YASKAWA Varispeed F7 User Manual
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YASKAWA Varispeed F7 User Manual

YASKAWA Varispeed F7 User Manual

Option card mechatrolink communications interface card
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Varispeed G7/F7 OPTION CARD
MECHATROLINK COMMUNICATIONS INTERFACE CARD
USER'S MANUAL
Model: SI-T
YASKAWA
YASKAWA
MANUAL NO. SIBP C730600 08A

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  • Page 1 YASKAWA Varispeed G7/F7 OPTION CARD MECHATROLINK COMMUNICATIONS INTERFACE CARD USER'S MANUAL Model: SI-T YASKAWA MANUAL NO. SIBP C730600 08A...
  • Page 2 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.

  • Page 3: Introduction

    • 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.

  • Page 4: Safety Precautions

    Safety Precautions 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- WARNING ous injury.

  • Page 5: Installation And Wiring

    Confirmations upon Delivery CAUTION • Never use an Option Card that is damaged or missing components. Doing so can result in injury. Installation and Wiring WARNING • Never touch the inside of the Inverter with your hands. Doing so can result in electric shock. •...

  • Page 6: Warranty Information

    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.

  • Page 7: Restrictions

    • 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.

  • Page 8: Table Of Contents

    CONTENTS Introduction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3 Safety Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4 Warranty Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6 Restrictions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7...
  • Page 9 9 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 50 Revision History...

  • Page 10: Overview

    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. Type and Code No. The following shows the type and code No. on the center of the SI-T Card.

  • Page 11: Parts List

    3 Component Names and Settings Parts List The SI-T Card contains the following parts. Parts Name SI-T Communications Interface Card Grounding cable (Already mounted on the SI-T Card) Instruction Manual (This manual) Component Names and Settings Component Names The following diagram shows the SI-T Card external appearance and component names. Rotary switch DIP switch Type...

  • Page 12: Communications Connectors

    Not used. 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...

  • Page 13: Switch Setting

    3 Component Names and Settings Switch Setting DIP Switch The following table shows the SI-T Card DIP switch settings. Name Label Status Function Factory Setting Baud rate S1-1 4 Mbps (MECHATROLINK-I) 10 Mbps (MECHATROLINK-II) Data length S1-2 17-byte data transmission (MECHATROLINK-I/ MECHATROLINK-II) 32-byte data transmission (MECHATROLINK-II) Station...
  • Page 14 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.

  • Page 15: Installation And Wiring

    4 Installation and Wiring Installation and Wiring WARNING • 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.
  • Page 16 Option A 4CN: Option A connector 2CN: Option C connector SI-T Card Option Clip (to secure option C or D) 3CN: Option D connector Control terminal Fig. 1 Installation of the SI-T Card...

  • Page 17: Mechatrolink Communications Cables

    4 Installation and Wiring MECHATROLINK Communications Cables Wiring Wire the MECHATROLINK communications cables to the communications connector (CN2). • For communications cables, use special shielded twisted-pair cables for MECHATROLINK com- IMPORTANT munications. Recommended cable: JEPMC-W603- is the length (m). With USB connector with core •...

  • Page 18: Transmission Interface

    Transmission Interface MECHATROLINK-II Cyclic Transmissions As a MECHATROLINK-I/MECHATROLINK-II slave, the SI-T 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 sta- tion address from the controller in each transmission cycle.

  • Page 19: Basic Format Of Data Transfer

    5 Transmission Interface Basic Format of Data Transfer The basic format for transferring data is as follows. 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.

  • Page 20: Communications Phases

    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 Phase 1 (Initial status) Connecting CONNECT command (Asynchronous communications)

  • Page 21: Application Layer Specifications

    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 has the following main commands and sub-commands. Table 1 Main Commands Name Function No Operation PRM_RD Reads Parameters. PRM_WR Writes Parameters.

