Varispeed G7/F7 OPTION CARD MECHATROLINK
Contents
1. 3 4 Switch Setting E DIP Switch The following table shows the SI T Card DIP switch settings 1 2 3 4 OFF Name Label Status Function Factory Setting S1 ga 4 Mbps MECHATROLINK 1 ON 10 Mbps MECHATROLINK II Data length OFF 17 byte data transmission MECHATROLINK I ON MECHATROLINK ID 32 byte data transmission MECHATROLINK II Station S1 3 OFF Set the10 s digit of the station number to 2 Invalid if OFF address the maximum number of units including the S2 of the rotary switch is 20 Set the 10 s digit of the station number to 3 Invalid if the maximum number of units including the S2 of the rotary switch is 3F Maintenance Normally OFF 2 Not used 1 Invalid if S1 1 is OFF 4 Mbps and S1 2 is ON 32 byte data transmission 2 For maintenance Always leave this switch OFF E Rotary Switch The following table shows the SI T Card rotary switch settings OtoF Set the 1 s digit of the station number XOH XFH Invalid if the maximum number of units including the S1 3 is 20 or 3F Note Although the range that can be set by S1 3 and S2 is from 20 to 3F 20 and 3F are invalid the ERR LED indicator blinks six times Therefore the actual setting range is from 21 to 3E Refer to the following section Station number Setting for details 13 E Station number Setting A stat2. CH DH EH 2FH 83H 84H 85H 86H 87H 88H 89H 8AH 8BH VCF Main circuit capacitor neutral point potential error Ea ma Ea Ea EN EN ES 2A Ea PAS EA EA 05 EA EE Ea E Ea Ea ES External fault A C External fault 7 02H 03H 04H 05H 06H 07H 08H 09H OAH OBH OCH ODH OEH 48 ES Ea EA ma SM ST em NA AE EA EA 93 AA gt gt TEO EA MESA Ea Ea E eel ez ca igi EA e V V H H2 L3 L4 EF B F3 F4 E i F7 F8 OS EV GO PR CE 8 Protective Operations Table 11 Inverter Warning Codes cont d ALARM Operator Description G7 F7 zoa e EME TEMA e 1 than SI K2 RING Rese durngnconnandipwewer OO A E CEA ee pe fom ee gt gt gt MESES AES CA EINEN CARa EJEA ON TE Undertorque 2 TE External fault 9 EF12 External fault 12 Table 12 Causes and Countermeasures of Main Faults Displayed on Varispeed G7 F7 Digital Operator Ea Cause Countermeasures Optional communi Communications are not IC e _ the LED indicators Check the com cations error lished with the host controller munications cable wiring SET WDT error There is no continuity in the WDT Execute DISCONNECT or ALM_CLR and for data sent by the host controller then use either the CONNECT or SYNC_SET command to move to phase 3 EFO External fault from An external fault is being input Turn OFF the faulty input option from the option card Optional The Invert
3. Command code 02H Response code 03H Alarm TOSH Status Data link layer data Data 06H and application layer Data WDT 11H EWDT 12H Basic format of data transfer 17 byte data transmission Command data Response data Header of data link layer Application layer Data in data link layer Station address 00H Station address Control code 01H Control code i Command code 02H Response code 03H Alarm 04H Status Data Data WDT 11H EWDT Sub command 12H Sub command 13H Sub status 14H Data Data 1FH Not used Not used 21H Basic format of data transfer 32 byte data transmission 19 5 3 Communications Phases The SI T changes status as described here when a command code or fault is received from the master For details on MECHATROLINK communications phases refer to the High speed Field Network MECHATROLINK System User s Manual SIE S800 26 1 Power ON c Phase 1 Initial status D Connecting CONNECT command Asynchronous communications Disconnecting DISCONNECT command Disconnecting Y DISCONNECT command Phase 2 Asynchronous communications status A Connecting CONNECT command Synchronous communications Set Synchronization SYNC_SET command Communications fault Watchdog timer fault y L Phase 3 Synchronous communications status y
4. If the communications cycle is set to a fractional value a warning data setting alarm A 94 is generated 30 7 MECHATROLINK II Commands e MECHATROLINK I VER 10H Set the factor of the 2 ms transmission cycle to COM_TIM communications time The setting range satisfies the following formulas 2 ms lt COM_TIM lt 64 ms COM_TIM is multiplied by a factor of 2 In the following cases a warning is generated and the command is ignored Commands are also ignored in phase 2 with no alarm e If COM_MOD is set out of range Data setting alarm A 94 If COM_TIM is set out of range Data setting alarm A 94 If SUBCMD is set to 1 in 17 byte data transmission Data setting alarm A 94 If SUBCMD is set to 1 for Ver 1 0 VER 10H Data setting alarm A 94 If D6 DS D4 D3 or DO is set to 1 Data setting alarm A 94 For details on the transmission cycle communications time and communications phases refer to the High speed Field Network MECHATROLINK System User s Manual SIE S800 26 1 COM_MOD or eT oT mT eT me TT soc 0 0 0 FE SI E Note If D6 D5 D4 or DO is set to 1 a warning will be generated data set ting alarm A 94 SUBCMD 0 Sub command not used 1 Sub command used Note With MECHATROLINK VER 10H SUBCMD is fixed at 0 DTMOD Data Transfer Mode 00 Single data transfer mode 10 11 Data setting alarm A 94 SYNCMOD Synchronous Asynchronous Communications 0
5. Range ETT dE SSCSC S MOMO D IE According to 01 03 E O l E e SS MO According to 01 03 5 INVantogmprazot ______ e Vf iS 8 nverervaring ETT Ea O eee EXE N eel Bits 0 to 7 Terminals S1 to S8 ATI SSSOSCSC S INC ETT SSS In the following case a warning is generated and the command is ignored e Tf not in phase 2 or 3 Command fault A 95 35 E Start Synchronous Communications SYNC_SET IN e E 2 ALARM o O 3 ps Em 5 zal E 9 10 EA The SYNC_SET command is used to request the start of synchronous communications After this command is issued synchronous communications are carried out If communica tions become asynchronous due to any fault such as a communications fault this command can be used to restore synchronous communications In the following case a warning is generated and the command is ignored If not in phase 2 or 3 Command fault A 95 36 7 MECHATROLINK II Commands 7 2 Sub commands The format of sub commands are as follows Sub commands can be used only with MECHATROLINK II when the 32 byte data transmission has been selected by a switch E No Operation NOP This is the format of No Operation sub command 37 E Read Parameter PRM_RD ce ES NO NO 1 O SIZE SIZE PARAMETER UN The PRM_RD sub command is used to read internal Inverter constants This sub command functions in the same way as the PRM_RD main comm
