Yaskawa Network Comms-DeviceNet Manual
Below you will find brief information for DeviceNet Option V7 CIMR-V7AM. This option allows you to connect your Yaskawa V7 drive to a DeviceNet network, facilitating data exchange between the drive and your control system. This enables advanced functionality such as remote monitoring, fault detection, and more.
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CM013 V7 DeviceNet™ Option
Technical Manual
Document Number: TM.V7.16
Models: CIMR-V7AM* (software versions 8340 and 8350 only)
Warnings and Cautions
WARNING
YASKAWA manufactures component parts that can be used in a wide variety of industrial applications. The selection and application of
YASKAWA products remain the responsibility of the equipment designer or end user. YASKAWA accepts no responsibility for the way its products are incorporated into the final system design. Under no circumstances should any YASKAWA product be incorporated into any product or design as the exclusive or sole safety control. Without exception, all controls should be designed to detect faults dynamically and to fail safely under all circumstances. All products designed to incorporate a component part manufactured by YASKAWA must be supplied to the end user with appropriate warnings and instructions as to that part’s safe use and operation. Any warnings provided by YASKAWA must be promptly provided to the end user. YASKAWA offers an express warranty only as to the quality of its products in conforming to standards and specifications published in the 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.
WARNING
Read and understand this manual before installing, operating, or servicing this drive. All warnings, cautions, and instructions must be followed. All activity must be performed by qualified personnel. The drive must be installed according to this manual and local codes.
Do not connect or disconnect wiring while the power is on. Do not remove covers or touch circuit boards while the power is on. Do not remove or insert the digital operator while power is on.
Before servicing, disconnect all power to the equipment. The internal capacitor remains charged even after the power supply is turned off. Status indicator LEDs and Digital Operator display will be extinguished when the DC bus voltage is below 50VDC. To prevent electric shock, wait at least 5 minutes after all indicators are OFF and measure the DC bus voltage level to confirm that it is at a safe level.
Do not perform a withstand voltage test on any part of the unit. This equipment uses sensitive devices and may be damaged by high voltage.
The drive is not suitable for circuits capable of delivering more than the specified RMS symmetrical amperes. Install adequate branch short circuit protection per applicable codes. Refer to the specification. Failure to do so may result in equipment damage and/or personal injury.
Do not connect unapproved LC or RC interference suppression filters, capacitors, or overvoltage protection devices to the output of the drive. Capacitors may generate peak currents that exceed drive specifications.
To avoid unnecessary fault displays, caused by contactors or output switches placed between drive and motor, auxiliary contacts must be properly integrated into the control logic circuit.
YASKAWA is not responsible for any modification of the product made by the user. Doing so will void the warranty. This product must not be modified.
Verify that the rated voltage of the drive matches the voltage of the incoming power supply before applying power.
To meet CE directives, proper line filters and proper installation are required.
Some drawings in this manual may be shown with protective covers or shields removed, to describe details. These must be replaced before operation.
Observe Electrostatic Discharge Procedures when handling the drive and drive components to prevent ESD damage.
The attached equipment may start unexpectedly upon application of power to the drive. Clear all personnel from the drive, motor and machine area prior to applying power. Secure covers, couplings, shaft keys, machine beds and all safety equipment before energizing the drive.
CAUTION
When using this kit, it is strongly recommended that no connections be made to the V7 Drive's DC Bus terminals (+1 and -) on models
CIMR-V7AMxxxx, where xxxx is 25P5, 27P5, 45P5, or 47P5. A (+1 to +2) connection for a DC reactor is allowed.
CAUTION
Make sure that the V7AM software version is either 8340 or 8350. Check parameter n179 for current software revision.
i
Introduction
This manual explains the specifications and handling of the Yaskawa CM013 V7 DeviceNet Option for the Yaskawa V7 drives with software
ID 8340 or 8350 only. The V7 DeviceNet Option connects the drive to a DeviceNet network and facilitates the exchange of data. In this document, the word “inverter”, “AC drive” and “drive” may be used interchangeably.
To ensure proper operation of this product, read and understand this manual. For details on installation and operation of the drive, refer to the appropriate drive technical manual. For details on specific parameters, refer to the appropriate drive user and/or programming manual. All technical manuals and EDS and support files can be found on the CD that came with the drive. They are also available for download at www.yaskawa.com. Refer to the web site for the most recent information.
For information on DeviceNet contact the Open DeviceNet Vendors Organization at www.odva.org.
• DriveWizard™ version 6.1 or later with a custom database is required for DriveWizard to operate with this option. Install
DriveWizard with the “Custom” install option checked and the appropriate databases selected.
V7 and V74X Drive User Manual document reference TM.V7.01
V7 DeviceNet™ Option Kit document reference IG.V7.16
GPD is a trademark of Yaskawa, Inc.
MODBUS
®
is a registered trademark of Schneider Automation, Inc.
DeviceNet™ is a trademark of the ODVA.
RSNetWorx™ is a trademark of Rockwell Automation.
DriveWizard™ is a trademark of Yaskawa.
All trademarks are the property of their respective owners.
ii
Table of Contents
Installation Check Sheet ....................................................................... 1-2
Configure the V7 DeviceNet Option..................................................... 1-6
Verify that the Drive is on the Network ............................................... 1-8
Configure the V7 Drive on the Network ............................................ 1-11
Configure the Scanner ........................................................................ 1-12
Configure the V7 Drive ...................................................................... 1-14
Drive Fault Messages ......................................................................... 1-15
Supported Input Assemblies................................................................. 2-2
Yaskawa Input Assemblies................................................................... 2-3
Supported Output Assemblies .............................................................. 2-4
Yaskawa Output Assemblies................................................................ 2-5
CIP Supported Objects ......................................................................... 2-7
Yaskawa Supported Objects............................................................... 2-14
Yaskawa V7 Drive Parameter Object................................................. 2-16
Hexadecimal/Decimal Conversion ..................................................... 2-20
Chapter 3 Automatic Device Recovery ........................................................... 3-1
Replace a Faulted Drive ....................................................................... 3-4
1
2
Chapter 1 Installation
This section describes how to install and set up the V7 DeviceNet Option.
Installation Check Sheet ..................................................................................... 1-2
Unpack and Inspect............................................................................................. 1-3
Installation and Wiring ....................................................................................... 1-4
Configure the V7 DeviceNet Option ................................................................... 1-6
LED Status .......................................................................................................... 1-7
Verify that the Drive is on the Network.............................................................. 1-8
EDS Files .......................................................................................................... 1-10
Configure the V7 Drive on the Network........................................................... 1-11
Configure the Scanner....................................................................................... 1-12
Configure the V7 Drive .................................................................................... 1-14
Drive Fault Messages........................................................................................ 1-15
Installation 1-1
Installation Check Sheet
The following is a quick reference check list to install and configure the V7 DeviceNet Option. Make a copy of this page and check off ; each item as it is completed. For detailed information please refer to the detailed sections that follow.
1.
2.
3.
4.
5.
6.
Unpack and Inspect.
Unpack the V7 DeviceNet Option and verify that all components are present and undamaged.
Refer to the “Unpack and Inspect” section of this manual.
Verify Drive Operation:
Refer to the “Verify Drive Operation” section of this manual for details.
Install the V7 DeviceNet Option on the drive:
Refer to the “Prepare the V7 Drive” section of this manual for details.
Refer to the “Attach the Motor and Power Leads” section of this manual for details.
Refer to the “Mount the V7 DeviceNet Option” section of this manual for details.
Connect the V7 DeviceNet Option to the DeviceNet communication network:
Refer to the “Connect to the V7 DeviceNet Option” section of this manual.
Set the V7 DeviceNet Option network address and Baud Rate:
Refer to the “Configure the V7 DeviceNet Option” section of this manual for details.
Apply power to the drive and check diagnostic and operation LED status:
Refer to the “Power-up Diagnostic LED Test Sequence” section of this manual for details.
Refer to the “DeviceNet Operation LED Status” section of this manual for details.
WARNING!
Dangerous voltages in excess of 400VDC (230V drives) or 800VDC
(460V drives) are present at the DC bus terminals of the drive.
7.
Verify that the drive is on the network:
Refer to the “Verify that the Drive is on the Network” section of this manual for details.
8.
Refer to the documentation included with the DeviceNet configuration utility supplied with the DeviceNet Master controller.
Verify that the drive appears on the DeviceNet network at the correct node address.
Install the appropriate EDS file if desired.
Refer to the “EDS Files” section of this manual.
9.
Configure the drive on the network.
Refer to the “Configure the Drive on the Network” section of this manual.
10.
Configure the scanner.
Refer to the “Configure the Scanner” section of this manual.
11.
Set the V7 Drive Parameters:
Refer to the “Configure the V7 Drive” section of this manual for details.
Set parameters n003, n004 and n035 to their appropriate values.
CAUTION
When using this kit, it is strongly recommended that no connections be made to the V7 Drive's DC Bus terminals (+1 and -) on models CIMR-V7AMxxxx, where xxxx is 25P5, 27P5, 45P5, or 47P5. A (+1 to +2) connection for a DC reactor is allowed.
CAUTION
Make sure that the V7AM software version is either 8340 or 8350. Check parameter n179 for current software revision.
Installation 1-2
Unpack and Inspect
Prior to unpacking, check the package label and verify that the product received matches the product ordered. Unpack the option and verify that the following items are included in the product package and are undamaged.
Fig 1.1 – V7 DeviceNet Option
V7 DeviceNet Option (CM013)
Option Mounting Bracket
Mounting Bracket Screw
Ferrite (Power & Motor Leads) (Steward 28A5776-0A2)
Cable Ties (UWS-0137)
6” Ground Wire (150 mm)
8.5” Ground Wire (220 mm)
12.5” Ground Wire (320 mm)
Installation Guide (IG.V7.16)
Table 1.1 – Parts List
Kit Parts
Installation 1-3
Qty.
1
1
1
1
1
1
2
2
1
Installation and Wiring
Verify Drive Operation
Connect power to the drive and verify that the drive functions properly. This includes running the drive from the operator keypad. Refer to the V7 and V74X Drives Technical Manual, TM.V7.01, for information on connecting and operating the drive.
Prepare the V7 Drive
1.
Remove power from the drive and wait for the charge lamp to be completely extinguished. Wait at least five additional minutes for the drive to be completely discharged. Measure the DC bus voltage and verify that it is at a safe level.