  • Page 22: Initial Setup

    Initial Setup Before starting communications between the Inverter and the MECHATROLINK master, set the following constants as required. Constant Name Description Factory Setting B1-02 Run command 0: Digital Operator selection 1: Control circuit terminal 2: MEMOBUS communications 3: Communications Option Card (Optional) B1-01 Frequency reference 0: Digital Operator...

  • Page 23: Mechatrolink-Ii Commands

    7 MECHATROLINK-II Commands MECHATROLINK-II Commands Main Commands The format of the main commands are as follows. No Operation (NOP) Byte Command Response ALARM STATUS RWDT Only the ALARM and STATUS fields of the response data can be monitored. This command can be used in all phases.
  • Page 24 Read Parameter (PRM_RD) Byte Command Response PRM_RD PRM_RD ALARM STATUS SIZE SIZE PARAMETER RWDT 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.
  • Page 25 7 MECHATROLINK-II Commands Write Parameter (PRM_WR) Byte Command Response PRM_WR PRM_WR ALARM STATUS SIZE SIZE DATA DATA 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.
  • Page 26 Read ID (ID_RD) Byte Command Response ID_RD ID_RD ALARM STATUS DEVICE_CODE DEVICE_CODE OFFSET OFFSET SIZE SIZE RWDT 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.
  • Page 27 7 MECHATROLINK-II Commands Write RAM ENTER_CODE/Write EEPROM ENTER_CODE (CONFIG) Byte Command Response CONFIG CONFIG ALARM STATUS CONFIG_MOD CONFIG_MOD RWDT 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.
  • Page 28 Read Alarm or Warning (ALM_RD) Byte Command Response ALM_RD ALM_RD ALARM STATUS ALM_RD_MOD ALM_RD_MOD ALM_DATA RWDT The ALM_RD command is used to read the following information about the status of faults and alarms. • Present fault and alarm status list •...
  • Page 29 7 MECHATROLINK-II Commands Clear Alarm or Warning (ALM_CLR) Byte Command Response ALM_CLR ALM_CLR ALARM STATUS ALM_CLR_MOD ALM_CLR_MOD RWDT The ALM_CLR command is used to clear the alarm and warning status. 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.
  • Page 30 MECHATROLINK-II Connection (CONNECT) Byte Command Response CONNECT CONNECT ALARM STATUS COM_MOD COM_MOD COM_TIM COM_TIM RWDT 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 or 3. If a transfer fault is detected after moving to phase 2 or phase 3, notification is given of the fault.
  • Page 31 7 MECHATROLINK-II Commands • 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] ≤ COM_TIM ≤ 64 [ms] COM_TIM is multiplied by a factor of 2. In the following cases, a warning is generated and the command is ignored.
  • Page 32 Disconnection (DISCONNECT) Byte Command Response DISCONNECT DISCONNECT ALARM STATUS RWDT 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.
  • Page 33 7 MECHATROLINK-II Commands Inverter Control (INV_CTL) Byte Command Response INV_CTL INV_CTL ALARM Operation signals STATUS Speed reference Output frequency Torque reference Output current (torque limit) SEL REF1/2 SEL REF1/2 SEL MON1/2 SEL MON1/2 Reference selected by Monitor selected by SEL REF1 SEL MON1 Reference selected by Monitor selected by...
  • Page 34 Table 3 Operation Signals Description Remarks Forward operation Reverse operation INV multi-function terminal input 3 Default: External fault (EF3) INV multi-function terminal input 4 Default: Fault reset INV multi-function terminal input 5 Default: Multi-step speed reference 1 INV multi-function terminal input 6 Default: Multi-step speed reference 2 INV multi-function terminal input 7 Default: Jog command...
  • Page 35 7 MECHATROLINK-II Commands Table 5 SEL MON1/2 Selection Range MON1/2 Item Remarks Nothing selected. Output frequency According to o1-03. Torque reference (U1-09): 0.1 % Detected speed from PG counter. Frequency reference (U-01) According to o1-03. INV analog input A2 0.1 %. Main circuit current voltage: 1 V Inverter alarm Refer to the Inverter alarm code list.
  • Page 36 Start Synchronous Communications (SYNC_SET) Byte Command Response SYNC_SET SYNC_SET ALARM STATUS RWDT 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.

