YASKAWA CANopen SI-S3 User manual

MANUAL NO. TOBP C730600 45A
形式 SI-S3
取扱説明書
CANopen 通信
安川インバータオプションカード
製品を安全にお使い頂くために，この取扱説明書を必ずお読みください。
また，本書をお手元に保管していただくとともに，最終的に本製品をご使用になる
ユーザー様のお手元に確実に届けられるよう，お取り計らい願います。
To properly use the product, read this manual thoroughly and retain
for easy reference, inspection, and maintenance. Ensure the end user
receives this manual.
Installation Manual
CANopen
YASKAWA AC Drive-Option Card
Type SI-S3

This Page Intentionally Blank

YAS KAWA ELE C TR IC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual 3
Table of Contents
1 PREFACE AND SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2 PRODUCT OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3 RECEIVING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
4 CANOPEN OPTION COMPONENTS . . . . . . . . . . . . . . . . . . 11
5 INSTALLATION PROCEDURE . . . . . . . . . . . . . . . . . . . . . . .14
6 CANOPEN OPTION DRIVE PARAMETERS . . . . . . . . . . . .21
7 COMMUNICATION OBJECTS OVERVIEW . . . . . . . . . . . . . 23
8 FAULT DIAGNOSIS AND POSSIBLE SOLUTIONS . . . . . .28
9 SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32

4YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual
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.

YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual 5
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.
◆Applicable Documentation
The following manuals are available for SI-S3 CANopen Option card:
Option Card
YASKAWA AC Drive-Option Card
CANopen Installation Manual (this book)
Manual No. : TOBPC73060045
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.
YASKAWA AC Drive-Option Card
CANopen Technical Manual
Manual No. : SIEPC73060045
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.

1 Preface and Safety
6YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual
For the drive setup, refer to one of the documentation listed below.
◆Terms
Note: Indicates supplementary information that Yaskawa highly recommends be followed, even
though equipment may not be at risk.
◆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.
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
CANopen Option: Yaskawa AC Drive -SI-S3 CANopen option card

1 Preface and Safety
YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual 7
◆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.
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.

1 Preface and Safety
8YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual
■General Safety
General Precautions
• The diagrams in this section may include 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 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.

YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual 9
2 Product Overview
2 Product Overview
◆About This Product
The CANopen Option Card (Model: SI-S3) is an option card designed to connect the
Yaskawa AC drive to a CANopen network. Using this option card a CANopen master can
• Operate the drive
• Monitor the drive operation status
• Read or modify drive parameters
The CANopen Option supports the following communication profiles
• DS 301 Ver. 4.02
• DSP 402 Ver. 1.1 Velocity Mode

10 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation 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 1 Contents of Package
◆Tool Requirements
A Phillips screwdriver PH1(#1) or PH2(#2) is required to install the CANopen option card.
Note: Tools required to prepare CANopen cables for wiring are not listed in this manual.
Description: Option Card Ground
Cable
Screws
(M3) LED Label Installation Manual
Quantity: 11311
ERR RUN
MANUAL

YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual 11
4 CANopen Option Components
4 CANopen Option Components
◆CANopen Option
Figure 1
Figure 1 Option Card
For details on the LEDs, Refer to CANopen Option LED Display on page 12.
A – Communication cable connector
(9 pin D-sub)
E – LED (RUN)
F – LED (ERR)
B – Ground terminal
(installation hole)
G – Connector (CN5)
C – Model number
D – Installation hole
Underside
G
A
D
E
FB
SI-S3
C
Looking from the connector

4 CANopen Option Components
12 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual
◆Communication connector
The CANopen Option is connected to the network using a 9 pin D-sub connector. The pin
assignment is explained in Table 2.
Table 2 Communication connector (9 pin D-sub)
◆CANopen Option LED Display
The CANopen Option has two LEDs that indicate the option card or communication status.
The indications are conform with the DS303, Part 3: Indicator Specification.
■Checking LED Operation
Table 3 LED Display
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
7
8
2
3
4

4 CANopen Option Components
YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual 13
Figure 2 explains the indicator flash rates.
Figure 2
Figure 2 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 126 but has to be unique in the network. If the node address is set to 0, then the ERR
light will flash, and AEr will appear on the keypad screen to indicate that an address setting
error has occurred.
Blinking
ON
1s 2s
ON
ON
ON
ON
ERR
RUN
ERR
RUN
Single flash
ERR
Double flash

14 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual
5 Installation Procedure
5 Installation Procedure
◆Section Safety
DANGER
Electric Shock Hazard
Power to the drive must be shut off when installing this option card.
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 drives without covers or safety shields to show
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.
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.