WARNING!
Dangerous voltages in excess of 400VDC (230V drives) or 800VDC
(460V drives) are present at the DC bus terminals of the drive.
2.
Remove the operator and terminal cover retaining screw.
3.
Remove the operator keypad.
4.
Remove the terminal cover by lifting out the cover.
5.
Remove the CN2 cover from the V7 drive housing. Carefully snip the
3 tabs connecting the CN2 cover to the V7 housing and remove the cover.
6.
Attach the mounting bracket. Align the mounting bracket as shown in the figure to the right. Secure the mounting bracket to the V7 drive housing using the M3x8 screw provided.
7.
Wire the V7 drive I/O, power and motor terminals prior to mounting the V7 DeviceNet Option, as the option will obscure the terminals when mounted.
Fig 1.2 – Prepare the V7 Drive
Installation 1-4
Attach Motor and Power Lead Ferrites
Attach the provided ferrites (Steward 28A5776-0A2) to the V7 drive motor and power leads as close to the V7 drive terminals as possible
(typically within 1 foot). Secure the ferrites to the motor and power leads with the provided cable ties.
Fig 1.3 – Attach Ferrites
Mount the V7 DeviceNet Option
1.
Connect a ground wire of appropriate length from those provided to the ground connection on the back of the V7 DeviceNet Option.
2.
Align the CN1 connector on the back of the option with its mating
CN2 connector on the front of the V7 drive.
3.
Simultaneously align connector CN3 (male RJ-45) on the back of the option with connector CN1 (female RJ-45) on the front of the V7 drive.
4.
Align the tabs on the option with their corresponding slots on the front of the V7 drive.
5.
Press the option and the V7 drive together until the tabs lock into their associated slots.
6.
Secure the option to the V7 drive by tightening the locking screw at the top-center of the option.
7.
Connect the ground wire to the ground screw on the V7 drive.
Fig 1.4 – Mount the V7 DeviceNet Option
Installation 1-5
Connect to the V7 DeviceNet Option
Connect the DeviceNet network cable to the DeviceNet connector as shown. If the drive is the last device on a network segment make sure to install the terminating resistor (120
Ω 1% metal film 1/4W) between the two CAN connections, 2 (Blue) and 4 (White).
Terminal
1
2
3
4
5
Color
Black
Blue
Green
White
Red
Name
V-
Table 1.2 – DeviceNet Connection
Wire Color
Black Network common
Description
CAN_L
Shield
Blue
Green
CAN Data Low
Cable Shield
CAN_H
V+
White
Red
CAN Data High
+24VDC
Fig 1.5 – DeviceNet Connector
Configure the V7 DeviceNet Option
Set the DeviceNet Option Card Baud Rate
Set the drive baud rate by selecting the appropriate Baud Rate Sw setting. Settings of 3 through 8 will load the previously stored baud rate.
A setting of 9 will enable Auto Baud. The factory default setting is 3.
Setting
0
1
2
3 ~ 8
9
Description
125 kbps
250 kbps
500 kbps
NVRAM (Last stored baud rate) (3 = default setting)
Auto Sense
Fig 1.6 – DeviceNet Option Card
Installation 1-6
Set the DeviceNet Option Card MAC ID
Set the drive MAC address by selecting the appropriate settings of the address MSD and LSD switches. The MSD switch sets the MAC address’s tens digit while the LSD switch sets the ones digit. Valid MAC addresses are 0 through 63 although addresses of 0, 1, 62 and 63 are typically reserved.
Settings of 0 ~ 63: The MAC address will be selected from the MSD & LSD switch settings.
Settings of 64 ~ 99: The MAC address will be set to the last saved MAC address. The CM013 comes from the factory with the
MAC address switches set to 63 and the MAC address last saved to 63 (for use with some vendors’ faulted or automatic device recovery features)
For use with ADR-enabled controllers/scanners, power off the drive and set the MAC ID rotary switches to 63. Power cycle the drive ON and OFF. Change the MAC ID rotary switch setting to 64. Power the drive ON. The MAC ID will be set at 63 and can be reset through the DeviceNet network.
The drive must be power cycled to accept a new switch setting.
LED Status
Power-Up Diagnostic LED Status
A power-up diagnostic test is performed each time the device is powered up and after the initial boot sequence. The initial boot sequence may take several seconds. After the LEDs have gone through the DeviceNet diagnostic LED sequence, the V7 DeviceNet Option is successfully initialized. The LEDs will assume their operational conditions as shown below.
5
6
3
4
Seq
1
2
Table 1.3 - V7 DeviceNet Option Diagnostic LED Sequence
MOD NET Time
GREEN
RED
GREEN
GREEN
GREEN
GREEN
OFF
OFF
OFF
GREEN
RED
OFF
250 ms
250 ms
250 ms
250 ms
250 ms
Fig 1.7 – LEDs
Installation 1-7
DeviceNet Operation LED States
The operational states of the V7 DeviceNet Option LEDs after the DeviceNet diagnostic LED sequence has been completed is described below. Please wait at least 10 seconds for the loading process to complete before verifying the states of the LEDs.
LED
MOD
NET
Off
On Green
Flash Green
Flash Red
On Red
Flash Red-Green
Off
Flash Green
On Green
Flash Red
On Red
Flash Red & Green
State
Table 1.4 – DeviceNet Option LED States
Indicates
No Power
Device Operational
Device in Standby
Minor Fault
Unrecoverable Fault
Device Self-Test
Not Powered/Not Online
Online/Not Connected
Link OK/Online and Connected
Connection Timeout
Critical Link Failure
Communication Faulted
Verify that the Drive is on the Network
Normal Operation LED States
The table below describes the V7 DeviceNet Option Card LED states under normal operation. The V7 DeviceNet Option Card has been properly connected to the DeviceNet network, configured on that network and is properly part of the scan list. The network is currently operational.
LED
MOD
NET
On Green
On Green
State
Table 1.5 – Normal Operation LED States
Indicates
Device Operational
Link OK/Online and Connected
Installation 1-8
DeviceNet Network
The example below refers to a DeviceNet network configured as shown. A Rockwell 1770-KFD module is used to interface a PC to the
DeviceNet network.
Refer to the documentation included with the DeviceNet configuration utility supplied with the DeviceNet Master controller. Verify that the drive appears on the DeviceNet network at the correct node address.
Fig 1.8 – DeviceNet Network Example
RSLinx™
Configure Rockwell’s RSLinx software for the 1770-KFD module by selecting the DeviceNet Drivers (…, 1770-KFD, …) module. Select
Add New, highlight the Allen-Bradley 1770-KFD and click on Select. Select the PC’s communication Port and Baud Rate and the 1770-
KFD module's Node Address and the Data Rate of the DeviceNet network. Click OK.
Refer to the documentation included with RSLinx. Verify that the drive appears on the DeviceNet network at the correct node address.
Fig 1.9 – RSLinx Example
Installation 1-9
RSNetWorx for DeviceNet
With RSLinx running and configured for DeviceNet, run Rockwell’s RSNetWorx for DeviceNet. Select Network
→
On-Line from the main menu and select 1770-KFD-1, DeviceNet from the network selections.
Refer to the documentation included with the DeviceNet configuration utility supplied with the DeviceNet Master controller. Verify that the drive appears on the DeviceNet network at the correct node address.
Fig 1.10 – RSNetWorx for DeviceNet Example
EDS Files
EDS Files
The EDS file can be obtained from the CD that was included with the drive or downloaded from www.yaskawa.com. It is recommended that the EDS file be downloaded from www.yaskawa.com to be sure that the latest version is used. From www.yaskawa.com select Downloads
→
Browse
→
By Inverter Drives
→
By Product. Select Network Comms-DeviceNet from the menu on the left. Select the appropriate
EDS file from those listed.
Note: The EDS files located on the CD or downloaded from www.yaskawa.com will be in “zip” format and will need to be unzipped to a temporary directory prior to installation.
Installing the EDS File
With RSNetWorx for DeviceNet, select Tools
→
EDS Wizard from the main menu. Follow the resulting prompts to install the EDS file(s).
Note: It is recommended, when upgrading to a new version EDS file, that the original EDS file(s) be deleted prior to upgrading.
Install the EDS file into the DeviceNet configuration tool (i.e., RSNetWorx for DeviceNet). There is a separate EDS file for each drive model. Verify that the correct EDS file has been installed for the drive model selected on the network. Refer to the documentation that came with the DeviceNet Master configuration tool for information on installing EDS files and configuring a DeviceNet node.
Fig 1.11 – RSNetWorx for DeviceNet EDS Wizard
Installation 1-10
Configure the V7 Drive on the Network
Select Drive Properties
After the appropriate EDS file has been loaded and the drive is recognized by the network, highlight the drive, right click on it and select
Properties.
Fig 1.12 – Select Drive Properties
Upload Drive Parameters
Select the Parameters tab and Upload the parameters from the drive.
Fig 1.13 – Upload Drive Parameters
Installation 1-11
Select the Poll Produced and Poll Consumed Assemblies
Scroll through the parameter list to the Poll Consumed Assembly (PCA). Enter the desired PCA. Scroll to the Polled Produced Assembly
(PPA) and enter the desired PPA. Select Apply when done to download the new values to the drive. Select OK.
Note that the drive will have to be power cycled for the new PCA and PPA to take effect.
Fig 1.14 – Set Desired PCA and PPA
Configure the Scanner
Select Scanner Properties
Once the drive has been properly configured on the network, highlight the DeviceNet scanner, right click on it and select Properties.
The example below shows how to add a drive to an A-B 1747-SDN Scanner module. To configure another scanner, please consult the documentation for that particular scanner.
Fig 1.15 – Select Scanner Properties
Installation 1-12
Upload Scanner Configuration
Upload the current scanner configuration.
Fig 1.16 – Update Scanner Configurations
Update the Scan List
Update the scan list by highlighting any devices in the Available Devices column and clicking on either the > or >> buttons until all
DeviceNet devices show in the Scanlist column. For each device in the scan list, select the Input and Output tabs and verify that the device memory has been properly allocated. Also select Edit I/O Parameters and verify that the number on input and output bytes matches those of the selected PCA and PPA.
When complete, select Download to Scanner in order to download the new configuration information to the scanner module.
