YASKAWA CANopen SI-S3 Bedienungsanleitung

MANUAL NO. TOEP C730600 85A

YASKAWA AC Drive Option

CANopen

Installation Manual

Model SI-S3

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 TOEP C730600 85A CANopen Installation Manual

YASKAWA TOEP C730600 85A CANopen Installation Manual 3

Table of Contents

1. Preface and Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Applicable Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Registered Trademarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Supplemental Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Compatible Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Install the Option on a GA500 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

3. Receiving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Option Package Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11

Installation Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

4. Option Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Communication Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Option LED States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Option LED Status Definitions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

5. Installation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Procedures to Install and Wire Options on a Drive . . . . . . . . . . . . . . . . . . . . . . . . . 16

Procedure A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Procedure B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Procedure C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Communication Cable Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Option Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

4YASKAWA TOEP C730600 85A CANopen Installation Manual

Termination Resistor Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

EDS Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

6. Related Drive Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

7. Bit Rate and Node ID Setup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Bit Rate Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Setting the Bit Rate Manually . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Using Automatic Bit Rate Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Node ID Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

8. Communication Objects Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Communication Profile Objects (DS 301). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Manufacturer Specific Profile Objects (DS 301) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Drives and Motion Profile Objects (DSP 402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

PDOs and Default PDO Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Receive PDOs (RxPDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Transmit PDOs (TxPDO). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

9. Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Drive-Side Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Minor Faults and Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

10. European Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

EMC Directive Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Option Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

11. Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

12. Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Disposal Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

WEEE Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

1 Preface and Safety

YASKAWA TOEP C730600 85A CANopen Installation Manual 5

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

These manuals are available for the option:

1 Preface and Safety

6YASKAWA TOEP C730600 85A CANopen Installation Manual

Document Description

YASKAWA AC Drive Option

CANopen

Installation Manual

(This book)

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

CANopen

Technical Manual

Manual No.: SIEP C730600 85

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 CANopen

Keypad •HOA Operator

•LCD Operator

•LED Operator

•HOA Keypad

•LCD Keypad

•LED Keypad

Hex. (Example: 900 (Hex.)) Identifies a unit for hexadecimal number format.

1 Preface and Safety

YASKAWA TOEP C730600 85A CANopen Installation Manual 7

◆Registered Trademarks

•CANopen is a registered trademark of the CAN in Automation (CiA).

•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

8YASKAWA TOEP C730600 85A CANopen Installation Manual

2 Overview

The CANopen Option (Model: SI-S3) is an option designed to connect the Yaskawa AC

drive to a CANopen network.

Install the option/CANopen option on a drive to do these functions from a CANopen

master device:

•Operate the drive

•Monitor the drive operation status

•Change drive parameter settings

The option supports these communication profiles:

•DS 301 Ver. 4.02

•DSP 402 Ver. 1.1 Velocity Mode

◆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

≥ 1020

CIMR-Ax4A0002 - 4A0675

CIMR-Ax4A0930, 4A1200 ≥ 3015

U1000

CIMR-UxxAxxxx

≥ 1010

CIMR-UxxExxxx

CIMR-UxxPxxxx

CIMR-UxxWxxxx

U1000L

CIMR-UxxLxxxx

≥ 6210

CIMR-UxxFxxxx

CIMR-UxxRxxxx

CIMR-UxxSxxxx

Z1000U

CIMR-ZxxAxxxx

≥ 6110

CIMR-ZxxExxxx

CIMR-ZxxPxxxx

2 Overview

YASKAWA TOEP C730600 85A CANopen Installation Manual 9

Product Series Model(s) Software Version *1

CIMR-ZxxWxxxx

GA500 CIPR-GA50xxxxx ≥ 1010

GA700 CIPR-GA70xxxxx ≥ 1010

GA800 CIPR-GA80xxxxx ≥ 9010

FP605 CIPR-FP65xxxxx ≥ 1010

*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)”or the option labeling in

the field to identify the option software version.

•For Yaskawa customers in the North or South America region:

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

◆Install the Option on a GA500 Drive

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.

