YASKAWA AC Drive-Option Card CANopen Installation Manual
Contents
1. 1010 Store Parameters 1011 Restore Default Parameters 1014 COB ID Emergency Object 1016 Consumer Heartbeat Time 1017 Producer Heartbeat Time 1018 Identity Object YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 23 7 Communication Objects Overview Manufacturer Specific Objects DS 301 Index Hex 2000 Operation Command 2010 Speed Command 2020 Torque Limit 2030 Torque Compensation 2040 MEMOBUS Modbus Read Command 2050 MEMOBUS Modbus Write Command 2060 MEMOBUS Modbus Not Limited Enter Command 2070 MEMOBUS Modbus Limited Enter Command 2100 Drive Status 2110 Output Frequency 2120 Output Current 2130 Output Torque 2140 MEMOBUS Modbus Read Command Response 2150 MEMOBUS Modbus Write Command Response 2160 MEMOBUS Modbus Not Limited Enter Command Response 2200 Motor Speed 24 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 7 Communication Objects Overview Drives and Motion Profile DSP 402 The drive supports the Drive and Motion Profile DSP 402 Velocity Mode Before using the Velocity Mode objects the following parameters have to be set up in the drive The motor pole number must be set up in E2 04 The frequency reference and output frequency display unit has to be set to r min by setting parameter 01 03 2 If these2. MEMOBUS Modbus communications 3 Option card Motor 1 Motor Poles Set the number of motor poles described on the motor nameplate 2 to 48 Operation Selection after Communications Error Determines drive response when a bUS error is detected during communications with the CANopen Option 0 Ramp to Stop 1 Coast to Stop 2 Fast Stop 3 Alarm Only lt 3 gt External Fault Detection Conditions EFO Sets the condition for external fault detection EFO 0 Always detected 1 Detected only during operation Stopping Method for External Fault from Communication Option Board Determines drive response for external fault input EFO detection during CANopen communication 0 Ramp to Stop 1 Coast to Stop Fast Stop Alarm Only lt 3 gt Torque Reference Torque Limit selection from Communications Option Torque reference torque limit via network communications are disabled Torque reference torque limit via network communications are enabled lt 5 gt NetRef ComRef Selection Function Multi step speed reference disabled F7 mode Multi step speed reference allowed V7 mode YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 21 6 CANopen Option Drive Parameters Description Default Determines if communication related parameters are set back to their original default values when the drive is initialized 0 Do not rese
3. and maintenance of this product 14 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 5 Installation Procedure Electrical Shock Hazard Do not touch the option card while the power supply to the drive is switched on Failure to comply could result in death or serious injury Do not use damaged wires place excessive stress on wiring or damage the wire insulation Failure to comply could result in death or serious injury NOTICE Damage to Equipment Observe proper electrostatic discharge procedures ESD when handling the option card drive and circuit boards Failure to comply may result in ESD damage to circuitry Never shut the power off while the drive is outputting voltage Failure to comply may cause the application to operate incorrectly or damage the drive Do not operate damaged equipment Failure to comply may cause further damage to the equipment Do not connect or operate any equipment with visible damage or missing parts Tighten all terminal screws to the specified tightening torque Loose electrical connections could result in death or serious injury by fire due to overheating of electrical connections Do not use unshielded cable for control wiring Failure to comply may cause electrical interference resulting in poor system performance Use shielded twisted pair wires and ground the shield to the ground terminal of the drive YASKAWA ELECTRIC TOBP C73060
4. 1 2140 subl assigned 1828 bindex 1 2150 subl Not assigned 1816 Not assigned 1817 Not assigned 1818 Not assigned 1819 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 27 8 Fault Diagnosis and Possible Solutions 8 Fault Diagnosis and Possible Solutions Drive Side Error Codes Drive side error codes appear on the drives digital operator Causes of the errors and corrective actions are listed in Table 5 and Table 6 For additional error codes refer to the technical manual for the drive bUS CANopen Option Communication Error and EFO External Fault Input from the CANopen Option may appear as an alarm or a fault If they occur as an alarm the ALM LED on the drive digital operator blinks and the alarm code flashes in the display When they occur as a fault the ALM LED lights and the display shows the fault code If communication stops while the drive is running check the following items e Is the CANopen Option properly installed e Is the communication line properly connected to the CANopen Option Is it loose e Is the controller program working Has the controller CPU stopped Did a momentary power loss interrupt communications m Faults Table 5 lists up possible faults when using a communication option board The drives fault contact will close in case that one of these faults occu