Fig 1.17 – Update the Scan List
Installation 1-13
Configure the V7 Drive
Command and Reference Source
The run/stop and frequency reference commands can originate from the operator keypad, external terminals or the V7 DeviceNet Option.
Parameter n003 (Operation Method Selection) sets the source of the run/stop commands. Parameter n004 (Reference Selection) sets the source of the frequency reference. The run/stop and frequency reference commands may have different origins. For example, the run/stop command may be set to External Terminals (n003 = 1) while the Frequency Reference may be set to Option (DeviceNet Option) (n004 = 9).
Addr
103h
104h
Param
n003 n004
Function
Operation Method
Selection
Reference Selection
7
8
5
6
9
3
4
1
2
Table 1.6 Reference and Operation Source Selection
Data
0 Operator keypad
Description
3
0
1
2
Terminal
Serial Communication
1
Option kit - (V7 DeviceNet Option)
Operator keypad potentiometer
Operator keypad
Voltage Reference (0-10VDC)
Current Reference (4-20mA)
Current Reference (0-20mA)
Pulse Train Reference
Serial Communication
1
Multifunction Analog Input (0-10VDC)
Multifunction Analog Input (4-20mA)
Option kit - (V7 DeviceNet Option)
Note:
1
RS485 communications is disabled with the DeviceNet Option installed.
Default
1
2
Speed Scaling
Since DeviceNet displays the motor speed and frequency reference in RPM, it is important to set the appropriate number of motor poles in parameter n035.
n035
0
1
2 … 39
40 … 3999
Table 1.7 – Reference Display Selection
Digital Operator Display Mode
Hz
%
DeviceNet displays the motor speed in RPM.
Enter the number of motor poles to set the input and output speed to RPM.
User Scaling
Installation 1-14
0Ah
0Bh
0Ch
0Dh
6h
7h
8h
9h
Drive Fault
Code
[hex]
0h
1h
2h
3h
4h
5h
0Eh
0Fh
10h
11h
12h
13h
Drive Fault Messages
Drive DeviceNet Fault Messages
The table of V7 DeviceNet Option fault codes returned by the drive is shown below. Refer to the appropriate drive user and/or programming manual(s) for drive-specific information on the fault returned.
2120h
2300h
3210h
4200h
4210h
2220h
2200h
2221h
DeviceNet
Fault Code
[hex]
0000h
5120h
3220h
5110h
3222h
2130h
2222h
7110h
7112h
9000h
9000h
9000h
Table 1.8 – Fault Code Conversions
Description
Drive Fault
Code
[hex]
DeviceNet
Fault Code
[hex]
DC Bus Undervoltage (UV1)
CTL PS Undervoltage (UV2)
14h
15h
16h
17h
9000h
9000h
9000h
4140h
Overcurrent (OC)
DC Bus Overvoltage (OV)
Heat Sink Over-Temperature (OH)
18h
19h
1Ah
1Bh
1Ch
1Dh
1Eh
1Fh Motor Overload (OL1)
Inverter Overload (OL2)
Overtorque Detection 1 (OL3)
7310h
7310h
7301h
3130h
3130h
5300h
5300h
6320h
External Fault 3 (EF3)
External Fault 4 (EF4)
External Fault 5 (EF5)
24h
25h
26h
27h
20h
21h
22h
23h
0000h
7500h
7500h
7500h
7500h
8321h
8313h
9000h
Description
External Fault 6 (EF6)
External Fault 7 (EF7)
Heat Sink Fan (FAN)
Operator Disconnected (OPR)
SI-E Communications Error (CE)
DeviceNet Communication Error (BUS)
External Fault 0 (EF0)
Drive Operator Fault Messages
The following is a table of faults that could be caused by the V7 DeviceNet Option that will be displayed on the Operator Keypad only. For any fault displayed on the keypad that is not listed in the following table, please see the appropriate drive technical manual.
Fault
BUS
EF0
F06
Content
DeviceNet Option communications error
DeviceNet Option external fault
DeviceNet Option fault
Table 1.9 – Drive Faults (Displayed on the Drive Keypad)
Cause
Communication is not established between DeviceNet Master and the drive.
Drive received an external fault command from the DeviceNet Option.
Faulty J1/2CN connection
Solution
• Check DeviceNet Option communication LED display.
• Check DeviceNet cable and 24VDC power supply.
• Check multifunction input settings.
• Check PLC or controller program.
• Check DeviceNet cable and 24VDC power supply.
• Power cycle the drive.
• Reset the DeviceNet Option.
• Replace the DeviceNet Option.
• Replace the inverter.
Installation 1-15
Notes
Installation 1-16
Chapter 2 Supported Objects
This section describes DeviceNet objects supported by the V7 DeviceNet Option.
Supported Input Assemblies ............................................................................... 2-2
Yaskawa Input Assemblies ................................................................................. 2-3
Supported Output Assemblies............................................................................. 2-4
Yaskawa Output Assemblies .............................................................................. 2-5
CIP Supported Objects........................................................................................ 2-7
Yaskawa Supported Objects ............................................................................. 2-14
Yaskawa V7 Drive Parameter Object ............................................................... 2-16
Hexadecimal/Decimal Conversion ................................................................... 2-20
Supported Objects 2-1
Supported Input Assemblies
Basic Speed Control – Input Instance 20 (14h)
Instance
20 (14h)
Basic Speed
Control
4 Bytes
Byte
0
1
2
3
Bit 7
-
Bit 6
-
Bit 5
-
Bit 4
-
Bit 3
-
Bit 2
Fault Reset
-
Speed Reference (Scaled by Parameter n035)
Bit 1
-
Bit 0
Run FWD
Extended Speed Control – Input Instance 21 (15h)
Instance
21 (15h)
Extended
Speed
Control
4 Bytes
Note:
1
Byte
0
1
2
3
Bit 7
-
Bit 6
NetRef
1
Bit 5
NetCtrl
1
Bit 4
-
-
Bit 3
-
Bit 2
Fault Reset
Speed Reference (Scaled by Parameter n035)
Bit 1
Run REV
Bit 0
Run FWD
NetRef – When set, sets reference source (n004 = 9) to Option Card. When reset, returns n004 to its original setting.
NetCtrl – When set, sets Run command source (n003 = 3) to Option Card. When reset, returns n003 to its original setting.
Speed and Torque Control – Input Instance 22 (16h)
Instance
22 (16h)
Basic Speed and Torque
Control
6 Bytes
3
4
5
Byte
0
1
2
Bit 7
-
Bit 6
-
Bit 5
-
Bit 4
-
Bit 3
-
Bit 2
Fault Reset
-
Speed Reference (Scaled by Parameter n035)
Reserved
Bit 1
-
Bit 0
Run FWD
Extended Speed and Torque Control – Input Instance 23 (17h)
Instance
23 (17h)
Extended
Speed and
Torque
Control
6 Bytes
Note:
1
Byte
0
1
2
3
4
5
Bit 7
-
Bit 6
NetRef
1
Bit 5
NetCtrl
1
Bit 4
-
-
Speed Reference (Scaled by Parameter n035)
Reserved
Bit 3
-
Bit 2
Fault Reset
Bit 1
Run REV
Bit 0
Run FWD
NetRef – When set, sets reference source (n004= 9) to Option Card. When reset, returns n004 to its original setting.
NetCtrl – When set, sets Run command source (n003 = 3) to Option Card. When reset, returns n003 to its original setting.
Supported Objects 2-2
Yaskawa Input Assemblies
Yaskawa Modbus Message – Input Instance 100 (64h)
Instance
100 (64h)
MODBUS
Message
Note:
Byte
0
1
2
Bit 7 Bit 6 Bit 5 Bit 4
Data
Bit 3
Register Number
Bit 2 Bit 1
Function Code (Only Modbus functions register read (03h) and register write (10h) are supported)
3
4
Refer to output instance 150 (96h) for response
Bit 0
Yaskawa Standard Control – Input Instance 101 (65h)
Instance
101 (65h)
Standard
Control
Byte
0
1
2
3
4
5
6
7
Bit 7
-
Terminal P2
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2
Terminal S7 Terminal S6 Terminal S5 Terminal S4 Terminal S3
Terminal P1
Terminal
MA/MB
-
Speed Reference (Scaled by Parameter n035)
Bit 1
Run REV
Fault Reset
Bit 0
Run FWD
External
Fault
Reserved
Reserved
Yaskawa Enhanced Control/Modbus Message – Input Instance 105 (69h)
Instance
105 (69h)
Enhanced
Control/
MODBUS
Message
Note:
Byte
0
1
Bit 7
-
Terminal P2
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1
Terminal S7 Terminal S6 Terminal S5 Terminal S4 Terminal S3 Run REV
Terminal P1
Terminal
MA/MB
-
Function
Bit 2
1
Function
Bit 1
1
Fault
Reset
2
3
4
5
6
7
Refer to output instance 155 (9Bh) for response
Speed Reference (Scaled by Parameter n035)
Register Number
Data
1
Bit 1 Bit 2 Function
0 0 No Function
0
1
1
1
0
1
Read Register
Write Register
No Function
Bit 0
Run FWD
External
Fault
Supported Objects 2-3
Yaskawa Enhanced Control/Modbus Message – Input Instance 107 (6Bh)
Instance
107 (6Bh)
Standard
DI/DO
Control
8 Bytes
Byte
0
1
2
5
6
3
4
7
Bit 7
-
-
-
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2
Terminal S7 Terminal S6 Terminal S5 Terminal S4 Terminal S3
-
Terminal P2 Terminal P1
-
Terminal
MA/MB
-
-
Reserved
Bit 1
Run REV
Bit 0
Run FWD
Fault Reset External Fault
-
Speed Reference (Scaled by Parameter n035)
Supported Output Assemblies
Basic Speed Control – Output Instance 70 (46h)
Instance
70 (46h)
Basic Speed
Control
4 Bytes
Byte
0
1
2
3
Bit 7
-
Bit 6
-
Bit 5
-
Bit 4
-
Reserved
Bit 3
-
Speed Actual (Scaled by Parameter n035)
Bit 2
@FWD Run
Bit 1
-
Bit 0
@Fault
Monitor U-02
Extended Speed Control – Output Instance 71 (47h)
Instance
71 (47h)
Extended
Speed Control
4 Bytes
Note:
1
Byte
0
1
2
3
Bit 7
@Speed
Bit 6
@Ref from
Net
1
Bit 5
@Ctrl from
Net
1
Bit 4
@Ready
Reserved
Speed Actual (Scaled by Parameter n035)
@Ctrl from Net – set when n003 = 3
@Ref from Net – set when n004 = 9
Bit 3 Bit 2
@REV Run @FWD Run
Bit 1
@Alarm
Bit 0
@Fault
Monitor U-02
Basic Speed and Torque Control – Output Instance 72 (48h)
Instance
72 (48h)
Basic
Speed and
Torque
Control
6 Bytes
Byte
0
1
2
3
4
5
Bit 7
-
Bit 6
-
Bit 5
-
Bit 4
-
Reserved
Bit 3
-
Speed Actual (Scaled by Parameter n035)
Reserved
Bit 2
@FWD Run
Bit 1
-
Bit 0
@Fault
Monitor U-02
Supported Objects 2-4
Extended Speed and Torque Control – Output Instance 73 (49h)
Instance
73 (49h)
Extended
Speed and
Torque
Control
6 Bytes
Note:
1
Byte
0
3
4
1
2
5
Bit 7
@Speed
Bit 6
@Ref from
Net
1
@Ctrl from Net – set when n003 = 3
@Ref from Net – set when n004 = 9
Bit 5
@Ctrl from
Net
1
Bit 4
@Ready
Reserved
Speed Actual (Scaled by Parameter n035)
Reserved
Bit 3 Bit 2
@REV Run @FWD Run
Yaskawa Output Assemblies
Yaskawa Modbus Message – Output Instance 150 (96h)
Bit 1
@Alarm
Bit 0
@Fault
Monitor U-02
Instance
150 (96h)
MODBUS
Message
5 Bytes
Note:
Byte
0
1
2
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3
Function Code
1
Register Number
3
4
Data
Refer to input instance 100 (64h) for command
1
A Modbus message error is returned if the function code has the MSB (80h) set.