5 Installation Procedure
YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual 15
Electrical Shock Hazard
Do not touch the option card while the power supply to the drive is switched 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 procedures (ESD) 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.
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.
WARNING

5 Installation Procedure
16 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual
◆Wiring the Network Cable Connectors
The CANopen option must be connected to the network using a 9 pin D-sub connector wired
like shown in Figure 3.
Figure 3
Figure 3 Wiring Diagram
Damage to Equipment
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 CANopen Option must be connected to the drive ground terminal using the delivered
ground wire.
NOTICE
D-sub Connector
CAN_SHLD
CAN_L
CAN_GND
CAN_H
CANopen Cable Connector
(Shell)
CANopen Cable
Drive
SI-S3
7
2
3
CN5
FE
<1>

5 Installation Procedure
YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual 17
◆Network Termination
Both ends of a CANopen network have to be terminated with a 120 Ωresistor. As the
CANopen Option has no build in termination resistor, make sure to apply a termination
resistor as shown in Figure 4 if the CANopen Option is the last node in the network.
Figure 4
Figure 4 Termination Resistor Installation
◆Prior to Installing the Option Card
Prior to installing the CANopen Option, wire the drive and make necessary connections to
the drive terminals. For more information on wiring and connecting the drive, refer to the
technical manual for the drive the CANopen option card is connected to. Verify that the
drive runs normally without the option installed.
<1> The FE terminal on the CANopen Option must be connected to the drive ground terminal using the delivered
ground wire.
Drive
D-sub Connector
SI-S3
CAN_SHLD
CAN_L
CAN_GND
CAN_H
7
2
3
CANopen Cable Connector
CN5
FE
(Shell)
<1>
CANopen Cable
120 Ω
For the last node on the network,
apply a terminating resister.

5 Installation Procedure
18 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual
◆Installing the Option Card
1. Shut off power to the drive, wait the appropriate amount of time for voltage to
dissipate, then remove the operator and front cover. Refer to the drive technical
manual for direction on removing the front cover.
2. Insert the CN5 connector on the option card into the CN5-A connector on the drive,
then fasten it into place using one of the screws included with the option card.
Connect the ground lead line to the ground terminal using one of the screws
delivered with the option card.
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.
Figure 5
Figure 5 Installing the Option Card
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 – Option card
G
A
EF
I
J
B
C
D
H
K
ERR RUN

5 Installation Procedure
YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual 19
3. Prepare network cable connectors like explained in Figure 3 on page 16. Apply a
termination resistor like explained in Figure 4 on page 17 if the drive is the last node
in the network.
In the drives CIMR-A2A0004 to 0040 and 4A0002 to 0023 the network cable must
be routed to the outside through the drive top cover. Use a pair of wire cutters to cut
out the perforated openings at the left side of the top cover. Make sure no sharp
edges that can damage the cable remain.
Drives 2A0056 to 0211, 4A0031 to 0165 have enough space to keep all wiring
inside the unit.
Figure 6
Figure 6 Wiring space
4. Plug in the network cable connector and fix it using the screws at the side of
connector.
5. Place the front cover back onto the drive as it was before.
Note: 1. Take care when wiring the option card so that the front cover easily fits back onto the drive.
2. Install Cable Cover option to maintain the drive Enclosure Type.
6. Attach the LED label packaged with the option card as shown in Figure 5.
7. Switch on the drive power supply.
An “AEr” Alarm message indicating that the node address is set to 0 will appear on
the display. Set the node address in parameter F6-35. Set the communication
speed in parameter F6-36.
8. Cycle the power supply to activate the changed settings. Installation completed.
A – Opening for cable lines
(CIMR-A2A0004 to 0040, 4A0002
to 0023)
B – Space for wiring
(CIMR-A2A0056 to 0211, 4A0031
to 0165)
B
A

5 Installation Procedure
20 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive-Option Card CANopen Installation Manual
◆Communication Cable Specifications
To ensure proper performance Yaskawa recommends using CANopen dedicated
communication cables only.
◆EDS Files
For easy network implementation of drives equipped with a CANopen Option, 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