  • Page 37: Sub-Commands

    7 MECHATROLINK-II Commands 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. No Operation (NOP) Byte Command Response SUBSTATUS This is the format of No Operation sub-command.
  • Page 38 Read Parameter (PRM_RD) Byte Command Response PRM_RD PRM_RD SUBSTATUS SIZE SIZE PARAMETER 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.
  • Page 39 7 MECHATROLINK-II Commands Write Parameter (PRM_WR) Byte Command Response PRM_WR PRM_WR SUBSTATUS SIZE SIZE PARAMETER PARAMETER 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.
  • Page 40 RAM Write ENTER_CODE/EEPROM Write ENTER_CODE (CONFIG) Byte Command Response CONFIG CONFIG SUBSTATUS CONFIG_MOD CONFIG_MOD 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.
  • Page 41 7 MECHATROLINK-II Commands Inverter I/O Control (INV_I/O) Byte Sub-Command Response INV_I/O INV_I/O SUBSTATUS SEL REF3/4 SEL REF3/4 SEL REF5/6 SEL REF5/6 SEL MON3/4 SEL MON3/4 SEL MON5/6 SEL MON5/6 Reference selected by Monitor selected by SEL REF3. SEL MON3. Reference selected by Monitor selected by SEL REF4.

  • Page 42: Status Details

    Status Details This section describes the STATUS field for main commands and the SUBSTATUS field for sub-commands. STATUS Field Name Description Value Setting Alarm status No alarm Alarm (fault) WARNG Warning status No warning Warning CMDRDY Command ready Busy Ready BB OFF Baseblock OFF (OFF when output voltage is being Baseblock ON...
  • Page 43 7 MECHATROLINK-II Commands SUBSTATUS Field 18th Byte − − − − − SUBCMDRDY SUBWARNG SUBALM Name Description Value Setting SUBALM Sub-command alarm No alarm Alarm SUBWARNG Sub-command warning No warning Warning SUBCMDRDY Sub-command ready Busy (Sub-command can be received.) Ready Note: D3 to D7 are not used.

  • Page 44: Protective Operations

    Protective Operations 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.

  • Page 45: Alarm Processing

    8 Protective Operations Table 6 Response Data for Consecutive Alarms and/or Warnings Fault Detection MECHATROLINK-II Response Data Contents Previous Most Recent Alarm STATUS Value Value WARNG Alarm Alarm Most recent alarm code Alarm Warning Most recent alarm code Warning Alarm Most recent alarm code Warning Warning...
  • Page 46 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. ALARM Description Fault Type Operation when Fault Occurs Data setting warning Communications warning Received commands are ignored. Command warning Communications warning Received commands are ignored.
  • Page 47 8 Protective Operations 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.
  • Page 48 Table 10 Inverter Alarm Codes (cont’d) ALARM Operator Description Display Undertorque detected 2 High-slip braking OL × External fault 9 × EF10 External fault 10 × EF11 External fault 11 × EF12 External fault 12 × Main circuit capacitor neutral point potential error CPF02 Baseblock circuit error CPF03...
  • Page 49 8 Protective Operations Table 11 Inverter Warning Codes (cont’d) ALARM Operator Description Display Motor overheat Inverter overheat External fault detected for communications board other than SI-K2 RUNC Reset during run command input error PID feedback reference lost CALL Communications on standby Undertorque 1 Undertorque 2 Motor overheating 1...

  • Page 50: Specifications

    Specifications Item Requirements Baud rate 4 Mbps or 10 Mbps Access mode Start-stop synchronization, master/slave method Transmission cycle 500 µs to 8 ms Maximum transmission 50 m distance Data length 17-byte data transmission or 32-byte data transmission Maximum number of *4 *5 slaves Operating Power Supply...

  • Page 51: Revision History

    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 Revision number Date of Date of original printing publication Rev.
  • Page 52 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...

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