YASKAWA SI-ES3 Manual de usuario

EtherCAT通信

安川インバータオプション

取扱説明書

形式 SI-ES3

EtherCAT

YASKAWA AC Drive Option

Installation Manual

Type: SI-ES3

To properly use the product, read this manual thoroughly and retain

for easy reference, inspection, and maintenance. Ensure the end user

receives this manual.

製品を安全にお使いいただくために，本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。

COSMOS（140×182）（和英併記）新CI 改版<1>2011.8

MANUAL NO. TOBP C730600 96C

2YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual

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.

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YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual 3

Table of Contents

1 PREFACE AND GENERAL PRECAUTIONS. . . . . . . . . . . . 4

2 OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

3 RECEIVING. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

4 ETHERCAT OPTION COMPONENTS . . . . . . . . . . . . . . . . 10

5 MECHANICAL & ELECTRICAL INSTALLATION . . . . . . . 15

6 ETHERCAT OPTION RELATED DRIVE PARAMETERS .30

7 SUPPORTED MODES OF OPERATION . . . . . . . . . . . . . . 32

8 OBJECT DICTIONARY. . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

9 PROCESS DATA OBJECTS (PDO). . . . . . . . . . . . . . . . . . 36

10 EXAMPLES. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

11 TROUBLESHOOTING . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

12 EUROPEAN STANDARDS. . . . . . . . . . . . . . . . . . . . . . . . . 51

13 SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

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4 YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual

1 Preface and General Precautions

This chapter describes important safety precautions regarding the use of this product. Failure

to follow these precautions may result in serious injury or death, and may lead to damage to

this product or related devices and systems. Yaskawa shall not be held responsible for any

injury or equipment damage as a result of failure to observe the precautions and instructions

contained in this manual.

uReceiving

This instruction manual contains the information necessary to use the product correctly.

Thoroughly read this manual before installing, wiring, operating, or performing maintenance

and inspections. Make sure to read and understand the safety information and precautions

before using the product.

nAbout Terms and Abbreviations in This Document

Representations Used

in This Manual Description

Option YASKAWA AC Drive Option EtherCAT

Drive • YASKAWA AC Drive 1000-Series (A1000)

• YASKAWA AC Drive GA700

• YASKAWA AC Drive GA800

Keypad • LCD Operator for YASKAWA AC Drive 1000-Series

• LED Operator for YASKAWA AC Drive 1000-Series

• LCD Keypad for YASKAWA AC Drive GA700 and GA800

• LED Keypad for YASKAWA AC Drive GA700 and GA800

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

Host YASKAWA inverter drive

LED Light Emitting Diode

OPT, Option The unit described in this document

INV, Inverter Inverter drive

PCB Printed Circuit Board

FCS Frame Check Sequence

INVR MEMOBUS register number

ESI EtherCAT Slave Information file

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1 Preface and General Precautions

YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual 5

nAbout Registered Trademarks

• EtherCAT is a registered trademark of Beckhoff Automation GmbH.

• Other company names and product names that appear in this document are trademarks or

registered trademarks of the respective companies.

uSupplemental 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

Indicates a hazardous situation, which, if not avoided, will cause death or serious

injury.

WARNING

Indicates a hazardous situation, which, if not avoided, could cause death or serious

injury.

CAUTION

Indicates a hazardous situation, which, if not avoided, could cause minor or

moderate injury.

NOTICE

Indicates an equipment damage message.

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1 Preface and General Precautions

6YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual

nGeneral 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

Heed the safety messages in this manual.

Failure to comply will cause 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.

WARNING

Electrical Shock Hazard

Do not attempt to modify or alter the drive or drive circuitry in any way not

explained in this manual.

Failure to comply could cause death or serious injury and will void warranty. Yaskawa is

not responsible for any modification of the product made by the user. Do not modify this

product.

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1 Preface and General Precautions

YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual 7

NOTICE

Do not modify the drive or option circuitry.

Failure to comply could result in damage to the drive or option and will void warranty.

Yaskawa is not responsible for any modification of the product made by the user.

Do not expose the drive or the option to halogen group disinfectants. Do not pack the

drive or the option in fumigated or sterilized wooden materials. Do not sterilize the

entire package after packing the product.

Failure to comply could damage electrical components in the option.

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8 YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual

2 Overview

The EtherCAT Communication Option (Model: SI-ES3) is an option card designed to

connect the YASKAWA inverter drives to an EtherCAT network. Using this option card and

an EtherCAT master you can:

• Operate the inverter drive

• Monitor the inverter drive operation status

• Read or modify inverter drive parameters.