6. current 8192 33 Table 3 Operation Signals Forward operation V multi function terminal input 3 V multi function terminal input 4 V multi function terminal input 5 V multi function terminal input 6 V multi function terminal input 7 INV multi function terminal input 8 G7 External fault EFO INV multi function terminal input 9 G7 Default Multi step speed reference 3 INV multi function terminal input 10 G7 Default Multi step speed reference 4 INV multi function terminal input 11 G7 Default Accel Decel time 1 INV multi function terminal input 12 G7 Default Emergency stop Fault history trace clear 1 Check that the faults has been successfully reset by confirming that the STATUS RESET bit has turned OFF 2 Errors are not reported while the fault reset signal is ON Use the SEL REF 1 2 command to select the contents of REF1 with bits 0 to 3 and to select the contents of REF2 with bits 4 to 7 Use the SEL MON1 2 command to select the contents of MON1 with bits 0 to 3 and to select the contents of MON2 with bits 4 to 7 The following tables show the selection ranges for SEL REF1 2 and SEL MON1 2 Table 4 SEL REF 1 2 Selection Range INCH CTE A PO META INV terminal output Bit 0 Terminals M1 M2 Enabled when H2 01 F Bit 1 Terminal P1 Enabled when H2 02 F Bit 2 Terminal P2 Enabled when H2 03 F 34 7 MECHATROLINK II Commands Table 5 SEL MON1 2 Selection
7. 7 887 7000 Fax 1 847 887 7370 YASKAWA ELETRICO DO BRASIL COMERCIO LTD A Avenida Fagundes Filho 620 Bairro Saude Sao Paulo SP Brazil CEP 04304 000 Phone 55 11 5071 2552 Fax 55 11 5581 8795 YASKAWA ELECTRIC EUROPE GmbH Am Kronberger Hang 2 65824 Schwalbach Germany Phone 49 6196 569 300 Fax 49 6196 569 312 YASKAWA ELECTRIC UK LTD 1 Hunt Hill Orchardton Woods Cumbernauld G68 9LF United Kingdom Phone 44 1236 735000 Fax 44 1236 458182 YASKAWA ELECTRIC KOREA CORPORATION 7F Doore Bldg 24 Yeoido dong Youngdungpo ku Seoul 150 877 Korea Phone 82 2 784 7844 Fax 82 2 784 8495 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 01 New Tech Park 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3003 YASKAWA ELECTRIC SHANGHAI CO LTD No 18 Xizang Zhong Road Room 1702 1707 Harbour Ring Plaza Shanghai 200001 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YASKAWA ELECTRIC SHANGHAI CO LTD BEIJING OFFICE Room 1011A Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 YASKAWA ELECTRIC TAIWAN CORPORATION 9F 16 Nanking E Rd Sec 3 Taipei Taiwan Phone 886 2 2502 5003 Fax 886 2 2505 1280 YASKAWA ELECTRIC CORPORATION YASKAWA In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof the export will fall under the relevant regul
8. Asynchronous communications Move to phase 2 1 Synchronous communications Move to phase 3 31 E Disconnection DISCONNECT DISCONNECT DISCONNECT Ea a EN ZA a EEN eal ee The DISCONNECT command is used to close the connection and move to phase 1 After moving to phase 1 no check for transmission faults is executed This command can be used in phases 2 and 3 If this command is received while in phase 2 or 3 the data for the control command to the Inverter is cleared to 0 and a fault reset command is carried out for the Inverter 32 7 MECHATROLINK II Commands E Inverter Control INV_CTL INV_CTL INV_CTL a Operation signals STATUS Speed reference Output frequency Torque reference Output current 8 torque limit 2 SEL REF1 2 SEL REF1 2 SEL MON1 2 SEL MON1 2 Reference selected by Monitor selected by SEL REF1 SEL MONI Reference selected by Monitor selected by Dre A The INV_CTL command is used to set the Inverter s operation signals speed references and so on These bytes do not need to be set every scan The settings are saved in the Inverter until the next data is received or until the power is turned OFF For details on operation signals refer to the following table The speed reference unit can be selected with 01 03 The torque reference is used for both positive and negative values in units of 0 1 The output current can be set to units of 0 1 A or Inverter rated
9. Consol poneren DN TS Cooling fin overheating O Overtorque detected 1 Overtorque detected 2 02 03 04 06 07 08 09 OA 0B oC 0D 0E 0 2 4 6 F 10H 11H 1 13H 1 15H 1 18H 19H 1A Motor overload EEN nal SM Peed ESA REM ESA ESA Ea Ee EM EM EA ei RH Installed braking resistor overheating O E3 External faults YO a TT EA E5 External faults YO EF6 Extemal fut O ei MEA EM EE EA SM EM MEM NN MEM ESA EM Pee SET pet E EEES L3 O External fault 7 External fault 8 Internal braking transistor fault Excessive speed deviation D P Inverter s cooling fan stopped H H H H H H H H H H H H H H H H H Main circuit voltage fault Digital operator connection fault External fault input from communications option board FBL PID feedback reference lost Undertorque detected 1 47 1CH 1DH 1EH 1FH O O E O Ww E 21H P O O O O S F U V V V G O O O H R R EF EF EF EF EF EF O E G P L H P R H C C V EF B 20H 25H 26H 27H 28H 9H 1 N 2 Table 10 Inverter Alarm Codes cont d Display 2 2 2 2 2 HEN RE ESO EZA EZA Ee ee ee es x CPF02 Baseblock circuit error CPF03 EEPROM Error EE RETA ce Ec A AAA A E EE EN ES EA Table 11 Inverter Warning Codes Display om UV ein ciesa OOO CPF07 ASIC internal RAM fault AH BH
10. G main command In the following cases a warning is generated and the command is ignored If CONFIG_MOD is not set Data setting value alarm A 94 If not in phase 2 or 3 Command fault A 95 E Read Alarm ALM_RD s suastaros S 20 ALM DATA 22 23 24 25 26 27 28 The ALM_RD sub command is used to read the fault and alarm status This sub command functions in the same way as the ALM_RD main command In the following case a warning is generated and the command is ignored e If ALM_RD MOD is not set Data setting alarm A 94 40 7 MECHATROLINK II Commands E Inverter I O Control INV_I O Sub Command Response a INV_VO INV_1 O 17 SEL REF3 4 SEL REF3 4 SEL REF5 6 SEL REF5 6 21 SEL MON3 4 SEL MON3 4 SEL MONS5 6 SEL MONS 6 Reference selected by Monitor selected by 23 SEL REF3 SEL MON3 25 Reference selected by Monitor selected by SEL REF4 SEL MON4 27 Reference selected by Monitor selected by SEL REFS SEL MONS 29 Reference selected by Monitor selected by SEL REF6 SEL MON6 The INV_I O sub command is used to select the type of output from the Inverter s external terminals and refers to the values from the Inverter s internal monitors These settings do not need to be set every scan The settings are saved in the Inverter until the next data is received or until the power is turned OFF The output from the Inverter s exte
