VS mini V7 OPTION UNIT MECHATROLINK
Contents
1. Communications connector CN2 Ground terminal DIP switch Communications connector CN2 Rotary switch Front of the SI T V7 Unit Rear of the SI T V7 Unit 3 2 Communications Connectors CN2 The communications connectors connect the SI T V7 Unit to the communications lines of the MECHATROLINK I or MECHATROLINK I The following table shows the pin num bers and their functions Par eo aw ere SO Ce j e o see C e 10 seo OS on e o o S 3 3 LED Indicators The LED indicators indicate the status of the communications of the MECHATROLINK I or MECHATROLINK II and the SI T V7 Unit However these indicates are for maintenance checks at Yaskawa Use the Digital Operator to check the status ERR 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 Watchdog timeout error communications error or resetting hard ware 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 Rani io ommno erore TX Sending data Notlit Send2. 44 8 1 Fault Detection Processing 44 8 2 Alarm Processing rc crc crc crt e ee 45 9 Specifications 49 1 Overview 1 Overview IMPORTANT The SI T V7 Interface Unit is an interface unit that connects to the high speed MECHATROLINK I or MECHATROLINK II high speed field network for communicating with the host controller By installing the SI T V7 Unit to a VS 606V7 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 V7 Unit can be installed in the following Inverters e VS 606V7 series Inverters software version No 565X e VS 606V7 series Inverters software version No 573X Note 1 X indicates the design revision order 2 Version No 573X will replace No 5650 3 The Inverter constant cannot be copied from version No 5650 to No 573X with the Inverter constant copy function if using a Digital Operator VS 606V7 Inverter with an SI T V7 Unit does not conform to CE Marking although the VS 606V7 Inverter itself conforms to CE Marking 2 Checking the Product Check the following items as soon as the product is delivered Item Method Is there any discrepancy between the shipment and Check the information printed on the Unit Refer to
3. I O 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 mode or 32 bytes 32 byte mode can be selected as the data size for the data link layer If 32 byte mode 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 93ta link layer 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 mode 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
4. Note If the MECHATROLINK II 32 byte mode 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 Digital Operator to change settings Command alarm A 95 e Ifreceived as a main command in 32 byte mode 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 SI T V7 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 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 seed SIZE SIZE 8 DATA DATA PR 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
5. 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 station 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 N EE EE Ls Prj N w Ww Ww N E wj w aj gt wj Ww u oe N an bo O N x U U mj mj mj 2 zoi Bees Hj mj mj mj 7 mj 7 N gt w O x x nj wl we N a a Ee aa ee e ee a a ee ee ae Sle Seas 2e a ae Ee eae ee ee N nN O O O CO OC 0 0 0 CO 0 O O O Z Z Z Z Z Z Z Z Z Z Z Z Z N Frj 14 4 Installation and Wiring 4 Installation and Wiring A WARNING e Before installing or performing wiring 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 observe this warning may result in electric shock IMPORTANT Route the MECHATROLINK communications cables separately from the m
6. VS mini V7 OPTION UNIT MECHATROLINK COMMUNICATIONS INTERFACE UNIT USER S MANUAL Model SI T V7 YASKAWA MANUAL NO SIBP C730600 03A Copyright 2005 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 Vector control General purpose VS 606V7 Inverter and a SI T V7 MECHATROLINK I MECHATROLINK II Communications Interface Unit called SI T V7 Unit This manual describes the operation and specifications of the SI T V7 Unit which connects to the MECHATROLINK I MECHATROLINK II open field network for exchanging data Be sure that you have read and understood this manual before attempting to operate the SI T V7 Unit For details on operating the In
7. 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 external 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 REF5 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 co
8. 2 what was ordered Nameplate Has the product been damaged in any way Inspect the entire exterior of the Unit for any damage that may have occurred during shipping Are the contents of the package correct Check the contents Refer to 2 2 Parts List Contact your Yaskawa representative immediately if any failure should be found concerning the above items 2 1 Nameplate The following diagram shows the nameplate on the side of the SI T V7 Unit SITAN iain mman INTERFACE UNIT SI T V7 Code No CODE NO 73606 V706X Program No gt PRG Lot No LOT NO MASS 0 5kg Mass Manufacturing No gt SER NO YASKAWA ELECTRIC I CORPORATION wan MS X indicates the design revision order 2 2 Parts List The SI T V7 Unit contains the following parts SI T V7 Communications Interface Unit Mounting fixture M3 x 8 SW screw Grounding cable small Grounding cable medium Grounding cable large 10 3 Component Names and Settings 3 Component Names and Settings 3 1 Component Names LED The following diagram shows the SI T V7 Unit external appearance and component names Modular plug CN10 Optional connector CN1