5. 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 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 for ongoing product modifications and improvements 2008 YASKAWA ELECTRIC CORPORATION All rights reserved MANUAL NO TOBP C730600 45A Published in Japan July 2008 08 7 08 5 3
6. avoided could result in death or serious injury Indicates a hazardous situation which if not avoided could result in minor or moderate injury NOTICE Indicates an equipment damage message YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 7 1 Preface and Safety m General Safety General Precautions The diagrams in this section may include drives without covers or safety shields to illustrate details Be sure to reinstall covers or shields before operating any devices The option board should be used according to the instructions described in this manual Any illustrations photographs or examples used in this manual are provided as examples only and may not apply to all products to which this manual is applicable The products and specifications described in this manual or the content and presentation of the manual may be changed without notice to improve the product and or the manual When ordering a new copy of the manual due to damage or loss contact your Yaskawa representative or the nearest Yaskawa sales office and provide the manual number shown on the front cover A DANGER Heed the safety messages in this manual Failure to comply will result in death or serious injury The operating company is responsible for any injuries or equipment damage resulting from failure to heed the warnings in this manual NOTICE Do not expose the drive to halogen group d
7. damaged Operator Display gt Replace the drive if the fault continues to occur Minor Fault Name EEP EEPROM Error EEPROM checksum error Possible Solution EEPROM checksum error If these errors occur the object dictionary will be reset to its default values gt After the object dictionary has been changed and object dictionary contents are then changed execute a Store Parameter command Index 1010H gt If the object dictionary has not been changed execute a Restore Parameter command Index 1011H YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 31 9 Specifications 9 Specifications Specifications Table 7 Option Card Specifications Specifications Model SI S3 DS 301 Ver 4 02 DSP 402 Ver 1 1 Velocity Mode Connector 9 pin D sub connector 4 40 UNC thread Communications Speed 10 kbps to 1 Mbps Ambient Temperature 10 C to 50 C Humidity up to 95 RH no condensation Communication Profile Storage Temperature 20 C to 60 C allowed for short term transport of the product Area of Use Indoor free of corrosive gas airborne particles etc Altitude up to 1000 m Revision History The revision dates and the numbers of the revised manuals appear on the bottom of the back cover MANUAL NO TOBP C730600 45A Published in Japan July 2008 08 7 Date of Date o
8. 0 45A YASKAWA AC Drive Option Card CANopen Installation Manual 15 5 Installation Procedure NOTICE Damage to Equipment Properly connect all pins and connectors Failure to comply may prevent proper operation and possibly damage equipment Check wiring to ensure that all connections are correct after installing the option card and connecting any other devices Failure to comply may result in damage to the option card Wiring the Network Cable Connectors The CANopen option must be connected to the network using a 9 pin D sub connector wired like shown in Figure 3 D sub Connector lt 1 gt The FE terminal on the CANopen Option must be connected to the drive ground terminal using the delivered ground wire Figure 3 Wiring Diagram 16 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 5 Installation Procedure Network Termination Both ends of a CANopen network have to be terminated with a 120 Q resistor As the CANopen Option has no build in termination resistor make sure to apply a termination resistor as shown in Figure 4 if the CANopen Option is the last node in the network CANopen Cable CANopen Cable Connector Li D sub Connector For the last node on the network apply a terminating resister lt 1 gt The FE terminal on the CANopen Option must be connected to the drive ground terminal using the delivered ground wire Figure 4 Terminat