11. O uJ 2 Ss 990004 CN4 Code No Communications connectors N 11 3 2 Communications Connectors The communications connectors CN1 1 and CN1 2 connect the SI T Card to the commu nications lines of the MECHATROLINK I or MECHATROLINK II The following table shows the pin numbers and their functions A a Cs f sia o oe II IEC a DTC ICONO IICA INC DTS 3 3 LED Indicators The LED indicators indicate the status of the communications of the MECHATROLINK I or MECHATROLINK II and the SI T Card However these indicates are for maintenance checks at Yaskawa Use the Digital Operator to check the status Name Display Explanation RUN Normal operation Not lit Communications CPU stopped resetting hardware RAM check error DPRAM check error station address setting error or Inverter model code error ERR Red Lit Watchdog timeout error communications error diagnosis error or resetting hardware Red Blinking ROM check error once RAM check error twice DPRAM check error 3 times communications ASIC self diagnosis error 4 times ASIC RAM check error 5 times station address set ting error 6 times Inverter model code error 7 times Indicates the number of blinking A o ommanicaons eror orsd Edo TX Sending data e Sending of data stopped hardware reset RX Searching for receiving carrier 5 No receiving carrier found resetting hardware 12 3 Component Names and Settings
12. OLINK II Commands 23 7 1 Main Commands 23 7 2 Sub commands 37 7 3 Status Details 42 8 Protective Operations 44 8 1 Fault Detection Processing 44 8 2 Alarm Processing 45 9 Specifications Revision History 1 Overview The SI T Card is an interface card that connects to the MECHATROLINK I or MECHATROLINK II high speed field network for communicating with the host controller By installing the SI T Card to a Varispeed G7 F7 series Inverter various applications are enabled monitoring of the run stop status and the operating conditions as well as the changing and the referencing of the settings for the Inverter constants from the host controller The SI T Card can be installed in the following Inverters e Varispeed G7 series Inverter software No 656X e Varispeed F7 series Inverter SPEC E or later software No 103X Note X indicates the design revision order Varispeed G7 F7 Inverter with an SI T Card does not conform to CE Marking although the Varispeed IMPORTANT P 8 8 P G7 F7 Inverter itself conforms to CE Marking 2 Checking the Product Check the following items as soon as the product is delivered Is there any discrepancy between the shipment and Check the type and code No printed on the
13. YASKAWA Varispeed G7 F7 OPTION CARD MECHATROLINK COMMUNICATIONS INTERFACE CARD USER S MANUAL Model SI T YASKAWA MANUAL NO SIBP C730600 08A Copyright 2004 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 con stantly 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 Nevertheless 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 Introduction Thank you for purchasing a Current Vector Control General purpose Varispeed G7 F7 Inverter and a SI T MECHATROLINK I MECHATROLINK II Communications Interface Card called SI T Card below This manual describes the operation and specifications of the SI T Card which connects to the MECHATROLINK I MECHATROLINK II high speed field network for exchanging data Be sure that you have read and understood this manual before attempting to operate the SI T Card For det
14. ails on operating the Inverter itself refer to the Varispeed G7 F7 Series Instruction Manual TOE S616 60 1 TOE S616 55 1 Yaskawa Electric Inc General Precautions The diagrams in this manual may be indicated without covers or safety shields in order to show details Be sure to restore covers or shields before operating the Inverter and operate the Inverter according to the instructions provided in this manual The products and specifications described in this manual or the contents 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 represen tative or the nearest Yaskawa sales office and provide the manual number shown on the front cover Any modifications to the product by the customer invalidate the warranty and Yaskawa accepts no responsibility for the results of any modifications Safety Precautions N CAUTION IMPORTANT Carefully read this manual and all other documentation provided with the product before attempting to install operate inspect or perform maintenance on the product Within this manual safety related precautions are classified a warnings and cautions Indicates precautions that if not heeded could possibly result in loss of life or seri ous injury Indicates precautions that if not heeded could result in relatively less serious or minor inju
15. and In the following cases a warning is generated and the command is ignored Ifa warning is generated the values that were read are undefined e While using the operator to change settings Command alarm A 95 Ifa register number NO fault occurs User constant setting alarm A 94 If SIZE is an odd number or is not between 2 and 8 User constant setting alarm A 94 38 7 MECHATROLINK II Commands E Write Parameter PRM_WR II ETS 19 NO NO PARAMETER PARAMETER 23 an The PRM_WR sub command is used to write internal Inverter constants This sub command functions in the same way as the PRM_WR main command In the following cases a warning is generated and the command is ignored If a warning is generated the values that were read are undefined e While using the operator to change settings Command alarm A 95 e Tf not in phase 2 or 3 Command fault A 95 During an undervoltage error Command alarm A 95 e Ifa register number NO fault occurs User constant setting alarm A 94 If SIZE is an odd number or is not between 2 and 8 User constant setting alarm A 94 Data upper and lower limit fault User constant setting alarm A 94 39 m RAM Write ENTER_CODE EEPROM Write ENTER_CODE CONFIG IKE IO ETS EN Ea 23 Ea 22 2 Ea Ea The CONFIG command is used to enable data for which constants have been written This sub command functions in the same way as the CONFI