Bit 2 Bit 1 Bit 0
Yaskawa Standard Control – Output Instance 151 (97h)
Instance
151 (97h)
Standard
Control
8 Bytes
Byte
0
1
4
5
2
3
6
7
Bit 7
@Fault
@Zero Servo
Complete
Bit 6
@Alarm
-
Bit 5
@Ready
@Terminal
P2
Bit 4
@Speed
Agree
@Terminal
P1
Output Frequency (Scaled by Parameter n035)
Bit 3
@Fault
Reset
@Terminal
MA/MB
Bit 2
@REV Run
@Local
Mode
Bit 1
@Zero
Speed
@ Pwr Loss
Ride Thru
Monitor U-02
Bit 0
@FWD
Run
@OPE
Reserved
Output Current 0.1A) Monitor U-03
Supported Objects 2-5
Yaskawa Enhanced Control/Modbus Message – Output Instance 155 (9Bh)
Instance
155 (9Bh)
Enhanced
Control/
MODBUS
Message
8 Bytes
Note:
Byte
0
1
Bit 7
@Fault
@Terminal
P2
Bit 6
@Alarm
@Terminal
P1
Bit 5
@Ready
@Terminal
MA/MB
Bit 4
@Speed
Agree
@Local
Mode
2
3
4
Output Frequency (Scaled by Parameter n035)
5
6
7
Refer to input instance 105 (69h) for command
Register Number
Data
Bit 3
@Fault
Reset
Function
Bit 2
1
1
Bit 1 Bit 2 Function
0 0 No Function
0
1
1
1
0
1
Message Accepted
Message Error
Complete
Bit 2
@REV
Run
Function
Bit 1
1
Bit 1
@ Zero
Speed
@UV
Monitor U-02
Bit 0
@FWD
Run
@OPE
Yaskawa Standard DI/DO Control – Output Instance 157 (9Dh)
Instance
157 (9Dh)
Standard
DI/DO
Control
8 Bytes
Byte
0
1
2
3
6
7
4
5
Bit 7
@Fault
@Zero Servo
Complete
-
-
Bit 6
@Alarm
-
-
-
Bit 5
@Ready
-
-
Terminal
P2
Bit 4
@Speed
Agree
-
Terminal
S7
Terminal
P1
Analog Input
Bit 3
@Fault
Reset
-
Terminal
S6
Terminal
MA/MB
Bit 2
@REV Run
@Local
Terminal S5
-
Bit 1
@Zero
Speed
@UV
Terminal
S4
-
Bit 0
@FWD
Run
@OPE
Terminal S3
-
Output Frequency (Scaled by Parameter n035) Monitor U-02
Supported Objects 2-6
CIP Supported Objects
Class 1 (01h) – Identity Object
Service Code No. (hex)
01h
05h
0Eh
Attributes
Instance ID
0
1
Note:
Service Name
Get Attribute All
Reset
Get Attribute Single
Attribute
1
1
2
3
4
5
6
7
8
9
10
100 (64h)
1
2
3
Object Software Revision
Vendor ID
Device Type
Product Code
Revision
Status
Description
Serial Number
Product Name
Get
X
X
X
X
X
X
X
X
Set Size
Word
Word
Word
Word
Word
Word
Word
String (14 Bytes)
Default
1
44 (YASKAWA)
2 (AC drives)
Product/Model Dependent Code
1
Software Dependent
0
Each product’s serial number is unique
2
Product Dependent
3
State
Configuration Consistency
Heartbeat Interval
Password
X
X
X X
X
Byte
Word
Byte
Long
3
0000
00 – 10 (0 = disabled) xxxx xxxx
A combination of the drive family code and the drive model number. The MSB is the drive family and the LSB is the drive model number. For example: a V7AM model 20P4 would have a product code of 2C02h, 2C being the drive family and 02 the drive model number.
Drive Model Numbers
04
05
06
07
00
01
02
03
20P1
20P2
20P4
20P7
21P5
22P2
23P0
23P7
28h
29h
2Ah
2Bh
2Ch
2Dh
2Eh
2Fh
40P1
40P2
40P4
40P7
41P5
42P2
43P0
43P7
08
09
24P0
25P5
0Ah 27P5
Range is 0x8200000 ~ 0x82FFFFF
30h
31h
32h
44P0
45P5
47P5
The product name is CIMR-[Drive Family][Drive Model]. A Product Name example would be CIMR-V7AM20P4, for a
V7, AM-spec, model 20P4 (200V class, 0.4 kW) drive.
Supported Objects 2-7
Class 2 (02h) – Message Router Object
Service Code No. (hex)
0Eh
Attributes
Instance ID
0
Service Name
Get Attribute Single
Attribute
1 Object Software Revision
Description Get
X
Set Size
Word
Default
Class 3 (03h) – DeviceNet Object
Service Code No. (hex)
05h
0Eh
Attributes
Instance ID
0
1
Service Name
Reset
Get Attribute Single
03
04
05
06
07
08
09
Attribute
1
01
02
Name
MAC ID
Baud Rate
Bus Off Interrupt
Bus Off Counter
Allocation Info
MAC ID Sw Change
Description
Object Software Revision
Current MAC ID Setting (0 ~ 63)
Current Baud rate Setting
0: 125 kbps
1: 250 kbps
2: 500 kbps
3 ~ 9: Auto Baud
Bus Off Condition (0 ~ 1)
Number of Bus Off (0 ~ 255)
DeviceNet Communication Connection Info
MAC ID Switch Changed Since Power-up
Baud Rate Sw Change Baud Rate Switch Changed Since Power-up
MAC ID Sw MAC ID Switch Setting (0 ~ 99)
Baud Rate Sw Baud Rate Switch Setting (0 ~ 9)
X
X
X
X
X
X
X
Get
X
X
Set
X
X X
Size
Word
Byte
Byte
Byte
Byte
(2) Bytes
Bool
Bool
Word
Word
Default
0
00
00
00,00
0
0
63
9
Supported Objects 2-8
Class 4 (04h) – Assembly Object
Service Code No. (hex)
0Eh
10h
Attributes
Instance ID
0
20 (14h)
21 (15h)
22 (16h)
23 (17h)
70 (46h)
71 (47h)
72 (48h)
73 (49h)
100 (64h)
101 (65h)
105 (69h)
107 (6Bh)
150 (96h)
151 (97h)
155 (9Bh)
157 (9Dh)
Service Name
Get Attribute Single
Set Attribute Single
Attribute
1
3
Description
Object Software Revision
Basic Speed Control
Extended Speed Control
Basic Speed and Torque Control
Extended Speed and Torque Control
Basic Speed Control Status
Extended Speed Control Status
Basic Speed and Torque Control Status
Extended Speed and Torque Control Status
Yaskawa Modbus Message
Yaskawa Standard Control
Yaskawa Enhanced Control/Modbus Message
Yaskawa Standard DI/DO Control
Yaskawa Modbus Message Response
Yaskawa Standard Control Status
Yaskawa Enhanced Control/Modbus Message
Yaskawa Standard DI/DO Control Status
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Get
X
X X
X
X
X
X
X
X
X
Set Size
Word 1
Array 4 Bytes 00 00 00 00
Default
Array 4 Bytes 00 00 00 00
Array 6 Bytes 00 00 00 00 00 00
Array 6 Bytes 00 00 00 00 00 00
Array 4 Bytes 00 00 00 00
Array 4 Bytes 00 00 00 00
Array 6 Bytes 00 00 00 00 00 00
Array 6 Bytes 00 00 00 00 00 00
Array 5 Bytes 00 00 00 00 00
Array 8 Bytes 00 00 00 00 00 00 00 00
Array 8 Bytes 00 00 00 00 00 00 00 00
Array 8 Bytes 00 00 00 00 00 00 00 00
Array 5 Bytes 00 00 00 00 00
Array 8 Bytes 00 00 00 00 00 00 00 00
Array 8 Bytes 00 00 00 00 00 00 00 00
Array 8 Bytes 00 00 00 00 00 00 00 00
Supported Objects 2-9
Class 5 (05h) – DeviceNet Connection Object
Service Code No. (hex)
0Eh
10h
Attributes
Instance ID
0
1
2
Service Name
Get Attribute Single
Set Attribute Single
9
12 (0Ch)
13 (0Dh)
14 (0Eh)
15 (0Fh)
16 (10h)
7
8
5
6
3
4
1
2
Attribute
1
1
2
5
6
3
4
7
8
9
12 (0Ch)
13 (0Dh)
14 (0Eh)
15 (0Fh)
16 (10h)
Description
Object Software Revision
State
Instance Type
Transport Class Trigger
Produced Connection ID
Consumed Connection ID
Initial Communications Characteristics
Produced Connection Size
Consumed Connection Size
Expected Packet Rate
Watch-dog Timeout Action
Produced Connection Path Length
Produced Connection Path
Consumed Connection Path Length
Consumed connection Path
State
Instance Type
Transport Class Trigger
Produced Connection ID
Consumed Connection ID
Initial Communications Characteristics
Produced Connection Size
Consumed Connection Size
Expected Packet Rate
Watch-dog Timeout Action
Produced Connection Path Length
Produced Connection Path
Consumed Connection Path Length
Consumed Connection Path
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Get
X
X
X
Set
X
X
X
X
X
X
X
Word
Byte
Word
Array
Word
Array
Byte
Byte
Byte
Word
Word
Byte
Byte
Byte
Byte
Byte
Word
Byte
Word
Array
Word
Array
Size
Word
Byte
Byte
Byte
Word
Word
Byte
1
3
0
83h
21h
09C4h
1
0
0
1
1
83h
1
4
4
0
1
3
62 34 36