9. 847 887 7370 MOTOMAN INC HEADQUARTERS 805 Liberty Lane West Carrollton OH 45449 U S A Phone 1 937 847 6200 Fax 1 937 847 6277 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 Motoman Robotics Europe AB Box 504 S38525 Torsas Sweden Phone 46 486 48800 Fax 46 486 41410 Motoman Robotec GmbH Kammerfeldstrafe 1 85391 Allershausen Germany Phone 49 8166 90 100 Fax 49 8166 90 103 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 Singapore 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3003 YASKAWA ELECTRIC SHANGHAI CO LTD No 18 Xizang Zhong Road Room 1805 Harbour Ring Plaza Shanghai 20000 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YATEC ENGINEERING CORPORATION 4F No 49 Wu Kong 6 Rd Wu Ku Industrial Park Taipei Taiwan Phone 886 2 2298 3676 Fax 886 2 2298 3677 YASKAWA ELECTRIC HK COMPANY LIMITED Rm 2909 10 Hong Kong Plaza 186 191 Connaught Road West Hong Kong Phone 852 2803
10. faulty input option host controller Optional The Inverter and communications option Turn OFF the power to the Inverter and check the con Connection fault are not properly connected nection between the Option Unit and the Inverter Then turn the power back ON If the fault persists replace the Option Unit Communications optional model code fault Communications optional mutual diagnostic fault Communications The communications option is faulty Turn OFF and back ON the power to the Inverter If the optional self diag fault persists replace the Option Unit nostic fault For information on the causes and countermeasures for other faults refer to the VS 606 V7 Series Instruction Manual Manual NO TOE S606 11 48 9 Specifications 9 Specifications Baud rate 4 Mbps or 10 Mbps Start stop synchronization master slave method Data length 17 byte data transmission or 32 byte data transmission Number of connectable 30 slaves max 4 5 stations Operating Power Supply 4 75 VDC to 5 25 VDC supplied from Inverter Ambient Temperature 10 C to 45 C foes 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 T
11. ranges for SEL REF 1 2 and SEL MON1 2 Table 4 SEL REF 1 2 Selection Range Co Rate SSCS PO pO po INV terminal output Bit 0 Terminals MA MB Enabled when n057 18 Bit 1 Terminal P1 Enabled when n058 18 Bit 2 Terminal P2 Enabled when n059 18 34 7 MECHATROLINK II Commands Table 5 SEL MON1 2 Selection Range a DE According to n035 bal Torque reference U 08 0 1 Le Given only for vector control C According to n035 E 8 Nin sat canon vorager e meneran Retr otheTmnenervaring eT Ca S ar e o Bits 0 to 7 Terminals S1 to S7 env aufogimmrrcaT SY erase SCS In the following case a warning is generated and the command is ignored e If not in phase 2 or 3 Command fault A 95 35 E Start Synchronous Communications SYNC_SET So e E 2 ALARM o O 3 ps Em 5 zal 8 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 Ifnot 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 MECHATRO
12. 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 e 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 m 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 situation or loss of human life or in a
13. 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 Unit 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 Unit 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 A CAUTION e Never touch the Option Unit 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 A CAUTION Do not carelessly change the Inverter s settings D
14. 21H Basic format of data transfer 32 byte mode 19 5 3 Communications Phases The SI T V7 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 Yy 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 yoo 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 V7 commands can be used Phase 2 starts to count the watchdog timer in the com munications frame The phase moves to phase 3 when a SYNC_SET command is received and it
15. 2385 Fax 852 2547 5773 BEIJING OFFICE Room No 301 Office Building of Beijing International Club 21 Jianguomenwai Avenue Beijing 100020 China Phone 86 10 6532 1850 Fax 86 10 6532 1851 TAIPEI OFFICE QF 16 Nanking E Rd Sec 3 Taipei Taiwan Phone 886 2 2502 5003 Fax 886 2 2505 1280 SHANGHAI YASKAWA TONGUJI M amp E CO LTD 27 Hui He Road Shanghai China 200437 Phone 86 21 6553 6060 Fax 86 21 5588 1190 BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO LTD 30 Xue Yuan Road Haidian Beijing P R China Post Code 100083 Phone 86 10 6233 2782 Fax 86 10 6232 1536 SHOUGANG MOTOMAN ROBOT CO LTD 7 Yongchang North Street Beijing Economic Technological Investment amp Development Area Beijing 100076 P R China Phone 86 10 6788 0551 Fax 86 10 6788 2878 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 regulations 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 03A for ongoing product modifications and improvements Printed in Japan January 2005 05 1 2005 YASKAWA ELECTRIC CORPORATION Al