16. anger Inverter a MECHATROLINK I communications fault warning SLT Fault Type SI T Processing Direction of Reset LED2 Processing Communications ALARM Status oe ee sad 09 mg fo 1 ea No special processing fsa 1 Lit Notification to Inverter O gt Required O Communications CODE No special processing None Not required warning Note The meanings of each symbol are as follows No change Fault notification to Inverter lt Fault notification from Inverter When consecutive alarms occur the SI T provides notification of the most recent alarm with a MECHATROLINK response data If warnings occur simultaneously notification priority is given to the warning with the lowest warning code If alarms and warnings are mixed together the SI T gives notification priority to alarms The following table shows the response data when consecutive alarms or warnings occurs 44 8 Protective Operations Table 6 Response Data for Consecutive Alarms and or Warnings Fault Detection MECHATROLINK II Response Data Contents Previous MostRecent Alarm STATUS Value Value WARNG Alarm Most recent alarm code Alarm Most recent alarm code Warning Most recent alarm code Warning Warning with the smaller warning code 8 2 Alarm Processing E SI T Communications Fault Detection The following tables show the communications faults detected by the SI T and the condi tions in which they can be detected Table 7 Rece
17. ations as stipulated in the Foreign Exchange and Foreign Trade Regulations Therefore be sure to follow all procedures and submit all relevant documentation according to any and all rules regulations and laws that may apply Specifications are subject to change without notice MANUAL NO SIBP C730600 08A for ongoing product modifications and improvements Printed in Japan April 2006 04 12 lt gt 0 O 2004 2006 YASKAWA ELECTRIC CORPORATION All rights reserved 05 7 04 71014
18. center of the what was ordered Card Refer to 2 1 and 3 1 Has the product been damaged in any way Inspect the entire exterior of the Card for any damage that may have occurred during shipping Are the contents of the package correct Check the contents shown in the following table Refer to 2 2 Contact your Yaskawa representative immediately if any failure should be found concerning the above items 2 1 Type and Code No The following shows the type and code No on the center of the SI T Card Type SET Code No ETC61862X S016X Note X indicates the design revision order 10 3 Component Names and Settings 2 2 Parts List The SI T Card contains the following parts SI T Communications Interface Card Grounding cable Already mounted on the SI T Card Instruction Manual This manual 3 Component Names and Settings 3 1 Component Names The following diagram shows the SI T Card external appearance and component names LED Rotary switch EA a ondaa 210 oo i 050928 a E E o Ego DIP switch ooo og ann is QS sgsr s ommo lols 2020 w gs O50 g E R31 OG Ol 262 a Ll R30 Ge pate 20 D 0 2 2 oo OES igs oxo gt 3 W7 R29 8 99970 FLL a RD gt z lt 9990 z9 E sE g IDs op0 ElL B 5 ic m joie 0695 wy Ee a PUSTEN nm 0999 m lal FW ros FD 070 o Type 0696 3 ie Li 2020 cl oro A T ro 3 MADE IN JAPAN z 8 2 g s La OF T oO o
19. data transmissions for MECHATROLINK II and with MECHATROLINK I The sub commands can be used only when the 32 byte data transmission has been selected by means of pin 2 on DIP switch S1 If a conflict occurs between a request for a main command and a request for a sub command the request for the main command is processed If either a main command or a sub com mand is already being processed the command being processed is given priority If an INV_CTL main command and an INV_I O sub command conflict the sub command over writes the main command For details on command formats refer to Chapter 7 MECHATROLINK II Commands 21 6 Initial Setup Before starting communications between the Inverter and the MECHATROLINK master set the following constants as required Constant Name Description Factory No Setting 1 B1 02 Run command Digital Operator selection Control circuit terminal MEMOBUS communications Communications Option Card Optional Frequency reference selection Digital Operator Voltage reference MEMOBUS communications Communications Option Card Optional 0 1 2 3 0 1 2 3 4 Pulse train reference To run or stop through the MECHATROLINK communications set 3 to B1 02 To set frequency set 3 to B1 01 For details refer to the Varispeed G7 F7 Series Instruction Manual TOE S616 60 1 TOE S616 55 1 22 7 MECHATROLINK II Commands 7 MECHATROLINK I Commands 7 1 Main Co
20. er and communications Turn OFF the power to the Inverter and Connection fault option are not properly connected check the connection between the Option Card and the Inverter Then turn the power back ON If the fault persists replace the Option Card Communications The communications option is Turn OFF and back ON the power to the optional self diag faulty Inverter If the fault persists replace the nostic fault Option Card Communications optional model code fault Communications optional mutual diagnostic fault For information on the causes and countermeasures for other faults refer to the Varispeed G7 F7 Series Instruction Manual Manual NO TOE S616 60 1 TOE S616 55 1 49 9 Specifications Start stop synchronization master slave method wane Maximum transmission 50m distance Data length 17 byte data transmission or 32 byte data transmission Maximum number of 30 4 5 slaves Operating Power Supply 4 75 VDC to 5 25 VDC supplied from Inverter Ambient Temperature 10 C to 45 C eese OOOO O E 1 The baud rate is 4 Mbps for MECHATROLINK I and 10 Mbps for MECHATROLINK II 2 For MECHATROLINK I a cycle is 2 ms For MECHATROLINK II a cycle is 1 ms to 8 ms for a 32 byte data transmission and 500 us to 8 ms for a 17 byte data transmission 3 For MECHATROLINK L only a 17 byte data transmission can be selected 4 The maximum number of connectable stations changes depe