3 Receiving

10 YASKAWA TOEP C730600 85A CANopen Installation Manual

A - Option card mounting kit

components (sold separately)

B - Option

C - Drive front cover

Figure 2.1 Option Card Mounting Kit (JOHB-GA50)

3 Receiving

After receiving the option package:

•Make sure that the option is not damaged and no parts are missing.

The Yaskawa warranty does not include damage from shipping. Contact your sales

outlet if the option or other parts appear damaged.

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.

•Make sure that the model number on the option nameplate and the model number on

the purchase order are the same. Refer to Option on page 13 for more information.

•Contact the distributor where you purchased the option or contact Yaskawa or a

Yaskawa representative about any problems with the option.

Andere Handbücher für CANopen SI-S3

Inhaltsverzeichnis

Andere YASKAWA Gleichstromantrieb Handbücher

YASKAWA

YASKAWA ZPSA-600-EH1-FR Series Bedienungsanleitung

YASKAWA

YASKAWA FP605 Bedienungsanleitung

YASKAWA

YASKAWA JOHB-SMP3-MA Bedienungsanleitung

YASKAWA

YASKAWA H6R B Series Bedienungsanleitung

YASKAWA

YASKAWA GA800 Series Bedienungsanleitung

YASKAWA

YASKAWA Varispeed f7 Betriebsanleitung

YASKAWA

YASKAWA SGDV Bedienungsanleitung

YASKAWA

YASKAWA PROFINET V1000 Bedienungsanleitung

YASKAWA

YASKAWA LonWorks SI-W3 Bedienungsanleitung

YASKAWA

YASKAWA GA800 Series Gebrauchs- und Pflegehandbuch

YASKAWA

YASKAWA iQpump Micro Bedienungsanleitung

YASKAWA

YASKAWA 1000-Series Bedienungsanleitung

YASKAWA

YASKAWA SI-P3V Bedienungsanleitung

YASKAWA

YASKAWA GA50U Series Bedienungsanleitung

YASKAWA

YASKAWA 1000 Series Bedienungsanleitung

YASKAWA

YASKAWA MECHATROLINK-II Bedienungsanleitung

YASKAWA

YASKAWA Varispeed f7 Bedienungsanleitung

YASKAWA

YASKAWA SI-EN3 Bedienungsanleitung

YASKAWA

YASKAWA CIPR-CR70A Series Bedienungsanleitung

YASKAWA

YASKAWA V1000 Series Bedienungsanleitung

YASKAWA

YASKAWA CDBR Series Bedienungsanleitung

YASKAWA

YASKAWA FP65U T Series Bedienungsanleitung

YASKAWA

YASKAWA GA500 series Betriebsanleitung

YASKAWA

YASKAWA GA800 Series Betriebsanleitung

Beliebte Gleichstromantrieb Handbücher anderer Marken

Vincent Associates

Vincent Associates UNIBLITZ ED12DSS Bedienungsanleitung

EKSMA OPTICS

EKSMA OPTICS DQ-100-4 Stücklistenhandbuch

Chamberlain Garog

Chamberlain Garog D Series Bedienungsanleitung

Parker

Parker PDS Series Bedienungsanleitung

Festo

Festo DGC G Series Einrichtungshandbuch

Binks

Binks QS-5012-1-CE Bedienungsanleitung

Danfoss

Danfoss VLT 2800 Series Technisches Datenblatt

ABB

ABB ACQ580-01 Series Installationshandbuch

GE D20A6 Bedienungsanleitung

Unex

Unex MC-D-250-1000-050W-TW Bedienungsanleitung

Geckodrive

Geckodrive G213V Bedienungsanleitung

ABB

ABB RSYC-01 Bedienungsanleitung

Rockwell Automation

Rockwell Automation PowerFlex 700S Betriebsanleitung

WEG

WEG DeviceNet CFW500 Bedienungsanleitung

Siemens

Siemens SINAMICS G Datenblatt

Siemens

Siemens SINAMICS SM150 6SL3815-7NP41-0AA1 Betriebsanleitung

SOMFY

SOMFY JR RU 30 Bedienungsanleitung

Beckhoff

Beckhoff AX8911 Bedienerhandbuch