9. Communication connector 9 pin D sub CANopen Connector i Signal Description CAN_L CAN _L bus line dominant low CAN_GND CAN Ground CAN_SHLD CAN shield CAN_H CAN_H bus line dominant high OL OlPryI NA nT wl N CAN_SHLD CAN shield l CANopen Option LED Display The CANopen Option has two LEDs that indicate the option card or communication status The indications are conform with the DS303 Part 3 Indicator Specification m Checking LED Operation Table 3 LED Display Display Meaning On Operational State Blinking Pre operational State Single flash Stopped On Bus off Blinking Bus initialization failed parameter setting error Fault has occurred Receiving CAN error frame too many error frames Single flash Double flash Guard Heartbeat event has occurred Off Online 12 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 4 CANopen Option Components Figure 2 explains the indicator flash rates ERR Blinking RUN ERR Single flash RUN Double flash ERR Figure 2 LED Flash Rates and Meaning Setting Node Address Set the node address in the drive parameter F6 35 The node address can be set between 1 and 126 but has to be unique in the network If the node address is set to 0 then the ERR light will flash and AEr will appear on the keypad scr
10. YASKAWA YASKAWA AC Drive Option Card CANopen Installation Manual Type SI S3 To properly use the product read this manual thoroughly and retain for easy reference inspection and maintenance Ensure the end user receives this manual SNH TIP CANopen if Pines xt SI S3 ARRE SRE SHC CORA DAMIAN Fi ADENTRA CINE EAS ARRANCAR ATREA ID ROBSFTICHRICBIISNSKS BMOAtSLBVET MANUAL NO TOBP C730600 45A This Page Intentionally Blank Table of Contents 1 PREFACE AND SAFETY cuicos ii 5 2 PRODUCT OVERVIEW o oocoooccocoooo 9 3 RECEIVING area taverns ana area heave a eatgieca 10 4 CANOPEN OPTION COMPONENTS 11 5 INSTALLATION PROCEDURE 000005 14 6 CANOPEN OPTION DRIVE PARAMETERS 21 7 COMMUNICATION OBJECTS OVERVIEW 23 8 FAULT DIAGNOSIS AND POSSIBLE SOLUTIONS 28 9 SPECIFICATIONS 5 ici isd ees Sada a de ake ad ae 32 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 3 Copyright O 2008 YASKAWA ELECTRIC CORPORATION All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of Yaskawa No patent liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is co
11. an analog input option AI A3 or a digital input option DI A3 or a communication option card Never use two of these cards at the same time 30 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 8 Fault Diagnosis and Possible Solutions E Minor Faults and Alarms Table 6 lists up alarms that might occur during operation using a communication option board If a multi function digital output of the drive is programmed for H2 O0 10 the output will close if these alarms occur Table 6 Alarm Codes and Possible Solutions Digital Operator Display Minor Fault Name Her AEr Setting Address Error CANopen Option is set to an address outside the allowable setting range Cause Possible Solution Address outside the specified address range Digital Operator Display gt Set F6 35 to an address within the specified range Minor Fault Name rors LALL CALL Serial Communication Transmission Error Communication has not yet been established Cause Possible Solution Communication wiring is faulty there is a short circuit or something is not connected properly Check for wiring errors gt Correct the wiring Remove and ground shorts and reconnect loose wires Programming error on the master side gt Check communications at start up and correct programming errors SI S3 has no self check function Communication circuitry is
12. ding on the control mode selection For details refer to the technical manual of the drive the option card is used with lt 5 gt If the drive is set to receive the torque reference limit from the network F6 06 1 make sure the value is set appropriately by the controller If no torque reference limit value is entered the motor will not produce torque lt 6 gt Power must be cycled in order for any setting changes to take affect lt 7 gt All node addresses must be unique If a node address is set to 0 then the ERR light will flash and AEr will appear on the keypad screen to indicate that an address setting error has occurred lt 8 gt Changing 01 03 changes the units for input object 2010H frequency reference output object 2110H output frequency and 2200H motor speed 22 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 7 Communication Objects Overview 7 Communication Objects Overview The following tables list up the communication objects supported by the CANopen option card For details about the object content refer to the CANopen Option Technical Manual Communication Objects DS 301 Index Hex 1000 Device Type 1001 Error Register 1003 Pre defined Error Field 1005 COB ID SYNC Message 1008 Manufacturer Device Name 1009 Manufacturer Hardware Version 100A Manufacturer Software Version 100C Guard Time 100D Life Time Factor 100E Node Guarding Identifier