21. fied The values for the NO SIZE and DATA in the response are copies of values in the com mand 25 m Read ID ID_RD Ea MENE EC EA DEVICE CODE DEVICE CODE 6 OFFSET OFFSET 7 SIZE SIZE Ka ER 5 BE 0 KE EA EA EA 7 wor The ID_RD command is used to read the ID number The following table shows the applicable DEVICE_CODE Because of ID area limitations no more than eight bytes can be read so use the OFFSET and SIZE to specify the range The leading ID data that corresponds to the specified OFFSET and returned is shown in the following table Up to eight bytes can be used for SIZE This command can be used in all phases ID content Corrs 0990209194 05 oS or e e oA OB OG oO oe OF Inverter M R xl Model Software Version The A and U portions of special Inverter models G7A and G7U as well as the portions show ing the structure are represented by spaces 2 Indicates the voltage class 2 200 VAC input 4 400 VAC input 3 Indicates the maximum applicable motor capacity For 7 5 kW 7P5 is shown 4 Indicates the SI T software code 5 Indicates the Inverter software code 6 Inverter models are expressed in ASCII and end in 00H 26 7 MECHATROLINK II Commands m Write RAM ENTER_CODE Write EEPROM ENTER_CODE CONFIG CONFIG CONFIG 2 ALARM o O a 4 a 3 4 Ea EA 7 EN EA EA Ea The CONFIG command are used to enable the data
22. for which constants have been written Error codes such as matching of constants cannot be checked by the responses to this com mand They must be checked with the STATUS signal s OPE fault bit This command can be used in phases 2 and 3 In the following cases a warning is generated and the command is ignored If not in phase 2 or 3 Command alarm A 95 If CONFIG_MOD is not a set value Data setting alarm A 94 The following values can be assigned to CONFIG_MOD Write RAM ENTER CODE The setting value is not saved in EEPROM If changing several constants carry out the CONFIG command only after all the constants have been changed The setting value is saved in EEPROM Note With the G7 F7 the maximum number of writes to non volatile mem ory is 100 000 so do not use the CONFIG command too frequently 27 E Read Alarm or Warning ALM_RD ALM RD ALM RD STATUS ALM RD MOD ALM RD MOD 6 ALM_DATA ee E un The ALM_RD command is used to read the following information about the status of faults and alarms Present fault and alarm status list e Fault history Alarms are not saved in the history Details of faults In the following case a warning is generated and the command is ignored e If ALM_RD MOD is other than a set value Data setting alarm A 94 The fault history is saved in EEPROM and is kept even when the control power is inter rupted The following table shows the specif
23. g 1 Installation of the SI T Card 16 4 Installation and Wiring 4 2 MECHATROLINK Communications Cables m Wiring Wire the MECHATROLINK communications cables to the communications connector CN2 IMPORTANT e For communications cables use special shielded twisted pair cables for MECHATROLINK com munications Recommended cable JEPMC W603 00 JO is the length m With USB connector with core Install MECHATROLINK communications cables apart from main circuit wiring and other elec trical and power lines e Connect the terminator model No JEPMC W6022 on the end of the communication lines Maximum transmission distance is 50 m e Minimum wiring distance between stations is 0 5 m E Communications Wiring Example The following diagram is an example of communications wiring around the Inverters SO R U 3 phase power supply OO s 200 to 230 VAC 2 So T Inverter NC 3 phase 200 VAC SI T 0 4 kW SRD Y SRD MECHATROLINK controller SLD NC r SRD t_ SRD E04 SLD O If there are noise influences on communication remove the grounding cabl e Fig 2 Connection Diagram with Varispeed G7 F7 3 phase 200 VAC 0 4 kW 17 5 Transmission Interface 5 1 MECHATROLINK II Cyclic Transmissions As a MECHATROLINK I MECHATROLINK II s
24. here the customer is determined to be responsible e Problems due to additions or modifications made to a Yaskawa product without Yaskawa s understanding e Problems due to the use of a Yaskawa product under conditions that do not meet the rec ommended specifications e Problems caused by natural disaster or fire Or other problems not due to defects in Yaskawa workmanship or materials Warranty service is only applicable within Japan However after sales service is available for customers outside of Japan for a reasonable fee Contact your local Yaskawa representative for more information E Exceptions Any inconvenience to the customer or damage to non Yaskawa products due to Yaskawa s defective products whether within or outside the warranty period are NOT covered by this warranty Restrictions The SI T Card was not designed or manufactured for use in devices or systems that may directly affect or threaten human lives or health e Customers who intend to use the product described in this manual for devices or systems relating to transportation health care space aviation atomic or electric power or under water use must contact their Yaskawa representatives or the nearest Yaskawa sales office beforehand This product has been manufactured under strict quality control guidelines However if this product is to be installed in any location where failure of this product could involve or result in a life and death situatio
25. ications for ALM RD MOD and ALM _ DATA If the fault history ALM RD MOD 1 is selected the fault code 1 byte is entered in order of detection from ALM_DATA byte 6 and byte 6 is refreshed with the most recent fault code If no fault occurred 00H is displayed to indicate normal operations ALM_RD_MOD ALM_DATA Max Constant No Processing Time Present fault byte 6 past fault byte 7 U2 01 and U2 02 Fault history Alarms are not retained in the history 0 1 s U3 01 and U3 04 2 max bytes 6 and 7 28 7 MECHATROLINK II Commands E Clear Alarm or Warning ALM_CLR ALM_CLR ALM CLR ALARM STATUS ALM CLR MOD ALM CLR MOD The ALM_CLR command is used to clear the alarm and warning status ES A En This command changes the status of the slave station It does not remove the cause of a fault After the cause of the alarm or warning has been removed this command is then used to clear the status of the alarm or warning In the following cases a warning is generated and the command is ignored Tf not in phase 2 or 3 Command alarm A 95 e IFALM_CLR_MOD is other than a set value Data setting alarm A 94 O ll Clears the status of present faults and alarms Note Inverter alarms cannot be reset while the Inverter RUN command is ON 29 m MECHATROLINK II Connection CONNECT CONNECT CONNECT ALARM STATUS Ea COM MOD COM MOD COM_TIM COM_TIM The CONNECT command is used to set the com
