Get Attribute Single
10 Set Attribute Single
Attribute Supported
Instance ID Attribute Name Get Set Type Description
01Object Software Revision X-Word
3At Reference X-BOOL 1= Speed Agree
14Net Reference XXBOOL 1= Speed Reference from DeviceNet
6Drive Mode XXUSINT 0= Open Loop Vector (A1-02= 2)
1= V/f (A1-02= 0)
2= V/f with PG (A1-02= 1)
3= Closed Loop Vector (A1-02= 3)
7Speed Actual [RPM/2SS]X-INT Output Frequency
(Speed Feedback when FVC mode)
8Speed Reference [RPM/2SS]XXBOOL Frequency Reference
9Current actual [0.1A/2CS]X-INTInverter Output Current
15 Power Actual [W/2PS]X-INT Inverter Output Power
16 Input Voltage [V/2VS]X-INT Inverter Input Voltage [E1-01]
17 Output Voltage [V/2VS]X-INT Inverter Output Voltage
18 Accel Time [ms/2TS]XXUNIT Acceleration Time [C1-01]
19 Decel Time [ms/2TS]XXUINT Deceleration Time [C1-02]
20 Low Speed Limit [RPM/2SS]XXUINT [D2-02]
21 High Speed Limit [RPM/2SS]XXUINT [D2-01]
22 Speed scale XXSINT Data scale for Speed data (-15 to 15)
23 Current scale XXSINT Data scale for Current data (-15 to 15)
26 Power scale XXSINT Data scale for Power data (-15 to 15)
27 Voltage scale XXSINT Data scale for Voltage data-15 to 15
28 Time scale XXSINT Data scale for Time data (-15 to 15)
29 Reference from the Net X-BOOL 1= DeviceNet Frequency Reference is valid
SS; Speed Scale (AC/DC Drive Object Attr. 22)
CS; Current Scale (AC/DC Drive Object Attr. 23)
PS; Power Scale (AC/DC Drive Object Attr. 26)
VS; Voltage Scale (AC/DC Drive Object Attr. 27)
TS; Time Scale (AC/DC Drive Object Attr. 28)

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I/O Assembly Description (Inputs)
DeviceNet Basic Speed Control
Input Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Instance 0-----Fault
Reset -Run Fwd
20 1-
2Speed Reference (Low Byte)
3Speed Reference (High Byte) [RPM/2SS]
SS; Speed Scale (AC/DC Drive Object Attr. 22)
DeviceNet Extended Speed Control
Input Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Instance 0-Net
Ref Net Ctrl --Fault Reset Run Rev Run Fwd
21 1-
2Speed Reference (Low Byte)
3Speed Reference (High Byte) [RPM/2SS]
SS; Speed Scale (AC/DC Drive Object Attr. 22)
Data Name Description
Byte 0 -bit 0 Run Fwd 1= Forward Run command
Byte 0 -Bit 2 Fault Reset 1= Fault Reset
Byte 2,3 Speed Reference Speed Reference for Inverter [RPM/2SS]
Data Name Description
Byte 0 -bit 0 Run Fwd 1= Forward Run command
Byte 0 -bit 1 Run Rev 1= Reverse Run command
Byte 0 -bit 2 Fault Reset 1= Fault Reset
Byte 0 -bit 5 Net Ctrl 1= Operation command from DeviceNet
Byte 0 -bit 6 Net Ref 1= Frequency Reference from DeviceNet
Byte 2,3 Speed Reference Speed Reference for Inverter [RPM/2SS]

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G5 Memobus Message (Vendor-Specific YASKAWA Assembly)
Input Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Instance 0Function Code
1Resister Number (High Byte)
100 2Resister Number (Low Byte)
3Resister Data (High Byte)
4Resister Data (Low Byte)
G5 Standard Control (Vendor Specific YASKAWA Assembly)
Input Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Instance 0Terminal
8Terminal 7Terminal 6Terminal 5Terminal 4Terminal 3Run Rev Run Fwd
101 1Terminal
26 Terminal 25 Terminal 9--- Fault Rest External Fault
2Speed Reference (Low Byte)
3Speed Reference (High Byte) [RPM]
4Torque Reference (Low Byte)
5Torque Reference (High Byte) [0.1%]
6Torque Compensation (Low Byte)
7Torque Compensation (High Byte) [0.1%]
Data Name Description
Byte 0 Function Code 03hex= Read command, 10hex = Write command
Byte 1,2 Register Number Register Number (Address)
Byte 3,4 Register Data Writing-in data
Data Name Description
Byte 0 -bit 0 Run Fwd 1= Forward Run command
Byte 0 -bit 1 Run Rev 1= Reverse Run command
Byte 0 -bit 2 Terminal 3 1= Terminal 3 function ON (depends on H1-01)
Byte 0 -bit 3 Terminal 4 1= Terminal 4 function ON (depends on H1-02)
Byte 0 -bit 4 Terminal 5 1= Terminal 5 function ON (depends on H1-03)
Byte 0 –bit 5 Terminal 6 1= Terminal 6 function ON (depends on H1-04)
Byte 0 –bit 6 Terminal 7 1= Terminal 7 function ON (depends on H1-05)
Byte 0 –bit 7 Terminal 8 1= Terminal 8 function ON (depends on H1-06)
Byte 1 –bit 0 External Fault 1= Eternal Fault command (EF0)
Byte 1 –bit 1 Fault Reset 1= Fault Reset
Byte 1 –bit 5 Terminal 9 1= Terminal 9-10 ON (vaid at H2-01= Fhex)
Byte 1 –bit 6 Terminal 25 1= Terminal 25 ON (vaid at H2-02= Fhex)
Byte 1 –bit 7 Terminal 26 1= Terminal 26 ON (vaid at H2-03= Fhex)
Byte 2,3 Speed Reference Speed Reference [RPM fixed]
Byte 4,5 Torque Reference Torque Reference [0.1%]
When Flux Vector Control mode is selected, this
data works as follows;
In case of Speed Control (D5-01=0);
Torque Limit Value
In case of Torque Control (D5-01=1);
Torque Reference Value
Byte 6,7 Torque Compensation Torque Compensation [0.1%]
Valid at only Flux Vector Control Mode