16. 32 byte mode 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 Digital Operator to change settings Command alarm A 95 Ifnot in phase 2 Command alarm A 95 During an undervoltage fault Command alarm A 95 e If received as a main command in 32 byte mode 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 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 ified 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 E E a E AAM Ea DEVICE CODE DEVICE CODE 6 OFFSET OFFSET 7 SIZE SIZE Ka RA p 7 KA KE EA EA EA Ka 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
17. 8 7 MECHATROLINK II Commands E Clear Alarm or Warning ALM_CLR ALM CLR ALM CLR ALARM STATUS ALM CLR MOD ALM CLR MOD 7 i RDI The ALM_CLR command is used to clear the alarm and warning status ES A EE 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 If not in phase 2 or 3 Command alarm A 95 e If ALM _CLR_MOD is other than a set value Data setting alarm A 94 ae 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 communications mode and establish a connec tion After the connection is established the phase moves to phase 2 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
18. CN2 with the connector for the SI T V7 Unit CN2 7 Tighten the screw at position D to affix the SI T V7 Unit to the Inverter Unit The screw is already screwed in on the Inverter Unit 8 Return the Digital Operator and the front cover to their original positions Connector for SI T V7 Unit CN2 Modular plug CN10 u u Modular plug CN1 Mounting fixture EE DODOOOO Ground terminal ODD D ov0000 55 RAS S42 T43 UT NJ Grounding cable blue Gist AA To Inverter ground terminals Fig 1 Front of the Inverter Fig 2 Front of the SI T V7 Unit 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 mun cations Recommended cable JEPMC W603 O00 OD is the length m With USB male connector Install MECHATROLINK communications cables apart from main circuit wiring and other elec trical and power lines Connect the terminator model No JEPMC W6022 on the end of the communication lines Maximum
19. 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 arr ooo oe fof 0 oe or e e OR OB ee e OF Inverter M R xl Model Software Version The A and U portions of special Inverter models V7A and V7U 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 0 1 kW OP1 is shown 4 Indicates the SI T V7 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 ALARM o O E ER CONFIG MOD CONFIG MOD The CONFIG command are used to enable the data 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 Not required The setting value is enabled aft
20. LINK II when the 32 byte mode has been selected by a switch m No Operation NOP This is the format of No Operation sub command 37 E Read Parameter PRM_RD cs ooo i o S 19 NO NO PARAMETER an 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 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 Digital 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 w ooo i fo S 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 Digital Operator to change settings Command alarm A 95 e If 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 bet
21. ain circuit wiring and other power lines 4 1 Installing the SI T V7 Unit Use the following procedure to mount the SI T V7 Unit after removing the Inverter s Digital Operator and front cover Be sure to complete the wiring to the Inverter before installing the SI T V7 Unit because the terminals of the Inverter are hidden from view after the Unit is installed 1 Turn OFF the Inverter s main circuit power supply and wait one minute 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 3 Use nippers to cut off the cover of the Inverter s CN2 connector in the three places marked as A in Fig 1 Be careful that the covers do not fall into the Inverter Unit If pieces do fall in be sure to remove them 4 Align the mounting fixture with the C tab and use M3 x 8 SW screws to secure the fix ture B 5 Before installing the SI T V7 Unit on the Inverter connect the grounding cable to the grounding terminal as shown in Fig 2 Three types of grounding cables for various Inverter capacities are provided Connect the appropriate cable with a crimp terminal 6 When installing the SI T V7 Unit onto the Inverter Unit make sure that it is straight Align the modular plug CN10 of the SI T V7 Unit with the modular plug CN1 of the Inverter and connector
22. arried 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 MONI 2 SEL MONI1 2 Reference selected by Monitor selected by SEL REF1 SEL MONI Reference selected by Monitor selected by a ra 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 n035 The torque reference is used for both positive and negative values in units of 0 1 33 Table 3 Operation Signals a PReveseopaion a C K C Fault history trace clear F External BB command 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 REF1 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