26. ion number is set by both the S1 3 DIP switch and the S2 rotary switch Station num bers from 21 to 3E are valid Although 20 or 3F can be set as a station number do not use these settings because they will be faulty S1 3 Set the 10 s digit of the station number OFF 2 2X ON 3 3X S2 Set the 1 s digit of the station number 0 0 X0 1 1 X1 F F XF Switch Setting and Station Number Station 1 3 Station Number a E N EE EE Ls H N UY uy UY N Eh wj Ww aj gt wj Ww UY 90 N an bo O N x U U mj mj mj 2 zoi Bees Hj mj mj mj 7 mj 7 N gt Y O x x nj wl we N a a Ee aa SEA E ESSE E EP E ee ee ME Sle Seas ESTER Ee eae EE N nN O O O CO OC 0 0 o CO 0 O O O Z Z Z Z Z Z Z Z Z 21 21 2 Z N Frj 14 4 Installation and Wiring 4 Installation and Wiring A WARNING e Before installing or removing the Option Card or performing wiring operations always turn OFF the power to the Inverter and wait until the specified period of time has elapsed after all the Inverter indicators have turned OFF The time is shown on the Inverter s front cover Failure to do so can result in electric shock IMPORTANT Route the MECHATROLINK communications cables separately from the main circuit wiring and other power lines 4 1 Installing the SI T Card Use the following procedure to mount the SI T Card after removing
27. lave the SI T exchanges control data and T O data with a control device such as a controller Communications with the controller are executed by sending response data timed to the reception of command data for the local sta tion address from the controller in each transmission cycle The formats for the command and response data follow the specifications for the MECHATROLINK Inverter commands Controller MP2300 Controller Example PC SigmaWin Example Cyclic transmission MECHATROLINK II G7 F7 Inverter MP230010 ee Sdps Servo Slave 1 0 Slave 18 5 2 Basic Format of Data Transfer The basic format for transferring data is as follows 5 Transmission Interface The size of the header for a data link layer is fixed at two bytes By setting pin 2 on DIP switch S1 either 17 bytes 17 byte data transmission or 32 bytes 32 byte data transmission can be selected as the data size for the data link layer If 32 byte data transmission is selected only the first 29 bytes are used as application data The first 30 bytes are used only when the INV_I O sub command is used 00H 01H 02H 03H 04H 11H 12H 00H 01H 02H 03H 04H 11H 12H 13H 14H 1FH 21H Command data Response data Station address 00H Station address T Header of Control code 01H Control code gate link layer
28. mmands The format of the main commands are as follows E No Operation NOP Only the ALARM and STATUS fields of the response data can be monitored This command can be used in all phases 23 E Read Parameter PRM_RD Eg PRM RD PRM RD E mi L ra KA Cpe E ia o The PRM_RD command is used to read the Inverter s internal constants For offline parame ters it reads the most recently updated setting values This command can be used in all phases Note If the MECHATROLINK II 32 byte data transmission is used PRM_RD can be used only in a sub command In the following cases a warning STATUS WARNING 1 is generated and the com mand is ignored If a warning is generated the values that are read are undefined e While using the operator to change settings Command alarm A 95 e Ifreceived as a main command in 32 byte data transmission Command alarm A 95 Ifa register number NO fault occurs User constant setting alarm A 94 If SIZE is an odd number or is not between 2 and 8 User constant setting alarm A 94 The register number NO is the same as the register number that is set and referenced in MEMOBUS transfers Set the lower byte LSB before setting the upper byte MSB The SET stores the data read for PARAMETER from lower byte LSB to upper byte MSB For SIZE set the number of bytes to be read as an even numbers Eight bytes can be speci fied The values for the number NO and
29. munications mode and establish a connec tion After the connection is established the phase moves to phase 2 or 3 If a transfer fault is detected after moving to phase 2 or phase 3 notification is given of the fault In phase 1 no notification is given even if a transfer fault is detected Set VER version to 21H Ver 2 1 for MECHATROLINK II and to 10H Ver 1 0 for MECHATROLINK I This setting must match the switch setting The communications mode is set by the COM MOD For details on the settings refer to the following description e MECHATROLINK II VER 21H Set the factor of the transmission cycle to COM_TIM communications time so that the setting range satisfies the following formulas When the transmission cycle is equal to the communications time COM_TIM 1 e 32 byte data transmission 1 ms lt transmission cycle ms lt 8 ms If the transmission cycle is set to a fractional value a warning data setting alarm A 94 is generated e 17 byte data transmission 0 5 ms lt transmission cycle ms lt 8 ms If the transmission cycle is not set to a multiple of 0 5 ms such as 0 75 a warning data setting alarm A 94 is generated When the transmission cycle is not equal to the communications time 1 lt COM_TIM lt 32 2 ms lt transmission cycle ms x COM_TIM lt 100 ms If the transmission cycle is less than 2 ms and is set to a fractional value a warning data setting alarm A 94 is generated
30. n or loss of human life or in a facility where failure may cause a serious accident or physical injury safety devices must be installed to mini mize the likelihood of any accident CONTENTS Introduction Safety Precautions Warranty Information Restrictions ner rere a a a 1 Overview 10 2 Checking the Product 10 2 1 Type and Code No 10 2 2 Parts List lt lt lt lt lt lt 2 3 Component Names and Settings 11 3 1 Component Names 3 2 Communications Connectors 12 3 3 LED Indicators 12 3 4 Switch Setting 13 4 Installation and Wiring 15 4 1 Installing the SI T Card 15 4 2 MECHATROLINK Communications Cables 17 5 Transmission Interface 18 5 1 MECHATROLINK II Cyclic Transmissions 18 5 2 Basic Format of Data Transfer 19 5 3 Communications Phases 20 5 4 Application Layer Specifications 21 6 Initial Setup 22 7 MECHATR