3
62 31 34
Default
Supported Objects 2-10
Class 40 (28h) – Motor Data Object
Service Code No. (hex)
0Eh
10h
Attributes
Instance ID
0
1
Attribute
1
3
6
7
Service Name
Get Attribute Single
Set Attribute Single
Description
Object Software Revision
Motor Type
Rated Current (0.1A)
Rated Voltage (1V)
Get
X
X
X
X
Set
X
X
Size
Word
Byte
Word
Word
1
7 (fixed)
Parameter n036
Parameter n147
Data
Class 41 (29h) – Control Supervisor Object
Service Code No. (hex)
0Eh
10h
05h
Attributes
Instance ID
0
1
Attribute
1
3h
4h
5h
6h
7h
8h
9h
10 (0Ah)
11 (0Bh)
12 (0Ch)
13 (0Dh)
15 (0Fh)
16 (10h)
17 (11h)
18 (12h)
Service Name
Get Attribute Single
Set Attribute Single
Reset
Description
Object Software Revision
Run 1 (Forward Run)
Run 2 (Reverse Run)
Net Control
State
Running 1 (Forward)
Running 2 (Reverse)
Ready
Faulted
Warning
Fault Reset
Fault Code
Control from Net
DeviceNet Fault Mode
Force Fault
Force Status
X
X
X
X
X
X
Get
X
X
X
X
X
X
X
X
X
X
Set
-
X
X
X
X
X
Byte
Byte
Byte
Byte
Byte
Byte
Size
Word
Byte
Byte
Byte
Byte
Word
Byte
Byte
Byte
Byte
Data
1
Forward Run Command
Reverse Run Command
Net Control Command - Parameter n003
Inverter Status (3 = Ready, 7 = Faulted)
Forward Running
Reverse Running
Inverter Ready
Inverter Fault
Inverter Alarm
Fault Reset
Current Fault
Net Control Status - Parameter n003
Always “2”
External Fault - EF0
External Fault Status - EF0
Supported Objects 2-11
Fault Code Table
0Ah
0Bh
0Ch
0Dh
6h
7h
8h
9h
Drive Fault
Code
[hex]
0h
1h
2h
3h
4h
5h
0Eh
0Fh
10h
11h
12h
13h
2120h
2300h
3210h
4200h
4210h
2220h
2200h
2221h
DeviceNet
Fault Code
[hex]
0000h
5120h
3220h
5110h
3222h
2130h
2222h
7110h
7112h
9000h
9000h
9000h
Class 41 (29h) – Control Supervisor Object
Description
Drive Fault
Code
[hex]
DeviceNet
Fault Code
[hex]
DC Bus Under-Voltage (UV1)
CTL PS Under-Voltage (UV2)
14h
15h
16h
17h
9000h
9000h
9000h
4140h
Over-Current (OC)
DC Bus Over-Voltage (OV)
Heat Sink Over-Temperature (OH)
18h
19h
1Ah
1Bh
1Ch
1Dh
1Eh
1Fh Motor Overload (OL1)
Inverter Overload (OL2)
Over-Torque Detection 1 (OL3)
7310h
7310h
7301h
3130h
3130h
5300h
5300h
6320h
External Fault 3 (EF3)
External Fault 4 (EF4)
External Fault 5 (EF5)
24h
25h
26h
27h
20h
21h
22h
23h
0000h
7500h
7500h
7500h
7500h
8321h
8313h
9000h
Description
External Fault 6 (EF6)
External Fault 7 (EF7)
Heat Sink Fan (FAN)
Operator Disconnected (OPR)
SI-E Communications Error (CE)
DeviceNet Communication Error (BUS)
External Fault 0 (EF0)
Supported Objects 2-12
Class 41 (2Ah) – AC Drive Object
Service Code No. (hex)
0Eh
10h
Attributes
Instance ID
0
1
Attribute
1
3h
4h
6h
7h
8h
9h
15 (0Fh)
16 (10h)
17 (11h)
18 (12h)
19 (13h)
20 (14h)
21 (15h)
22 (16h)
23 (17h)
26 (1Ah)
27 (1Bh)
28 (1Ch)
29 (1Dh)
Service Name
Get Attribute Single
Set Attribute Single
Description
Object Software Revision
At Reference
Net Reference
Reserved
Speed Actual (scaled by n035)
Speed Reference (scaled by n035)
Current Actual (0.1A)
Power Actual (W)
Input Voltage (VAC)
Output Voltage (VAC)
Accel Time (ms)
Decel Time (ms)
Reserved
Reserved
Speed Scale
Current Scale
Power Scale
Voltage Scale
Time Scale
Reference from the Net
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Get
X
X
X
Set
X
X
X
X
X
X
X
X
X
Word
Word
Word
Word
Word
Word
Word
Byte
Byte
Byte
Byte
Byte
Byte
Size
Word
Byte
Byte
Byte
Word
Word
Word
1
Speed Agree
Parameter n004
Parameter U-02
Parameter U-01
Parameter U-03
Parameter U-11
Parameter n012
Parameter U-04
Parameter n019
Parameter n020
Data
-15 ~ +15
-15 ~ +15
-15 ~ +15
-15 ~ +15
-15 ~ +15
Parameter n004
Supported Objects 2-13
Yaskawa Supported Objects
Class 100 (64h) – Yaskawa Command Object
10
11
12
13
14
15
8
9
6
7
4
5
2
3
Bit
0
1
Service Code No. (hex)
0Eh
10h
Attributes
Instance ID
0
1
Note:
Service Name
Get Attribute Single
Set Attribute Single
Attribute
1
1
2
Description
Object Software Revision
Operation Command
Frequency Reference (0.01Hz)
Get
X
X
X
Set
X
X
Size
Word
Word
Word
1
0
0
Default Value
5
6
3
4
Reserved
Reserved
Reserved
Analog Output 1 (Terminal 21)
Word
Word
X X Word 0
7
8
Reserved
Digital Output X X
Word
Word 0
254 (FEh)
255 (FFh)
1
1
Reserved
Enter Command X X
Word
Word
0
0
Due to a limited number of non-volatile memory writes permitted, care should be taken when using the Enter command.
Yaskawa Command Object – Class 64h, Instance 1, Attribute 1 – Operation Command
Definition
Terminal S1 – Multifunction Digital Input 1 – Parameter n050 setting (Typically Forward RUN (1) /Stop (0))
Terminal S2 – Multifunction Digital Input 2 – Parameter n051 setting (Typically Reverse RUN (1) /Stop (0))
Terminal S3 – Multifunction Digital Input 3 – Parameter n052 setting
Terminal S4 – Multifunction Digital Input 4 – Parameter n053 setting
Terminal S5 – Multifunction Digital Input 5 – Parameter n054 setting
Terminal S6 – Multifunction Digital Input 6 – Parameter n055 setting
Terminal S7 – Multifunction Digital Input 7 – Parameter n056 setting
Reserved
External Fault
Fault Reset
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Supported Objects 2-14
3
4
5
6
7
Bit
0
1
2
Yaskawa Command Object – Class 64h, Instance 1, Attribute 8 – Digital Output
Definition
Terminal MA/MB – Multifunction Digital Output 1 – Parameter n057 setting
Terminal P1 – Multifunction Digital Output 2 – Parameter n058 setting
Terminal P2 – Multifunction Digital Output 3 – Parameter n059 setting
Reserved
Reserved
Reserved
Fault Contact Enable
Fault Contact – Bit 6 must be set to 1 in order to enable the function of bit 7
U-11
U-16
U-17
U-18
U-15
U-09
U-10
Reserved
U-01
U-02
U-03
U-04
U-06
U-07
U-05
U-08
Reserved
Reserved
U-50
U-51
U-52
U-53
U-54
Class 120 (78h) – Yaskawa V7 Drive Monitor Object
The following table lists the attributes of the drive monitors that are supported by the DeviceNet Option. For further details on the drive monitors, refer to the V7 and V74X Drives Technical Manual (TM.V7.01).
Monitor Attribute
1
2
5
6
3
4
7
8
9
10 (0Ah)
11 (0Bh)
12 (0Ch)
13 (0Dh)
14 (0Eh)
15 (0Fh)
16 (10h)
17(11h)
18 (12h)
…
29 (1Dh)
30 (1Eh)
31 (1Fh)
32 (20h)
33 (21h)
34 (22h)
Class 120 (78h) - Yaskawa V7 Drive Monitor Object
Description
Status
Fault
Frequency Reference
Output Frequency
Output Current
Output Voltage
Input Terminal Status
Output Terminal Status
DC Bus Voltage
Torque Monitor
Output Power
PID Feedback
PID Input
PID Output
Transmission Error
Fault History
Software Number
Reserved
Reserved
Reserved
CASE Monitor 1
CASE Monitor 2
CASE Monitor 3
CASE Monitor 4
CASE Monitor 5
Word
Word
Word
Word
Word
Word
Word
Word
Size
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Supported Objects 2-15
Yaskawa V7 Drive Parameter Object
The following table lists the attributes of the drive parameters that are supported by the DeviceNet Option. For further details on the drive parameters, refer to the V7 and V74X Drives Technical Manual (TM.V7.01). Instance is always 1.