13. een to indicate that an address setting error has occurred YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 13 5 Installation Procedure 5 Installation Procedure Section Safety A DANGER Electric Shock Hazard Power to the drive must be shut off when installing this option card Even though the power has been shut off voltage still remains in the drive s DC bus Wait before removing the front cover once the drive has been turned off The CHARGE light on the drive will go out after voltage in the DC bus drops below 50 V at which point it is safe to remove the front cover Due to the risk of electric shock be sure that all LEDs have gone out and that the DC bus voltage has reached a safe level prior to performing any work on the drive Electrical Shock Hazard Do not remove the front cover of the drive while the power is on Failure to comply could result in death or serious injury The diagrams in this section may include drives without covers or safety shields to show details Be sure to reinstall covers or shields before operating any devices The option board should be used according to the instructions described in this manual Do not allow unqualified personnel to use equipment Failure to comply could result in death or serious injury Maintenance inspection and replacement of parts must be performed only by authorized personnel familiar with installation adjustment
14. f original publication publication Date of Revision Publication Number July 2008 First Edition Section Revised Content 32 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual YASKAWA AC Drive Option Card CANopen Installation 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 1 847 887 7000 Fax 1 847 887 7370 YASKAWA ELETRICO DO BRASIL LTDA Avenida Fagundes Filho 620 Sao Paulo SP CEP 04304 000 Brazil Phone 55 11 3585 1100 Fax 55 11 5581 8795 YASKAWA ELECTRIC EUROPE GmbH HauptstraBe 185 65760 Eschborn Germany Phone 49 6196 569 300 Fax 49 6196 569 398 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
15. igned 07 Subindex 2 6060 1607 Not assigned 1414 Subimdex 16048 sub 1614 Subindex 2 6048 sub2 j Subindex 1 6049 sub1 Not assigned 145 Subindex 2 6049 sub2 1615 Subindex 1 604A subl Not assigned Subindex 2 604A sub2 1616 A Subindex 1 604C subl Not assigned 7 Subindex 2 604C sub2 1617 Not assigned Subindex 1 2000 1623 Not assigned Subindex 1 2010 1624 Not assigned Subindex 1 2020 1625 Not assigned Subindex 1 2030 1626 Not assigned Subindex 1 2040 sub1 1627 Not assigned Subindex 1 2050 sub1 1628 26 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 7 Communication Objects Overview E Transmit PDO PDO Transmit PDO Parameter Transmit PDO Mapping number COB ID Hex Index Hex Mapped objects Hex Index Hex 180 Node ID 1800 Subindex 1 6041 1A00 Subindex 1 604 280 Node ID 1801 Subindex 2 606 1A01 X Subindex 1 604 Not assigned 1805 Subindex 2 604 1A05 K Subindex 1 604 Not assigned 1806 Subindex 2 60F 1A06 Not assigned 1814 bindex 1 604 Not assigned 1815 bindex 1 6043 bindex 1 6048 subl bindex 2 6048 sub2 bindex 1 6049 subl bindex 2 6049 sub2 bindex 1 604A subl bindex 2 604A sub2 bindex 1 604C subl bindex 2 604C sub2 assigned 1823 bindex 1 2100 assigned 1824 bindex 1 2110 assigned 1825 bindex 1 2120 assigned 1826 bindex 1 2130 assigned 1827 bindex
16. ion Resistor Installation Prior to Installing the Option Card Prior to installing the CANopen Option wire the drive and make necessary connections to the drive terminals For more information on wiring and connecting the drive refer to the technical manual for the drive the CANopen option card is connected to Verify that the drive runs normally without the option installed YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 17 5 Installation Procedure Installing the Option Card 1 Shutoff power to the drive wait the appropriate amount of time for voltage to dissipate then remove the operator and front cover Refer to the drive technical manual for direction on removing the front cover 2 Insert the CN5 connector on the option card into the CN5 A connector on the drive then fasten it into place using one of the screws included with the option card Connect the ground lead line to the ground terminal using one of the screws delivered with the option card Note There are only two screw holes on the drive for ground terminals If three option cards are connected two of the lead lines will need to share the same ground terminal A Connector CN5 C G Lead line B Connector CN5 B H Use wire cutters to create an opening for cable lines C Connector CN5 A Operator D Drive grounding terminal FE J LED