23. e If COM_MOD is set out of range Data setting alarm A 94 e If COM_TIM is set out of range Data setting alarm A 94 e If SUBCMD is set to 1 in 17 byte mode Data setting alarm A 94 e If SUBCMD is set to 1 for Ver 1 0 VER 10H Data setting alarm A 94 If D6 D5 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 L G 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 Asynchronous communications Move to phase 2 1 Synchronous communications Move to phase 3 31 m Disconnection DISCONNECT DISCONNECT DISCONNECT Ea a EA ZA a La 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 c
24. er PRM_WR is executed 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 V7 the maximum number of writes to non volatile memory is 100 000 so do not use the CONFIG command too frequently 27 E Read Alarm or Warning ALM_RD 4 ALM RD ALM RD ALARM ne ALM RD MOD a 6 ALM DATA ei Ea WDT 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 e 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 specifications 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 ae Present fault byte 6 past fault byte 7 n178 Fault History 1 Fault history Alarms are not retained in the history 0 1 s n178 2 max bytes 6 and 7 2
25. 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 1 Overview 9 2 Checking the Product 10 2 1 Nameplate 10 2 2 Parts List 22 2 r cre ec terre rere reece 10 3 Component Names and Settings 11 3 1 Component Names 11 3 2 Communications Connectors CN2 11 3 3 LED Indicators 2 2 2 c crete cere eee 12 3 4 Switch Setting 13 4 Installation and Wiring 15 4 1 Installing the SI T V7 Unit 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 MECHATROLINK II Commands 23 7 1 Main Commands 23 7 2 Sub commamnds 37 7 3 Status Details 42 8 Protective Operations
26. fore starting communications between the Inverter and the MECHATROLINK master set the following constants as required No n003 Operation Digital Operator Method Selec tion Control circuit terminal MEMOBUS communications Communications Card optional Frequency Reference Selection Digital Operator Frequency reference 1 n024 Control circuit terminal 0 V to 10 V Control circuit terminal 4 mA to 20 mA Control circuit terminal 0 mA to 20 mA Pulse train MEMOBUS communications Digital Operator circuit terminal 0 to 10 V Digital Operator circuit terminal 4 to 20 mA Communications Card optional Oo ANI DNA HFPWN RK OJU Ne O If running or stopping the Inverter from MECHATROLINK set n003 to 3 If setting the frequency from MECHATROLINK set n004 to 9 For details refer to the VS 606 V7 Series Instruction Manual TOE S606 11 22 7 MECHATROLINK II Commands 7 MECHATROLINK I Commands 7 1 Main Commands 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 fa ia i 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
27. he maximum number of connectable stations changes depending 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 II 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 49 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover MANUAL NO SIBP C730600 03A Printed in Japan January 2005 05 1 Date of Date of original printing publication Date of a Revised Content January 2005 First edition VS mini V7 OPTION UNIT MECHATROLINK COMMUNICATIONS INTERFACE UNIT USER S MANUAL IRUMA BUSINESS 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 1 847 887 7000 Fax 1
28. ing of dara stopped hardware reset RX Searching for receiving carrier Notlit No receiving carrier found resetting hardware 12 3 Component Names and Settings 3 4 Switch Setting m DIP Switch The following table shows the SI T V7 Unit DIP switch settings 12 3 4 OFF Name Label Status Function Factory Setting S1 pa 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 V7 Units rotary switch settings OtoF Set the 1 s digit of the station number 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
29. l rights reserved 04 8 03 73029
30. mmands STATUS Field Bit Name iescription e Value Setting ALM Alarm status 0 Noaarm O o WARNG Warning status 0 Nowarning o as es N a eee E ene iret TT ore output from the Inverter or during baseblock I 4 PON Main power supply ON OFF during undervoltage 0 Main power supply OFF a ee ee pee erm ee ee ee Fault reset signal input or ee eee es 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 Lee ae 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 SUBSTATUS Field 18th Byte eae a ee ee ee ee ee ee D2 D1 o a SR EOS SE SUBALM Sub command alarm 1 D1 SUBWARNG_ Sub command warning i D2 SUBCMDRDY Sub command ready Sub command can be received I 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 V7 fault detection The SI T V7 is notified of Inverter faults by the internal interface and the SI T V7 sends the response data ALARM or STATUS The SI T V7 notifies Inverter of SI T V7 faults by the internal interface and the faults are simultaneou
31. 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 4 5 Transmission Interface Application Layer Specifications The data format for the application layer conforms to the MECHATROLINK II link com mand specifications The SI T V7 has the following main commands and sub commands Table 1 Main Commands meo Resi nmbes OoOO CONFIG RAM Write ENTER_CODE and EEPROM Write ENTER _ CODE Table 2 Sub commands PRN 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 modes for MECHATROLINK II and with MECHATROLINK I The sub commands can be used only when the 32 byte mode 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 command is already being processed the command being processed is given priority If an INV_CTL main com mand and an INV_I O sub command conflict the sub command overwrites the main com mand For details on command formats refer to Chapter 7 MECHATROLINK II Commands 21 6 Initial Setup Be