31. nding on the types and settings of the host controller baud rate or communica tions cycle For details refer to the manuals of your controller Communications cycle Integral multiple of transmission cycles depending on the host controller settings Example If the host controller is an MP2300 e For MECHATROLINK I 32 byte transmission 2 ms communications cycle 21 stations max 21 slaves can be set but then the maximum num ber of connectable Inverters will be 16 e For MECHATROLINK II 32 byte transmission 1 ms communications cycle 9 stations max e For MECHATROLINK II 17 byte transmission 1 ms communications cycle 15 stations max e For MECHATROLINK I 14 stations max 5 At the maximum transmission distance of 50 m the maximum number of slaves is 15 50 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover MANUAL NO SIBP C730600 08A Printed in Japan April 2006 04 12 lt Revision number Date of Date of original printing publication Date of Printing Revised Content A April 2006 Revision Address Varispeed G7 F7 OPTION CARD MECHATROLINK COMMUNICATIONS INTERFACE CARD USER S MANUAL IRUMA BUSINESS CENTER SOLUTION CENTER 480 Kamifujisawa Iruma Saitama 358 8555 Japan Phone 81 4 2962 5696 Fax 81 4 2962 6138 YASKAWA ELECTRIC AMERICA INC 2121 Norman Drive South Waukegan IL 60085 U S A Phone 1 84
32. oo Phase 1 Initial status after power ON Operation proceeds with a default transmission cycle of 2 ms The transmission cycle is changed to the time indicated in the synchronous frame when a CONNECT command is received from the master Then the phase moves to phase 2 or phase 3 after a response to the CONNECT command is returned Even if a transfer fault is detected in phase 1 no fault notification is provided Phase 2 Asynchronous communications All SI T commands can be used Phase 2 starts to count the watchdog timer in the commu nications frame The phase moves to phase 3 when a SYNC_SET command is received and it moves to phase 1 when a DISCONNECT command is received Phase 3 Synchronous communications Watchdog timer faults in the communications frame are detected If the DISCONNECT command is received the phase moves to phase 1 If a reception fault or a watchdog timer fault is detected the phase moves to phase 2 20 5 Transmission Interface 5 4 Application Layer Specifications The data format for the application layer conforms to the MECHATROLINK II link com mand specifications The SI T has the following main commands and sub commands Table 1 Main Commands meo ReaD nmbes OOOO CONFIG RAM Write ENTER_CODE and EEPROM Write ENTER _ CODE Table 2 Sub commands RU ALM_RD Reads fault and alarm INV_I O Controls Inverter I O The main commands are used in both the 17 byte and 32 byte
33. ption Failures in Each Phase Communications Reception Failure pr gt OR mee f o oo o o e Table 8 Alarm Code MECHATROLINK II Response ALARM Value E Table 9 Fault Types Communications failure Transmission LSI detected a data reception failure Transmission cycle fault A timing fault of a synchronous frame in a transmission cycle was detected Watchdog timer fault A WDT count fault in a synchronous frame was detected 45 E Other Faults The following table shows other faults that can be detected by the SI T If a warning occurs operation will follow the previous command ED Inverter access permission fault Communications alarm Waits for power supply to be reset Access not possible 10 consecutive times EE Inverter monitor timer over 1 s elapsed Communications alarm Waits for power supply to be reset Received commands are ignored If the ERR indicator is not lit or flashing any commands that are received will be ignored 46 8 Protective Operations E Inverter Fault Notification If a fault is detected in the Inverter the SI T stores the alarm or warning code in the MECHATROLINK II ALARM command and simultaneously turns ON the relevant bit in the STATUS field The following table shows the alarm codes for SI T notification if a fault is detected in the Inverter Table 10 Inverter Alarm Codes ALARM Operator Description G7 Display Main circuit undervoltage U DN
34. rnal terminals is enabled when the multi function input is set to not be used The SEL REF3 4 sub command is used to select the contents of REF3 with bits 0 to 3 and select the contents of REF4 with bits 4 to 7 The SEL REF5 6 sub command is used to select the contents of REFS with bits 0 to 3 and select the contents of REF6 with bits 4 to 7 The selection range for SEL REF3 to 6 is the same as that for the SEL REF1 2 command in the INV_CTL main command The SEL MON3 4 sub command is used to select the contents of MON3 with bits 0 to 3 and select the contents of MON4 with bits 4 to 7 The SEL MONS 6 sub command is used to select the contents of MONS with bits 0 to 3 and select the contents of MON6 with bits 4 to 7 The selection range for SEL MON3 to 6 is the same as that for the SEL MON1 2 command in the INV_CTL main command In the following cases a warning is generated and the command is ignored e If not in phase 2 or 3 Command fault A 95 41 7 3 Status Details This section describes the STATUS field for main commands and the SUBSTATUS field for sub commands STATUS Field Bit Name Po Description Value Setting ALM Alarm status 0 Noalarm lija iodo MAA lt WARNG Warning status 0 Nowaming as es A A MESA e ca output from the Inverter or during baseblock 1 4 PON Main power supply ON OFF during undervoltage 0 Main power supply OFF Co ee pee erm ee ee ee Fault re