Class 121 (79h) – V7 Drive Parameter Object
n023 n024 n025 n026 n027 n028 n029 n030 n015 n016 n017 n018 n019 n020 n021 n022 n031 n032 n033 n034 n035 n036 n037 n038 n039 n040
Parameter
n001 n002 n003 n004 n005 n006 n007 n008 n009 n010 n011 n012 n013 n014
23 (17h)
24 (18h)
25 (19h)
26 (1Ah)
27 (1Bh)
28 (1Ch)
29 (1Dh)
30 (1Eh)
15 (0Fh)
16 (10h)
17 (11h)
18 (12h)
19 (13h)
20 (14h)
21 (15h)
22 (16h)
31 (1Fh)
32 (20h)
33 (21h)
34 (22h)
35 (23h)
36 (24h)
37 (25h)
38 (26h)
39 (27h)
40 (28h)
Attribute
1
2
5
6
3
4
7
8
9
10 (0Ah)
11 (0Bh)
12 (0Ch)
13 (0Dh)
14 (0Eh)
Class 121 (79h) - V7 Drive Parameter Object
Description
Initialization/Access Level
Control Mode Select
Operation Method Select
Reference Select
Stop Method
Reverse Prohibit
STOP Key Function
Reference Select – Digital Operator
Frequency Reference Setting
Operator Disconnect Select
Max Frequency (0.1Hz)
Max Voltage (0.1VAC)
Frequency @ Max Voltage (0.1Hz)
Mid Frequency (0.1Hz)
Mid Voltage (0.1VAC)
Min Frequency (0.1Hz)
Min Voltage (0.1VAC)
Acc/Dec Setting Unit
Acc Time 1 (0.1s or 0.01s) (see n018)
Dec Time 1 (0.1s or 0.01s) (see n018)
Acc Time 2 (0.1s or 0.01s) (see n018)
Dec Time 2 (0.1s or 0.01s) (see n018)
S Curve Select
Frequency Reference 1 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 2 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 3 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 4 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 5 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 6 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 7 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 8 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Jog frequency (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference Upper Limit (%)
Frequency Reference Lower Limit (%)
Digital Operator Display Mode
Motor Rated Current (0.1A)
Electronic Thermal Overload Protect
Electronic Thermal Overload Protect Time Constant (min)
Cooling Fan Select
Motor Rotation Select
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Size
Word
Word
Word
Word
Word
Word
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Set
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Get
X
X
Supported Objects 2-16
n082 n083 n084 n085 n086 n087 n088 n076 n077 n078 n079 n080 n081 n070 n071 n072 n073 n074 n075 n064 n065 n066 n067 n068 n069 n058 n059 n060 n061 n062 n063 n052 n053 n054 n055 n056 n057
Parameter
n041 n042 n043 n044 n045 n046 n047 n048 n049 n050 n051
76 (4Ch)
77 (4Dh)
78 (4Eh)
79 (4Fh)
80 (50h)
81 (51h)
82 (52h)
83 (53h)
84 (54h)
85 (55h)
86 (56h)
87 (57h)
88 (58h)
64 (40h)
65 (41h)
66 (42h)
67 (43h)
68 (44h)
69 (45h)
70 (46h)
71 (47h)
72 (48h)
73 (49h)
74 (4Ah)
75 (4Bh)
52 (34h)
53 (35h)
54 (36h)
55 (37h)
56 (38h)
57 (39h)
58 (3Ah)
59 (3Bh)
60 (3Ch)
61 (3Dh)
62 (3Eh)
63 (3Fh)
Attribute
41 (29h)
42 (2Ah)
43 (2Bh)
44 (2Ch)
45 (2Dh)
46 (2Eh)
47 (2Fh)
48 (30h)
49 (31h)
50 (32h)
51 (33h)
Class 121 (79h) - V7 Drive Parameter Object
Description
Acc Time 3 (0.1s or 0.01s) (see n018)
Dec Time 3 (0.1s or 0.01s) (see n018)
Acc Time 4 (0.1s or 0.01s) (see n018)
Dec Time 4 (0.1s or 0.01s) (see n018)
Reserved
Reserved
Reserved
Reserved
Reserved
Multifunction Input Terminal S1 Select
Multifunction Input Terminal S2 Select
Multifunction Input Terminal S3 Select
Multifunction Input Terminal S4 Select
Multifunction Input Terminal S5 Select
Multifunction Input Terminal S6 Select
Multifunction Input Terminal S7 Select
Multifunction Output Terminal MA/MB Select
Multifunction Output Terminal P1 Select
Multifunction Output Terminal P2 Select
Analog Frequency Reference Gain (%) (Terminal FR)
Analog Frequency Reference Bias (%) (Terminal FR)
Analog Frequency Reference Filter Time Constant (0.01s) (Terminal FR)
Reserved
Frequency Reference Loss Detect
Monitor Output Select
Multifunction Analog Output Select (Terminal AM)
Analog Monitor Gain
Analog Frequency Reference Gain (%) (CN2 Voltage Reference)
Analog Frequency Reference Bias (%) (CN2 Voltage Reference)
Analog Frequency Reference Filter Time Constant (0.01s) (CN2 Voltage Reference)
Analog Frequency Reference Gain (%) (CN2 Current Reference)
Analog Frequency Reference Bias (%) (CN2 Current Reference)
Analog Frequency Reference Filter Time Constant (0.01s) (CN2 Current Reference)
Pulse Train Reference Gain (%) (Terminal RP)
Pulse Train Reference Bias (%) (Terminal RP)
Pulse Train Reference Filter Gain (s) (Terminal RP)
Multifunction Analog Input Selection
Multifunction Analog Input Signal Select
Multifunction Analog Input Bias (%)
Carrier Frequency Select
Momentary Power Loss Ride Thru Select
Number of Auto Restart
Prohibit Frequency 1 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Prohibit Frequency 2 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Prohibit Frequency 3 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Prohibit Frequency Deadband (0.01Hz)
Reserved
Reserved
Supported Objects 2-17
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Size
Word
Word
Word
Word
Word
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Set
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Get
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
n130 n131 n132 n133 n134 n135 n136 n124 n125 n126 n127 n128 n129 n118 n119 n120 n121 n122 n123 n112 n113 n114 n115 n116 n117 n106 n107 n108 n109 n110 n111 n100 n101 n102 n103 n104 n105
Parameter
n089 n090 n091 n092 n093 n094 n095 n096 n097 n098 n099
124 (7Ch)
125 (7Dh)
126 (7Eh)
127 (7Fh)
128 (80h)
129 (81h)
130 (82h)
131 (83h)
132 (84h)
133 (85h)
134 (86h)
135 (87h)
136 (88h)
112 (70h)
113 (71h)
114 (72h)
115 (73h)
116 (74h)
117 (75h)
118 (76h)
119 (77h)
120 (78h)
121 (79h)
122 (7Ah)
123 (7Bh)
100 (64h)
101 (65h)
102 (66h)
103 (67h)
104 (68h)
105 (69h)
106 (6Ah)
107 (6Bh)
108 (6Ch)
109 (6Dh)
110 (6Eh)
111 (6Fh)
Attribute
89 (59h)
90 (5Ah)
91 (5Bh)
92 (5Ch)
93 (5Dh)
94 (5Eh)
95 (5Fh)
96 (60h)
97 (61h)
98 (62h)
99 (63h)
Class 121 (79h) - V7 Drive Parameter Object
Description
DC Injection Current (%)
DC Injection Time @ Stop (0.1s)
DC Injection Time @ Start (0.1s)
Stall Prevent @ Dec Select
Stall Prevent @ Acc (%)
Stall Prevent @ Run (%)
Frequency Detect Level (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Over Torque Detect Enable
Over Torque Detect Select
Over Torque Detect Level (%)
Over Torque Detect Delay Time (0.1s)
UP/Down Hold Memory Select
Speed Search Dec Time (0.1s)
Speed Search Level (%)
Torque Compensation Gain
Torque Compensation Time Constant (s)
Torque Compensation Iron Loss (1W or 0.1W) (set by drive rating)
Motor Rated Slip (0.1Hz)
Motor Line to Line Resistance (0.001Ohm)
Motor Leakage Inductance (0.01mH or 0.1mH) (set by drive rating)
Torque Compensation Limit (%)
Motor No Load Current (%)
Slip Compensation Gain
Slip Compensation Primary Delay Time (0.1s)
Slip Compensation @ Regen Select
Reserved
Stall Prevent Above Base Speed @ Run Select
Stall Prevent @ Run Acc/Dec Select
Under Torque Detect Select
Under Torque Detect Level (%)
Under Torque Detect Time (0.1s)
Frequency Reference 9 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 10 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 11 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 12 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 13 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 14 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 15 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
Frequency Reference 16 (0.01Hz < 100Hz) (0.1Hz >= 100Hz)
PID Control Select
PID Feedback Gain
PID P Gain
PID I Time (0.1s)
PID D Time
PID Offset Adjust (%)
PID I Limit (%)
PID Output Lag Filter Time (0.1s)
Feedback Loss Select
Supported Objects 2-18
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Size
Word
Word
Word
Word
Word
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Set
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Get
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
n166 n167 n168 n169 n170 n171 n160 n161 n162 n163 n164 n165 n172 n173 n174 n175 n176 n177 n178 n179 n154 n155 n156 n157 n158 n159 n148 n149 n150 n151 n152 n153
Parameter
n137 n138 n139 n140 n141 n142 n143 n144 n145 n146 n147
160 (A0h)
161 (A1h)
162 (A2h)
163 (A3h)
164 (A4h)
165 (A5h)
166 (A6h)
167 (A7h)
168 (A8h)
169 (A9h)
170 (AAh)
171 (ABh)
172 (ACh)
173 (ADh)
174 (AEh)
175 (AFh)
176 (B0h)
177 (B1h)
178 (B2h)
179 (B3h)
148 (94h)
149 (95h)
150 (96h)
151 (97h)
152 (98h)
153 (99h)
154 (9Ah)
155 (9Bh)
156 (9Ch)
157 (9Dh)
158 (9Eh)
159 (9Fh)
Attribute
137 (89h)
138 (8Ah)
139 (8Bh)
140 (8Ch)
141 (8Dh)
142 (8Eh)
143 (8Fh)
144 (90h)
145 (91h)
146 (92h)
147 (93h)
Class 121 (79h) - V7 Drive Parameter Object
Description
Feedback Loss Detect Level (%)
Feedback Loss Detect Time (0.1s)
Energy Save Select
Energy Save Gain K2
Energy Save Voltage Low Limit @ 60Hz (%)
Energy Save Voltage Low Limit @ 6Hz (%)
Energy Save Time of Average kW (x24ms)
Energy Save Voltage Limit @ Tuning (%)
Energy Save Step Voltage of Tuning to 100% Output Voltage (0.1%)
Energy Save Step Voltage of Tuning to 5% Output Voltage (0.1%)
Reserved
Reserved
Pulse Train Input Scaling (x10Hz)
Pulse Monitor Output Frequency Select