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I/O Assembly Description (Outputs)
DeviceNet Basic Speed Control
Output Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Instance 0-----Running
1-Faulted
70 1-
2Speed Actual (Low Byte)
3Speed Actual (High Byte) [RPM/2SS]
SS; Speed Scale (AC/DC Drive Object Attr. 22)
DeviceNet Extended Speed Control
Output Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Instance 0At Speed Ref from
Net Ctrl from Net Ready Running 2
(REV) Running 1 (FWD) Warning Faulted
71 1-
2Speed Actual(Low Byte)
3Speed Actual (High Byte) [RPM/2SS]
SS; Speed Scale (AC/DC Drive Object Attr. 22)
Data Name Description
Byte 0 -bit 0 Faulted 1= Inverter Fault
Byte 0 -Bit 2 Running 1 1= Inverter Forward Running
Byte 2,3 Speed Actual Output Frequency [RPM/2SS]
Data Name Description
Byte 0 -bit 0 Faulted 1= Inverter Faulted
Byte 0 -bit 1 Warning 1= Minor Fault
Byte 0 -bit 2 Running 1 1= Forward Running
Byte 0 -bit 3 Running 2 1= Reverse Running
Byte 0 -bit 4 Ready 1= Inverter Ready
Byte 0 -bit 5 Control from Net 1= Operation command from DeviceNet
Byte 0 -bit 6 Reference from Net 1= Frequency Reference from DeviceNet
Byte 0 -bit 7 At Speed 1= Speed Agree
Byte 2,3 Speed Actual Output Frequency [RPM/2SS]

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G5 Memobus Message (Vendor Specific YASKAWA Assembly)
Output Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Instance 0Function Code
150 1Resister Number (High Byte)
2Resister Number (Low Byte)
3Resister Data (High Byte)
4Resister Data (Low Byte)
G5 Standard Control (Vendor Specific YASKAWA Assembly)
Output Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Instance 0FAULTALARM READY Speed
Agree Reset REV Running ZSP Running
151 1ZSV
-Terminal 26 Terminal 25 Terminal 9Local/ Remote UV OPE
2Output Frequency (Low Byte)
3Output Frequency (High Byte) [RPM]
4Torque Reference (Low Byte)
5Torque Reference (High Byte) [0.1%]
6Output Current (Low Byte)
7Output Current (High Byte) [0.01A] *1
*1; When Inverter capacity is 11kW or bigger, [0.1A] is used for the unit of Output Current.
Data Name Description
Byte 0 Function Code Response code
Byte 1,2 Register Number Register Number (Address)
Byte 3,4 Register Data Read-out data, Error Code
Data Name Description
Byte 0 -bit 0 Running 1= Running
Byte 0 -bit 1 ZSP 1= Zero Speed
Byte 0 -bit 2 REV Running 1= Reverse Running
Byte 0 -bit 3 Reset 1= Reset Command Receiving
Byte 0 -bit 4 Speed Agree 1= Speed Agree
Byte 0 -bit 5 READY 1= Inverter Ready
Byte 0 -bit 6 ALARM 1= Minor Fault
Byte 0 -bit 7 FAULT 1= inverter Fault
Byte 1 -bit 0 OPE 1= OPE (parameter) error
Byte 1 -bit 1 UV 1= Inverter had Under Voltage
Byte 1 -bit 2 Local/Remote 1= Remote Operation
Byte 1 -bit 3 Terminal 9 1= Terminal 9-10 ON
Byte 1 -bit 4 Terminal 25 1= Terminal 25 ON
Byte 1 -bit 5 Terminal 26 1= Terminal 26 ON
Byte 1 -bit 7 ZSP 1= Zero Servo Completion
Byte 2,3 Output Frequency Output Frequency [RPM fixed]
Byte 4,5 Torque Reference Torque Reference monitor [0.1%]
Byte 6,7 Output Current Inverter Output Current [0.01A] *1
*1; When Inverter capacity is 11kW or bigger, [0.1A] is used for the unit of Output Current.

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4 DeviceNet data types
5 Attention
5.1
Before setting up the DeviceNet with SI-N card, sets the number of motor poles into
parameter [o1-03] and inverter MUST be recycled power.
5.2
When modifying the following parameters, inverter MUST be recycled power.
-o1-03; Frequency unit of reference setting and monitor
-b1-01; Reference selection
-b1-02; Operation method selection
-o2-09; Initialise mode selection
Data Type Name Data Type Description
BOOL Logical Boolean whit values TRUE and FALSE
SINT Signed 8-bit integer value
INT Signed 16-bit integer value
DINT Signed 32-bit integer value
USINT Unsigned 8-bit integer value
UINT Unsigned 16-bit integer value
SHORT STRING character string
WORD bit string 16-bits