17. isinfectants Failure to comply may cause damage to the electrical components in the option card Do not pack the drive in wooden materials that have been fumigated or sterilized Do not sterilize the entire package after the product is packed Do not modify the drive circuitry Failure to comply could result in damage to the drive and will void warranty YASKAWA is not responsible for any modification of the product made by the user This product must not be modified 8 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 2 Product Overview 2 Product Overview About This Product The CANopen Option Card Model SI S3 is an option card designed to connect the Yaskawa AC drive to a CANopen network Using this option card a CANopen master can e Operate the drive e Monitor the drive operation status Read or modify drive parameters The CANopen Option supports the following communication profiles DS 301 Ver 4 02 DSP 402 Ver 1 1 Velocity Mode YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 9 3 Receiving 3 Receiving Please perform the following tasks after receiving the CANopen Option Inspect the CANopen Option for damage If the CANopen Option appears damaged upon receipt contact the shipper immediately e Verify receipt of the correct model by checking the information on the PCB see Figure 1 e Ifyou have received
18. l fault is being sent from the upper controller PLC Remove the cause of the external fault gt Reset the external fault input from the upper controller PLC device Problem with the upper controller PLC program Digital Operator Display gt Check the program used by the upper controller PLC and make the appropriate corrections Fault Name oFA00 conmn o nuU Option Card Fault at Connector CN5 A The drive dose not support the option board plugged into port CN5 A Cause Possible Solution Non compatible option connected to the drive Digital Operator Display gt Check the drive option board compatibility Replace the option card if the fault persists even though the drive should support it Fault Name oFA01 Option Card Fault at Connector CNS A Option card is not properly connected Possible Solution Problem with the connectors between the drive and CANopen Option Digital Operator Display gt Turn the power off and check the connectors between the drive and CANopen Option Fault Name oFA30 to oFA43 7 ore Option Card Fault at Connector CNS A Communication ID error Cause Possible Solution Option card hardware fault gt Replace the CANopen Option Contact Yaskawa for assistance YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 29 8 Fault Diagnosis and Possible Sol
19. label E Insert connector CN5 here K Front cover F Option card Figure 5 Installing the Option Card 18 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 5 Installation Procedure 4 5 Note 7 Prepare network cable connectors like explained in Figure 3 on page 16 Apply a termination resistor like explained in Figure 4 on page 17 if the drive is the last node in the network In the drives CIMR AO2A0004 to 0040 and 4A0002 to 0023 the network cable must be routed to the outside through the drive top cover Use a pair of wire cutters to cut out the perforated openings at the left side of the top cover Make sure no sharp edges that can damage the cable remain Drives 2A0056 to 0211 4A0031 to 0165 have enough space to keep all wiring inside the unit A Opening for cable lines B Space for wiring CIMR AO2A0004 to 0040 440002 CIMR AO2A0056 to 0211 4A0031 to 0023 to 0165 Figure 6 Wiring space Plug in the network cable connector and fix it using the screws at the side of connector Place the front cover back onto the drive as it was before 1 Take care when wiring the option card so that the front cover easily fits back onto the drive 2 Install Cable Cover option to maintain the drive Enclosure Type Attach the LED label packaged with the option card as shown in Figure 5 Switch on the drive power supply An AEFr Alarm message indicating
20. mation on parameter settings and how to tune the drive A Quick Start Guide is included with the drive For the more detailed Technical Manual visit Yaskawa s homepage Europe http www yaskawa eu com Japan http www e mechatronics com Other areas contact a Yaskawa representative Terms Note Indicates supplementary information that Yaskawa highly recommends be followed even though equipment may not be at risk CANopen Option Yaskawa AC Drive SI S3 CANopen option card Registered Trademarks e CANopen is a registered trademark of the CAN in Automation CiA e Other company names and product names listed in this manual are registered trademarks of those companies 6 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 1 Preface and Safety Supplemental Safety Information Read and understand this manual before installing operating or servicing this option card The option card must be installed according to this manual and local codes The following conventions are used to indicate safety messages in this manual Failure to heed these messages could result in serious or possibly even fatal injury or damage to the products or to related equipment and systems A DANGER Indicates a hazardous situation which if not avoided will result in death or serious injury Indicates a hazardous situation which if not
21. nstantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Yaskawa assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication 4 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 1 Preface and Safety 1 Preface and Safety Yaskawa manufactures products used as components in a wide variety of industrial systems and equipment The selection and application of Yaskawa products remain the responsibility of the equipment manufacturer or end user Yaskawa accepts no responsibility for the way its products are incorporated into the final system design Under no circumstances should any Yaskawa product be incorporated into any product or design as the exclusive or sole safety control Without exception all controls should be designed to detect faults dynamically and fail safely under all circumstances All systems or equipment designed to incorporate a product manufactured by Yaskawa must be supplied to the end user with appropriate warnings and instructions as to the safe use and operation of that part Any warnings provided by Yaskawa must be promptly provided to the end user Yaskawa offers an express warranty only as to the quality of its products in conforming to s
22. rs Table 5 Fault Display and Possible Solutions Digital Operator Display Fault Name CANopen Option Communication Error bUS After establishing initial communication the connection was lost Only detected when the run command or frequency reference is assigned to the option b1 01 3 or b1 02 3 Cause Possible Solution Master controller PLC has stopped communicating Check for faulty wiring Communication cable is not connected gt Correct any wiring problems properly Check the various options available to minimize the effects of noise gt Take steps to counteract noise in the control circuit wiring main circuit lines and ground wiring A data error occurred due to noise gt Ifa magnetic contactor is identified as a source of noise install a surge absorber to the contactor coil gt Make sure the cable used fulfills the CANopen requirements Ground the shield on the controller side and on the CANopen Option side gt If there are no problems with the wiring and the error continues to occur CANopen Option is damaged replace the CANopen Option 28 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual Digital Operator Display 8 Fault Diagnosis and Possible Solutions Fault Name EFO External Fault Input from CANopen Option The alarm function for an external device has been triggered Possible Solution An externa
23. settings are not done properly the Velocity Mode objects can not be used or deliver wrong data m Common Entries Index Hex 60FD Digital Inputs lt gt 60FE Digital Outputs lt 2 gt lt 1 gt YASKAWA specifies this object as the drive digital output monitor Input from the network lt 2 gt YASKAWA specifies this object as the drive digital inputs Output to the network m Device Control Index Hex 6040 Controlword 6041 Statusword 6061 Modes of operation display m Velocity Mode Index Hex 6042 vl target velocity 6043 vl velocity demand 6044 vl control effort 6046 vl velocity min max amount 6048 vl velocity acceleration 6049 vl velocity deceleration 604A vl velocity quick stop 604C vl dimension factor 604D vl pole number YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 25 7 Communication Objects Overview PDO Mapping The drive supports 15 Receive and 16 Transmit PDO s The tables below show the default PDO Mapping m Receive PDO PDO Receive PDO Parameter Receive PDO Mapping number COB ID Hex Index Hex Mapped objects Hex Index Hex 200 Node ID 00 Subindex 1 6040 1600 Subindex 1 6040 300 Node ID 01 Subindex 2 6060 1601 Subindex 1 6040 Not assigned 05 Subindex 2 6042 1605 Subindex 1 6040 Not assigned o9 Subindex 2 60FE subl 1606 Subindex 1 6040 Not ass
24. t F6 O0 and F7 00 parameters when the drive is initialized using parameter A1 03 Reset Communication 1 Rest F6 O10 and F7 OO parameters when the Related Parameters drive is initialized using parameter A1 03 Note Setting this parameter does not affect communication related parameters Setting this parameter only determines if communication related parameters F6 O10 and F7 O1D are also reset when A1 03 is used to initialize the drive Node Address 0 to 126 Disabled 10 kbps 20 kbps 50 kbps 125 kbps 250 kbps 500 kbps 800 kbps 1 Mbps Sets the units to display the frequency reference and output frequency 0 0 01 Hz 1 0 01 100 E1 04 2 r min enter the number of motor poles into E2 04 E4 04 E5 04 3 User defined by parameters 01 10 and o1 11 Communication Speed CIDNRWNHOD Digital Operator Display Selection lt 1 gt To start and stop the drive from a CANopen master device using serial communications set b1 02 to 3 To control the frequency reference of the drive via the master device set b1 01 to 3 lt 2 gt E2 04 is necessary to set up when the Drive Profile DSP402 objects are used lt 3 gt If set to 3 then the drive will continue to operate when an EFO fault is detected Take proper safety measures such as installing an emergency stop switch lt 4 gt This parameter might not appear in certain drives Furthermore its availability is limited to depen