Modbus Timeout Detect Select
Modbus Frequency reference Unit Select
Modbus Slave Address Select
Modbus Baud Rate Select
Modbus Parity Select
Modbus Send Wait Time (ms)
Modbus RTS Control Select
Motor Code Select
Energy Save Voltage Upper Limit @ 60Hz (%)
Energy Save Voltage Upper Limit @ 6Hz (%)
Energy Save Power Supply Hold Width (%)
Power Supply Detect Filter Time Constant (x4ms)
PID Output Gain
PID Feedback Select
Reserved
Input Phase Loss Detect Level (%)
Input Phase Loss Detect Time (s)
Output Phase Loss Detect Level (%)
Output Phase Loss Detect Time (s)
Reserved
Reserved
Reserved
DC Injection P Gain
DC Injection I Time (x4ms)
Reduce Carrier @ Low Speed Select
Digital Operator COPY Function Select
Digital Operator COPY Access Select
Fault History
Software ID Number
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Get
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Set
X
X
X
X
X
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Size
Word
Word
Word
Word
Word
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Supported Objects 2-19
24
25
26
27
28
29
2A
2B
2C
1E
1F
20
21
22
23
18
19
1A
1B
1C
1D
12
13
14
15
16
17
C
D
E
F
10
11
6
7
8
9
A
B
Hex
0
1
2
3
4
5
36
37
38
39
40
41
42
43
44
30
31
32
33
34
35
24
25
26
27
28
29
18
19
20
21
22
23
12
13
14
15
16
17
6
7
8
9
10
11
Decimal
0
1
2
3
4
5
58
59
5A
5B
5C
5D
5E
5F
60
52
53
54
55
56
57
4C
4D
4E
4F
50
51
46
47
48
49
4A
4B
40
41
42
43
44
45
3A
3B
3C
3D
3E
3F
Hex
34
35
36
37
38
39
Hexadecimal/Decimal Conversion
88
89
90
91
92
93
94
95
96
82
83
84
85
86
87
76
77
78
79
80
81
70
71
72
73
74
75
64
65
66
67
68
69
58
59
60
61
62
63
Decimal
52
53
54
55
56
57
C0
C1
C2
C3
C4
C5
C6
C7
C8
BA
BB
BC
BD
BE
BF
B4
B5
B6
B7
B8
B9
AE
AF
B0
B1
B2
B3
A8
A9
AA
AB
AC
AD
A2
A3
A4
A5
A6
A7
Hex
9C
9D
9E
9F
A0
A1
8C
8D
8E
8F
90
91
92
93
94
86
87
88
89
8A
8B
80
81
82
83
84
85
7A
7B
7C
7D
7E
7F
74
75
76
77
78
79
Hexadecimal/Decimal Conversions
Hex Decimal
68
69
6A
104
105
106
6B
6C
6D
107
108
109
6E
6F
70
71
72
73
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
140
141
142
143
144
145
146
147
148
134
135
136
137
138
139
128
129
130
131
132
133
192
193
194
195
196
197
198
199
200
186
187
188
189
190
191
180
181
182
183
184
185
174
175
176
177
178
179
168
169
170
171
172
173
162
163
164
165
166
167
Decimal
156
157
158
159
160
161
Supported Objects 2-20
244
245
246
247
248
249
250
251
252
238
239
240
241
242
243
232
233
234
235
236
237
226
227
228
229
230
231
220
221
222
223
224
225
214
215
216
217
218
219
Decimal
208
209
210
211
212
213
F4
F5
F6
F7
F8
F9
FA
FB
FC
EE
EF
F0
F1
F2
F3
E8
E9
EA
EB
EC
ED
E2
E3
E4
E5
E6
E7
DC
DD
DE
DF
E0
E1
D6
D7
D8
D9
DA
DB
Hex
D0
D1
D2
D3
D4
D5
Hex
2D
2E
2F
30
31
32
33
Decimal
45
46
47
48
49
50
51
Hex
61
62
63
64
65
66
67
Decimal
97
98
99
100
101
102
103
Hexadecimal/Decimal Conversions
Hex
95
96
Decimal
149
150
97
98
99
9A
9B
151
152
153
154
155
Hex
C9
CA
CB
CC
CD
CE
CF
Decimal
201
202
203
204
205
206
207
Hex
FD
FE
FF
100
Decimal
253
254
255
256
Supported Objects 2-21
Notes
Supported Objects 2-22
Chapter 3 Automatic Device
Recovery
This section describes the Automatic Device Recovery feature of the DeviceNet Option Card.
Overview............................................................................................................. 3-2
Setup ................................................................................................................... 3-2
Replace a Faulted Drive...................................................................................... 3-4
Automatic Device Recovery 3-1
Overview
Automatic Device Recovery allows a faulted device to be replaced by another device with minimal intervention by the user. The replacement device must match the faulted device in all major aspects. For replacing a faulted Yaskawa drive, the replacement drive must at least match the device type, Vendor ID, product code and drive control mode.
Setup
It is necessary to set up the network and the devices on the network for Automatic Device Recovery.
Network Configuration
Verify that all devices on the network are present, at their appropriate node addresses and properly configured.
Fig 3.1 – Network Configuration
Select Scanner
→
Properties
Automatic Device Recovery is only available to those devices in the scan list and configured for ADR. Select the Scanner Module and
Properties.
Fig 3.2 – Scanner Properties
Automatic Device Recovery 3-2
Upload Scan List Configuration
Upload the current network configuration from the scanner.
Fig 3.3 – Upload Scan List Configuration
Verify Scan List – Electronic Keying
Verify that all network devices appear on the scan list and are properly configured. Select each device and then select the items for that device’s electronic key. The electronic key specifies which data must match exactly between the faulted device and its replacement.
Fig 3.4 – Set Devices
’
Electronic Key
Automatic Device Recovery 3-3
Set Drive ADR Configuration
After the scan list has been verified and the electronic keys have been entered for the devices on the network, select the ADR tab and highlight the device. Check Enable Auto-Address Recovery, then select Load Device Config. Check Configuration Recovery, then check
Auto-Address Recovery. Once the ADR settings for all devices have been entered, select Download to Scanner to save the ADR configuration data to the scanner.
Fig 3.5 – Device ADR Configuration
Replace a Faulted Drive
Verify that the replacement drive is identical to the faulted drive. The replacement drive must be of the same drive family (V7AM) and same drive model (20P4, 22P2, etc.) as the faulted drive.
Verify that the main power has been shut off and locked out and that there is no voltage present at the drive. Connect the replacement drive's power and motor leads. Refer to the appropriate drive user and/or technical manual for the proper way to connect the drive. Install the
DeviceNet Option Card but do not connect it to the DeviceNet network. Set the DeviceNet Option Card baud rate switch to 9 for Auto Sense and set the MAC ID address switches to 99. With the motor's load disconnected, apply power to the drive and verify that it functions properly from the operator keypad.
Set the drive control mode to the control mode of the faulted drive and remove power from the drive. Set the DeviceNet Option Card MAC
ID address switches to 63. Reapply power to the drive.
Auto-tune the drive.
Connect the DeviceNet Option Card to the DeviceNet network.
Automatic Device Recovery 3-4
Chapter 4 Product Description
This section describes the V7 DeviceNet Option.
Product Description ............................................................................................ 4-2
Product Description 4-1
Product Description
Item
Current (Network connection +24VDC)
Operating Voltage (Network)
Operating Temperature
Storage Temperature
Humidity
Vibration
Altitude
Table 4.1 – Product Description
Description
100 mA
11 ~ 25VDC
-10ºC to 45ºC
-20ºC to 60ºC
95% RG (non-condensing)
1G @ 20Hz, 0.2G @ 20 to 50Hz
3300 ft or less
Product Description 4-2
Chapter 5 Cable Specification
This section describes the V7 DeviceNet Option Cable Requirements.
Cable Specifications............................................................................................ 5-2
Cable Length....................................................................................................... 5-3
Cable Specification 5-1
Cable Specifications
Thick Cable
This cable consists of two shielded pairs of wire twisted on a common axis with a drain wire in the center. It is covered with an overall braid shield.
One 18AWG twisted pair signal wire (Blue & White)
One 15AWG twisted pair power wire (Red & Black)
Separate aluminized mylar shields around the signal and power wires
Overall foil/braid shield with 18AWG drain wire
Part #
3082A
3083A
Part #
210051
Pair
Data
Power
Data
Power
Pair
Data
Power
Table 5.1 – DeviceNet Thick Cable
Belden Wire & Cable Co.
AWG Insulation
18
15
18
15
Datalene
PVC/Nylon
Datalene
PVC/Nylon
Berk-Tek.
AWG
18
15
Insulation
FPE/HDPE
PVC/Nylon
Outer Jacket
PVC
PVC
Outer Jacket
PVC
Color
Lt. Gray
Yellow CPE
Color
Lt. Gray
Thin Cable
This cable consists of two shielded pairs of wire twisted on a common axis with a drain wire in the center. It is covered with an overall braid shield.
One 24AWG twisted pair signal wire (Blue & White)
One 22AWG twisted pair power wire (Red & Black)
Separate aluminized mylar shields around the signal and power wires
Overall foil/braid shield with 22AWG drain wire
Part #
3084A
3085A
Part #
210144
Pair
Data
Power
Data
Power
Pair
Data
Power
Table 5.2 – DeviceNet Thin Cable
Belden Wire & Cable Co.
AWG
24
22
Insulation
Datalene
PVC/Nylon
24
22
Datalene
PVC/Nylon
Berk-Tek.
AWG
24
22
Insulation
FPE/HDPE
PVC/Nylon
Outer Jacket
PVC
PVC
Outer Jacket
PVC
Color
Lt. Gray
Yellow CPE
Color
Lt. Gray
Cable Specification 5-2
Cable Length
Trunk Line
The maximum allowed trunk line length depends on the type of cable used and the network baud rate. The total cable length includes the length of the trunk and the sum of all the drop lines.