32. n If a fault is detected in the Inverter the SI T V7 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 V7 notification if a fault is detected in the Inverter Table 10 Inverter Alarm Codes Display oF 4H ae esH BOS Optonatiansmisontauk es SS serwormme OS Com o fe o E secon E E Cen e ee O 84H CPRO4 EEPROM fout ask GRE foume O Eam O eS O 2 Communications Communications optional model code fault model code fault an CPF23 Communications optional mutual diagnostic a T fault 47 Table 11 Inverter Warning Codes ALARM Digital Operator Description Display 01H Main circuit undervoltage 02H Overvoltage 03H Inverter overheat 05H OL3 Overtorque 1 External fault zat m owrovetiart E a E 41H Emergency stop Table 12 Causes and Countermeasures of Main Faults Displayed on VSmini V7 Digital Operator spay Cause Countermeasures Optional communi Communications are not E E with a the LED indicators Check the communications cations error the host controller cable wiring SI T WDT error There is no continuity in the WDT for data Execute DISCONNECT or ALM_CLR and then use sent by the host controller either the CONNECT or SYNC_SET command to move to phase 3 External fault from An external fault is being input from the Turn OFF the
33. nts 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 V7 Communications Fault Detection The following tables show the communications faults detected by the SI T V7 and the con ditions in which they can be detected Table 7 Reception Failures in Each Phase Communications Reception Failure m e a o presee ef CT OO Table 8 Alarm Code MECHATROLINK II Response ALARM Value 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 V7 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 Ifthe ERR indicator is not lit or flashing any commands that are received will be ignored 46 8 Protective Operations E Inverter Fault Notificatio
34. oing so can result in damage or faulty operation of devices Warranty Information E Free Warranty Period and Scope 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 where the customer is determined
35. 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 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
36. sly 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 SI T V7 Warning Illegal operation or minor fault not posing any immediate danger Inverter a MECHATROLINK I communications fault warning SL T V7 Fault Type SI T V7 Processing Direction of Reset LED2 Processing Communications ALARM Status i i 1 ceed No special processing fsa 1 Lit Notification to Inverter 0 gt Required lt 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 V7 provides notification of the most recent alarm with a MECHATROLINK response data If warnings occur simultaneously notification pri ority is given to the warning with the lowest warning code If alarms and warnings are mixed together the SI T V7 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 Conte
37. transmission distance is 50 m Minimum wiring distance between stations is 0 5 m m Communications Wiring Example The following diagram is an example of communications wiring around the Inverters SO R UO _ 3 phase power supply OO s V M 200 to 230 VAC SO T Ww Inverter 3 phase 200 VAC Ne a NC si t v7 0 1 kW SRD 4 SRD poi SRD H SRD MECHATROLINK ti controller SLD SLD NC SRD t SRD O7 SLD OE o If there are noise influences on communication remove the grounding cable Fig 3 Connection Diagram with VS mini 3 phase 200 VAC 0 1kW 17 5 Transmission Interface 5 1 MECHATROLINK II Cyclic Transmissions As a MECHATROLINK I MECHATROLINK II slave the SI T V7 exchanges control data and I 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 station 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 V7 Inverter MP230010 Slave SGDS Servo Slave
38. verter itself refer to the VS 606V7 Series Instruction Manual TOE S606 11 Yaskawa Electric Corporation 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 injury or damage to the equipment Failure
39. ween 2 and 8 User constant setting alarm A 94 e Data upper and lower limit fault User constant setting alarm A 94 39 m RAM Write ENTER_CODE EEPROM Write ENTER_CODE CONFIG o S EA Ea 23 Ea Peal 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 CONFIG 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 Ifnot in phase 2 or 3 Command fault A 95 E Read Alarm ALM_RD s p S 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 EA INV VO INV 1 0 17 SEL REF3 4 SEL REF3 4 SEL REF5 6 SEL REF5 6 21 SEL MON3 4 SEL MON3 4 SEL MON5 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 REFS5 SEL MONS 29 Reference selected by Monitor selected by SEL REF6 SEL MON6
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