25. tandards and specifications published in the Yaskawa manual NO OTHER WARRANTY EXPRESS OR IMPLIED IS OFFERED Yaskawa assumes no liability for any personal injury property damage losses or claims arising from misapplication of its products Applicable Documentation The following manuals are available for SI S3 CANopen Option card Option Card YASKAWA AC Drive Option Card CANopen Installation Manual this book Manual No TOBPC73060045 Read this manual first The installation manual is packaged with the CANopen Option and contains a basic overview of wiring settings functions and fault diagnoses YASKAWA AC Drive Option Card CANopen Technical Manual Manual No SIEPC73060045 The technical manual contains detailed information To obtain the technical manual access these sites Europe http www yaskawa eu com Japan http www e mechatronics com Other areas contact a Yaskawa representative YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 5 1 Preface and Safety For the drive setup refer to one of the documentation listed below Yaskawa Drive Refer to the manual of the drive this option card is being used with The instruction manual for the drive covers basic installation wiring operation procedures functions troubleshooting and maintenance information It also includes important infor
26. that the node address is set to 0 will appear on the display Set the node address in parameter F6 35 Set the communication speed in parameter F6 36 Cycle the power supply to activate the changed settings Installation completed YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 19 5 Installation Procedure Communication Cable Specifications To ensure proper performance Yaskawa recommends using CANopen dedicated communication cables only EDS Files For easy network implementation of drives equipped with a CANopen Option an EDS file can be obtained from Europe http www yaskawa eu com Japan http www e mechatronics com Other areas contact a Yaskawa representative 20 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 6 CANopen Option Drive Parameters 6 CANopen Option Drive Parameters Confirm the proper setting of all parameters in Table 4 before starting network communications Table 4 Parameter Settings Description Default Frequency Reference Selection Selects the frequency reference input source 0 Operator Digital preset speed d1 01 to d1 17 1 Terminals Analog input terminals 2 MEMOBUS Modbus communications 3 Option card 4 Pulse Input Terminal RP Run Command Selection Selects the run command input source 0 Digital Operator RUN and STOP keys 1 Digital input terminals SO 2
27. the wrong model or the CANopen Option does not function properly contact your supplier Contents and Packaging Table 1 Contents of Package Description Option Card LED Label een MANUAL ERROO RUN oo Quantity Tool Requirements A Phillips screwdriver PH1 1 or PH2 2 is required to install the CANopen option card Note Tools required to prepare CANopen cables for wiring are not listed in this manual 10 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 4 CANopen Option Components 4 CANopen Option Components CANopen Option A OOOO Underside O nE gt ale Looking from the connector B C F A Communication cable connector E LED RUN 9 pin D sub F LED ERR B Ground terminal G Connector CN5 installation hole C Model number D Installation hole Figure 1 Option Card For details on the LEDs Refer to CANopen Option LED Display on page 12 YASKAWA ELECTRIC TOBP C730600 45A YASKAWA AC Drive Option Card CANopen Installation Manual 11 4 CANopen Option Components Communication connector The CANopen Option is connected to the network using a 9 pin D sub connector The pin assignment is explained in Table 2 Table 2
28. utions Digital Operator Display Fault Name ELA DLL oFb00 Option Card Fault at Connector CN5 B Non compatible option card is connected Cause Possible Solution The CANopen option card has been plugged into option port CN5 B Digital Operator Display gt Always use option port CN5 A for communication option cards Fault Name reno TOUI oFb02 Option Card Fault at Connector CN5 B Two of the same option cards are connected at the same time Cause Possible Solution Two or more input option cards analog digital or communication have been connected to the drive at the same time Digital Operator Display gt Use either an analog input option AI A3 or a digital input option DI A3 or a communication option card Never use two of these cards at the same time Fault Name oFc00 Option Card Fault at Connector CNS C Non compatible option card is connected Cause Possible Solution The CANopen option card has been plugged into option port CNS5 C Digital Operator Display gt Always use option port CN5 A for communication option cards Fault Name oFc02 Option Card Fault at Connector CNS C Two of the same option cards are connected at the same time Possible Solution Two or more input option cards analog digital or communication have been connected to the drive at the same time gt Use either
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