Baud Rate
125 kbaud
250 kbaud
500 kbaud
Table 5.3 – Trunk Line Cable Length
Thick Cable
500 m
250 m
100 m
Thin Cable
100 m
For trunk lines of mixed thick and thin cables, the total length at the various baud rates: o 125 kbaud: L thick
+ (5 x L thin
) = 500 m o 250 kbaud: L thick
+ (2.5 x L thin
) = 250 m o 500 kbaud: L thick
+ L thin
= 100 m
Drop Line
The drop line is measured from the tap on the trunk line to the transceiver of the DeviceNet node. Note that the total cable length includes the length of the trunk and the sum of all the drop lines.
Table 5.4 – Drop Line Cable Length
Maximum @ Each Baud Rate
125 kbaud
250 kbaud
500 kbaud
6 m
Maximum Total
156 m
78 m
39 m
Cable Specification 5-3
Notes
Cable Specification 5-4
Chapter 6 Troubleshooting
This section describes troubleshooting the DeviceNet Option Card.
Verify the Drive .................................................................................................. 6-2
LED States .......................................................................................................... 6-2
DeviceNet Faults................................................................................................. 6-3
Network Wiring .................................................................................................. 6-5
Troubleshooting 6-1
Verify the Drive
Remove power from the drive and wait for the charge lamp to be completely extinguished. Wait at least five additional minutes for the drive to be completely discharged. Measure the DC bus voltage and verify that it is at a safe level.
WARNING!
Dangerous voltages in excess of 400VDC (230V drives) or 800VDC
(460V drives) are present at the DC bus terminals of the drive.
Remove the DeviceNet Option Card. Reapply power to the drive and verify that the drive runs as expected without the DeviceNet Option
Card installed.
If the drive runs as expected, remove power from the drive, following the guidelines described above, and reinstall the DeviceNet Option
Card. With the DeviceNet Option Card installed, reapply power to the drive.
LED States
The operational state of the DeviceNet Option Card LEDs after the DeviceNet diagnostic LED sequence has been completed is described below. Please wait at least 10 seconds for the loading process to complete before verifying the states of the LEDs. Compare the state of the
DeviceNet Option Card LEDs with the states listed in the table below to determine the nature of the fault.
Fig 6.1 – LEDs
Troubleshooting 6-2
LED
MOD
State
Off
On Green
Flash Green
Flash Red
On Red
Flash Red-Green
Off
NET
Flash Green
On Green
Flash Red
On Red
No Power
Device Operational
Device in Standby
Minor Fault
Unrecoverable Fault
Device Self-Test
Not Powered/Not Online
Online/Not Connected
Link OK/Online and Connected
Connection Timeout
Critical Link Failure
Communication Faulted
Indicates
Verify that the DeviceNet Option Card is properly installed.
Verify that the drive connected properly and is powered.
Normal operation
Drive not configured on the network
Recoverable fault
Cycle power to the DeviceNet Option Card. If fault continues replace the card.
Self-Test mode
Verify that the DeviceNet Option Card is properly installed.
Verify that the DeviceNet Option Card is properly connected to the network.
Verify that the drive connected properly and is powered.
Check network configuration.
Check PLC and DeviceNet scanner.
Normal operation
Check network connections.
Check PLC and DeviceNet scanner.
Check for duplicate MAC ID.
Check for faulty network connection.
Check 24VDC power supply voltage.
Check for proper installation of the termination resistors.
Check duplicate MAC IDs.
Flash Red &
Green
DeviceNet Faults
The table of DeviceNet Option Card fault codes returned by the drive is shown below. Refer to the appropriate drive user and/or programming manual(s) for drive-specific information on the fault returned.
0Ch
0Dh
0Eh
0Fh
10h
5h
6h
7h
8h
Drive
Code
0h
1h
2h
3h
4h
DeviceNet
Code
0000h
5120h
3220h
5110h
3222h
None
DC Bus Fuse Open (PUF)
DC Bus Undervoltage (UV1)
CTL PS Undervoltage (UV2)
MC Answerback (UV3)
2130h
2120h
2300h
3210h
Short Circuit (SC)
Ground Fault (GF)
Overcurrent (OC)
DC Bus Overvoltage (OV)
9h
0Ah
0Bh
4200h
4210h
2220h
Heatsink Over-Temperature (OH)
Heatsink Maximum Temperature (OH1)
Motor Overload (OL1)
2200h
2221h
2222h
7110h
7112h
Inverter Overload (OL2)
Overtorque Detection 1 (OL3)
Overtorque Detection 2 (OL4)
Dynamic Braking Transistor (RR)
Dynamic Braking Resistor (RH)
Description
Output Transistor Failure – Replace the drive.
Input power fluctuation too large
Cycle drive power – Replace drive if fault continues.
Cycle drive power – Replace drive if fault continues.
Check drive wiring.
Cycle drive power – Replace drive if fault continues.
Check for motor and/or cable damage.
Check motor, motor load and acc/dec rates.
Check incoming voltage.
Check deceleration time.
Check ambient temperature.
Check drive cooling fan.
Check drive cooling fan.
Check the load, acc/dec and cycle times.
Check motor rated current (E2-01).
Check the load, acc/dec and cycle times.
Check drive rating.
Check L6-02 and L6-03 settings.
Check system mechanics.
Check L6-05 and L6-06 settings.
Check system mechanics.
Cycle drive power – Replace drive if fault continues.
Check load, operating speed and deceleration time.
Troubleshooting 6-3
Drive
Code
11h
12h
13h
14h
15h
16h
17h
18h
DeviceNet
Code
9000h
9000h
9000h
9000h
9000h
9000h
4140h
External Fault 3 (EF3)
External Fault 4 (EF4)
External Fault 5 (EF5)
External Fault 6 (EF6)
External Fault 7 (EF7)
External Fault 8 (EF8)
Heatsink Fan (FAN)
7310h Overspeed Detection (OS)
7310h
7301h
3130h
3130h
5300h
5300h
6320h
0000h
7500h
7500h
7500h
7500h
8321h
8313h
1Eh
1Eh
1Fh
20h
21h
19h
1Ah
1Bh
1Ch
22h
23h
24h
25h
26h
Speed Deviation (DEV)
PG Open (PGO)
Input Phase Loss (PF)
Output Phase Loss (LF)
Operator Disconnected (OPR)
OPE Faults
EEPROM R/W Error (ERR)
No Fault
DeviceNet Communication Error (BUS)
SI-E Communications Error
SI-F/G Communications Error
SI-F/G CPU error
Out of Control (CF)
Zero Servo Fault (SVE)
27h 9000h External Fault 0 (EF0)
Description
Multifunction digital input set to external fault
Circuit at terminal is closed.
Check drive cooling fan.
Check reference and reference gain.
Check F1-08 and F1-09 settings.
Check load, acc/dec times and system mechanics.
Check F1-10 and F1-11 settings.
Check PG card connections.
Excessive input voltage fluctuation.
Check for broken wire/loose terminals.
Check motor rating.
Reconnect the digital operator.
Verify parameter settings.
Cycle drive power – Replace drive if fault continues.
Check DeviceNet network cable connections.
Check 24VDC power supply voltage.
Check DeviceNet Option Card installation and connections.
Check DeviceNet Option Card installation and connections.
Cycle drive power – Replace drive if fault continues.
Check motor parameters.
Auto-tune.
Check load.
Torque limit is too small.
Check PLC program.
Check MI switch setting.
Check DeviceNet Option Card LEDs for fault indication.
Troubleshooting 6-4
Network Wiring
1. Connector Wiring
The network cable wires are connected in the correct order.
All network wires are securely connected.
There are no short circuits between network wires or shield.
The network connector is securely inserted into the mating connector.
2. Network Cable
The number of DeviceNet nodes does not exceed 64 on any one network.
No drop line is longer than 6 m.
The total drop length is less than the allowable length for the network baud rate and cable type.
The network trunk length does not exceed the allowable length for the network baud rate and cable type.
Network cables are not close to high power or frequency cables.
3. Terminating Resistors
The terminating resistors are appropriately installed and are of the correct size and type.
Measure the DC resistance between CAN_L and CAN_H at the ends and middle of the network. The measurement should be between 50 ohms and 70 ohms.
4. Grounding
Single point ground technology is used.
The network shield and drain wire are grounded at only one point, preferably in the center of the network.
The 24VDC power supply common is grounded at the same point as the network shield and drain wire.
Check for noise with an oscilloscope.
5. 24VDC Power Supply
Turn on the 24VDC power supply and configure all nodes for their maximum current draw.
Measure the voltage between V+ and V- at the power supply and at each end of the network.
The voltage should not fall below 11VDC at any point on the network. If the network contains powered devices (proximity sensors, photoelectric sensors, etc.) the voltage should not fall below 20VDC.
The 24VDC power supply common is grounded at the single point ground.
Troubleshooting 6-5
Notes
Troubleshooting 6-6
CM013 V7 DeviceNet Option
YASKAWA ELECTRIC AMERICA, INC.
Drives Division
16555 W. Ryerson Rd., New Berlin, WI 53151, U.S.A.
Phone: (800) YASKAWA (800-927-5292) Fax: (262) 782-3418
Internet: http://www.drives.com
YASKAWA ELECTRIC AMERICA, INC.
Chicago-Corporate Headquarters
2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone: (800) YASKAWA (800-927-5292) Fax: (847) 887-7310
Internet: http://www.yaskawa.com
YASKAWA ELECTRIC CORPORATION
New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo, 105-0022, Japan
Phone: 81-3-5402-4511 Fax: 81-3-5402-4580
Internet: http://www.yaskawa.co.jp
YASKAWA ELECTRIC EUROPE GmbH
Am Kronberger Hang 2, 65824 Schwalbach, Germany
Phone: 49-6196-569-300 Fax: 49-6196-888-301
YEA Document Number: TM.V7.16 9/01/2007 Rev: 07-09
Data subject to change without notice. Yaskawa Electric America, Inc.
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Key Features
- Connects to DeviceNet network
- Enables data exchange with drives
- Supports various input and output assemblies
- Offers remote monitoring and fault detection
- Provides advanced control capabilities
- Requires DriveWizard for configuration