Yaskawa Network Comms-DeviceNet Manual

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

Warnings and Cautions ......................................................................................... i

Introduction .............................................................................................. ii

Table of Contents .................................................................................................. 1

Chapter 1 Installation....................................................................................... 1-1

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

Chapter 2 Supported Objects .......................................................................... 2-1

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

Overview .............................................................................................. 3-2

Setup ..................................................................................................... 3-2

Replace a Faulted Drive ....................................................................... 3-4

1

Chapter 4 Product Description........................................................................ 4-1

Product Description .............................................................................. 4-2

Chapter 5 Cable Specification ......................................................................... 5-1

Cable Specifications ............................................................................. 5-2

Cable Length ........................................................................................ 5-3

Chapter 6 Troubleshooting .............................................................................. 6-1

Verify the Drive.................................................................................... 6-2

LED States............................................................................................ 6-2

DeviceNet Faults .................................................................................. 6-3

Network Wiring.................................................................................... 6-5

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!



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



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)



24h

25h

26h

27h

20h

21h

22h

23h

0000h

7500h

7500h

7500h

7500h

8321h

8313h

9000h

Description



Heat Sink Fan (FAN)

Operator Disconnected (OPR)

SI-E Communications Error (CE)

DeviceNet Communication Error (BUS)


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


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

-


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

-

-


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.


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

-


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


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


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

-

-

-


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

-


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


@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

-


Reserved

Bit 2

@FWD Run

Bit 1

-

Bit 0

@Fault

Monitor U-02


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


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


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


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


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.


Class 2 (02h) – Message Router Object


0Eh

Attributes

Instance ID

0

Service Name


Attribute

1 Object Software Revision

Description Get

X

Set Size

Word

Default

Class 3 (03h) – DeviceNet Object


05h

0Eh

Attributes

Instance ID

0

1

Service Name

Reset


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


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


Class 4 (04h) – Assembly Object


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


Set Attribute Single

Attribute

1

3

Description


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 6 Bytes 00 00 00 00 00 00

Array 6 Bytes 00 00 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


Class 5 (05h) – DeviceNet Connection Object


0Eh

10h

Attributes

Instance ID

0

1

2

Service Name



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


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


Class 40 (28h) – Motor Data Object


0Eh

10h

Attributes

Instance ID

0

1

Attribute

1

3

6

7

Service Name



Description


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


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



Reset

Description


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


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)


Over-Torque Detection 1 (OL3)

7310h

7310h

7301h

3130h

3130h

5300h

5300h

6320h




24h

25h

26h

27h

20h

21h

22h

23h

0000h

7500h

7500h

7500h

7500h

8321h

8313h

9000h

Description



Heat Sink Fan (FAN)


SI-E Communications Error (CE)




Class 41 (2Ah) – AC Drive Object


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



Description


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


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


0Eh

10h

Attributes

Instance ID

0

1

Note:

Service Name



Attribute

1

1

2

Description


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





Reserved

External Fault

Fault Reset

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved


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


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)



S Curve Select

Frequency Reference 1 (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


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)


Description





Reserved

Reserved

Reserved

Reserved

Reserved

Multifunction Input Terminal S1 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 Deadband (0.01Hz)

Reserved

Reserved


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)


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)









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


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)


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


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


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


Notes


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


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


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.


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 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


Notes


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!



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 in Standby

Minor Fault

Unrecoverable Fault

Device Self-Test

Not Powered/Not Online

Online/Not 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




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.


Check drive wiring.


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 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.


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







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)


OPE Faults

EEPROM R/W Error (ERR)

No Fault


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 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.


Check DeviceNet network cable connections.

Check 24VDC power supply voltage.

Check DeviceNet Option Card installation and connections.

Check DeviceNet Option Card installation and connections.


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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