35. ry or damage to the equipment Failure to heed even a precaution classified as a caution can result in serious consequences depending on the situation All precautions contain important information so make sure that they are followed carefully Indicates important information that the user should make careful note of even though it is not classified as a caution E Confirmations upon Delivery A CAUTION e Never use an Option Card that is damaged or missing components Doing so can result in injury E Installation and Wiring A WARNING e Never touch the inside of the Inverter with your hands Doing so can result in electric shock Before installing or removing the Option Card or performing wiring operations always turn OFF the power to the Inverter and wait until the specified period of time has elapsed after all the Inverter indicators have turned OFF The time is shown on the Inverter s front cover Failure to do so can result in electric shock Do not allow cables to be damaged subjected to stress placed under heavy objects or pinched Doing so can result in electric shock faulty operation or damage to the equipment Ax CAUTION e Never touch the Option Card terminals directly with your hands Doing so can result in damage from static electricity Insert the connectors securely Failure to do so can result in damage or faulty operation of devices E Settings Ax CAUTION Do not carelessl
36. set signal input A ee eee DECI o Ka OPE fault R Recovery after power loss or recovery after momen 0 Recovery after power loss tary power loss Recovery after momentary power loss Remote Transfer NE EAN With the MEM_RD command only the settings for the STATUS CMDRDY is valid Other bits are not used za 42 7 MECHATROLINK II Commands E SUBSTATUS Field 18th Byte MAC A 2 EC A CIN D2 D1 OO oo SUBA SUBAN SUBALM Sub command alarm 1 D1 SUBWARNG Sub command warning i D2 SUBCMDRDY Sub command ready Sub command can be received 1 Note D3 to D7 are not used A value of 0 is always returned 43 8 Protective Operations 8 1 Fault Detection Processing Faults can be detected by two methods Inverter fault detection and SI T fault detection The SI T is notified of Inverter faults by the internal interface and the SI T sends the response data ALARM or STATUS The SI T notifies Inverter of SI T faults by the internal interface and the faults are simulta neously sent the response data ALARM or STATUS The following four types of faults can be detected The subsequent operation varies depend ing on the type of fault Fault Type Description Location Alarm Major fault that causes damage to the Inverter or machinery Inverter a Interference related to MECHATROLINK II communications SLT Warning Illegal operation or minor fault not posing any immediate d
37. the Inverter s Digital Operator and front cover 1 Turn OFF the Inverter s main circuit power supply 2 Confirm that all the indicators on the Inverter have turned OFF wait until the specified period of time has elapsed the time is shown on the Inverter s front cover and then remove the Digital Operator and the front cover Verify that the CHARGE lamp is unlit 3 Remove the Option Clip the clip to secure option C or D on the Inverter The Clip can be easily pulled out by pinching its projections 4 Install the SI T Card on the option C connector 2CN 60 pins on the Inverter control board Secure the Card by inserting the spacers on the control board into the spacer mounting holes three holes of the Card until hearing a click Refer to A in Fig 1 Note The SI T Card option C and option D cannot be used at the same time 5 Insert the Option Clip to its original position 6 Connect the Card grounding cable to the control circuit terminal E G on the Inverter control board 7 After the Card is installed connect the communications cables and set the DIP switches Refer to 3 4 and 4 2 8 Remount the Digital Operator and the front cover 15 Option A 4CN Option A connector Option C connector Option Clip to secure option C or D 3CN Option D connector Control terminal Fi
38. the size SIZE in the response are copies of the values in the command 24 7 MECHATROLINK II Commands E Write Parameter PRM_WR PRM WR PRM WR ALARM STATUS EM SIZE SIZE 8 DATA DATA TR RWDT The PRM_WR command is used to write the Inverter s internal constants To save the setting value in the Inverter s EEPROM set the CONFIG_MOD in the CONFIG command to 1 For details refer to the section describing the CONFIG command Note If the MECHATROLINK II 32 byte data transmission is used PRM_WR can be used only in a sub command In the following cases a warning is generated and the command is ignored e While using the Operator to change settings Command alarm A 95 e If not in phase 2 or 3 Command alarm A 95 During an undervoltage fault Command alarm A 95 e If received as a main command in 32 byte data transmission Command alarm A 95 If a register number NO fault occurs User constant setting alarm A 94 If SIZE is an odd number or is not between 2 and 8 User constant setting alarm A 94 e Data upper lower limit fault User constant setting alarm A 94 The register number NO is the same as the register number that is set and referenced in MEMOBUS transfers Set the lower byte LSB before setting the upper byte MSB Set the values for DATA from lower byte LSB to upper byte MSB For SIZE set the number of bytes to be written as an even number Eight bytes can be spec i
39. y change the Inverter s settings Doing so can result in damage or faulty operation of devices Warranty Information E Free Warranty Period and Scope E Warranty Period This product is warranted for twelve months after being delivered to Yaskawa s customer or if applicable eighteen months from the date of shipment from Yaskawa s factory whichever comes first E Scope of Warranty Inspections Periodic inspections must be conducted by the customer However upon request Yaskawa or one of Yaskawa s Service Centers can inspect the product for a fee In this case if after conferring with the customer a Yaskawa product is found to be defective due to Yaskawa workmanship or materials and the defect occurs during the warranty period then this fee will be waived and the problem remedied free of charge Repairs Ifa Yaskawa product is found to be defective due to Yaskawa workmanship or materials and the defect occurs during the warranty period Yaskawa will provide a replacement repair the defective product and provide shipping to and from the site free of charge However if the Yaskawa Authorized Service Center determines that the problem with a Yaskawa product is not due to defects in Yaskawa s workmanship or materials then the cus tomer will be responsible for the cost of any necessary repairs Some problems that are out side the scope of this warranty are e Problems due to improper maintenance or handling carelessness or other reasons w
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