The option contains support for the Velocity mode according the CANopen Device Profile

and Motion Control (DSP402) profile. It also contains YASKAWA vendor specific

CANopen objects based on the present CANopen option board specification.

The EtherCAT Option supports the following communication profiles:

• DS 301 Ver. 4.02

• DSP 402 Ver. 3.0 Velocity Mode

Figure 1

Figure 1 EtherCAT Conformance tested

uCompatible Products

The option can be used with the products in Table 1.

Table 1 Compatible Products

Note: Refer to the option package labeling in the field designated “PRG” (four digit number)” or the

option nameplate designated “V: option software version” to identify the option software

version.

Product Series Model(s) Software Version

<1>

<1> Refer to “PRG” on the drive nameplate for the software version number.

<2> Before you install the option on a YASKAWA AC Drive GA700 or GA800, make sure that the option

software version is PRG: 2.01 or later.

A1000

CIMR-A2A ≥1017

CIMR-A4A0002 to 4A0675 ≥1017

CIMR-A4A0930 and 4A1200 ≥3015

CIMR-A5A ≥5045

≥1017

GA700

<2>

CIPR-GA70 ≥1010

GA800

<2>

CIPR-GA80 ≥9010

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YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual 9

3 Receiving

This instruction manual contains the information necessary to use the product correctly.

Thoroughly read this manual before installing, wiring, operating, or performing maintenance

and inspections. Make sure to read and understand the safety information and precautions

before using the product.

uReceiving the Option Card

Please perform the following tasks after receiving the Communication Option card:

• Inspect the Communication Option card for damage. If the Communication Option card

appears damaged upon receipt, contact the shipper immediately.

• Verify receipt of the correct model by checking the information:

Find the model number on the nameplate on the PCB.

• If you have received the wrong option card model or the Communication Option card

does not function properly, contact Yaskawa or a Yaskawa representative.

uContent and Packaging

Table 2 Option Package Contents for Inverter Drives

uTools Required

A Phillips screwdriver PH1 (#1) or PH2 (#2) is required to install the Communication

Option card.

Note: Tools required to prepare communication network cables for wiring are not listed in this manual.

Description

<1> GA700 and GA800 drives does not use the ground wire.

<2> GA700 and GA800 drives uses two screws only.

Option Card

Ground

Cables

<1>

Screws

(M3)

LED Labels Installation

Manual

1000-Series GA700 and

GA800

Illustration

Quantity 113

<2>

111

L/A IN RUN

L/A OUT ERR

RUN ERR

L/A OUT

L/A IN

MANUAL

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10 YASKAWA ELECTRIC TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual

4 EtherCAT Option Components

uEtherCAT Option

Figure 2

Figure 2 Option Card

A – Connector (CN5)

<1> Refer to EtherCAT Option Status LEDs on page 11 for details on the LEDs.

<2> Connect the provided ground wire during installation. Installation on GA700 and GA800 drives does

not require the ground wire.

G – Model number

B – Installation hole H – Ground terminal

(installation hole)

<2>

C – LED (RUN)

<1>

D – LED (ERR) I – Communication cable

connector OUT (JP3)

E – LED (L/A OUT)

<1>

F – LED (L/A IN)

<1>

J – Communication cable

connector IN (JP2)

Underside

Looking from the connector

SI-ES3

IN OUT

A1000

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YASKAWA FSDrive-MV1000 Series Manual de usuario

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YASKAWA MotionSuite MP940 Manual de usuario

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YASKAWA E7N Manual de usuario

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YASKAWA L1000H Manual de usuario

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YASKAWA Motoman DX200 Manual de usuario

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YASKAWA CIMR-V7xx20P1 series Manual de usuario

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YASKAWA MOTOMAN Series Manual de usuario

YASKAWA

YASKAWA VS-626MT Series Manual de usuario

YASKAWA

YASKAWA SI-EM3 Manual de usuario

YASKAWA

YASKAWA MP2000 Series Manual de instrucciones

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YASKAWA motoman NX100 Manual de usuario

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YASKAWA GA800 Series Manual de instrucciones

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YASKAWA Motoman DX200 Manual de usuario

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YASKAWA motoman NX100 Manual de usuario

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YASKAWA YASNAC 2000G Manual de usuario

YASKAWA

YASKAWA SI-T3 MECHATROLINK-II A1000 Series Manual de usuario

YASKAWA

YASKAWA L1000E Manual de usuario

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