EtherCAT Option for Inverter Drives

EtherCAT Option for Inverter Drives
YASKAWA EtherCAT
Communication Option
Communication Options Card for Inverter
Drives and Regenerative Units
Installation Manual
Type:
SI-ES3
SI-ES3/V
MANUAL NO. TOEP C710616 99B
This Page Intentionally Blank
2
YASKAWA ELECTRIC TOEP C710616 99B YASKAWA EtherCAT Communication Option Installation Manual
Table of Contents
1. Preface and General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Receiving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
About Terms and Abbreviations in This Document . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
About Registered Trademarks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Explanation of Signal Words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
General Safety Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Intended Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Warranty and Exclusion of Liability. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2. Product Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
About This Product . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Applicable Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3. Receiving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Receiving the Option Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Content and Packaging. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Tools Required. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
4. EtherCAT Option Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
EtherCAT Option SI-ES3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
EtherCAT Option SI-ES3/V for V1000 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
EtherCAT Option Status LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
LEDs L/A OUT and L/A IN: Ethernet Link/Activity 1 and 2 . . . . . . . . . . . . . . . . . . . . . . . . . 10
RUN LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
ERR LED. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Indicator Flash Rates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Communication Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Communication Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Network Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
5. Mechanical & Electrical Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Before Installing the Option Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installing the Option on a A1000, D1000, R1000 or U1000 . . . . . . . . . . . . . . . . . . . . . . .
Installing the Option on a V1000. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installing the Option on a GA700 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ESI File. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13
14
14
15
17
19
6. EtherCAT Option Related Drive Parameters . . . . . . . . . . . . . . . . . . . . . . . . 19
7. Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
YASKAWA ELECTRIC TOEP C710616 99B YASKAWA EtherCAT Communication Option Installation Manual
3
Communication Option Card Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Yaskawa-specific SDO Abort Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Minor Faults/Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20
21
21
22
8. Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Revision History. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4
YASKAWA ELECTRIC TOEP C710616 99B YASKAWA EtherCAT Communication Option Installation Manual
1 Preface and General Precautions
1
Preface and General Precautions
This chapter describes important safety precautions regarding the use of this product. Failure to follow these
precautions may result in serious injury or death, and may lead to damage to this product or related devices and
systems. Yaskawa shall not be held responsible for any injury or equipment damage as a result of failure to
observe the precautions and instructions contained in this manual.
◆ Receiving
This instruction manual contains the information necessary to use the product correctly. Thoroughly read this
manual before installing, wiring, operating, or performing maintenance and inspections. Make sure to read and
understand the safety information and precautions before using the product.
■ About Terms and Abbreviations in This Document
Representations Used in This
Manual
Description
EtherCAT® Option
Yaskawa EtherCAT® communication option card
EtherCAT®
Ethernet for Control Automation Technology, an open Ethernet-based network
Online-DRV
NOID processing mode, process (ctrl/resp) data is active
Online-DRVMB
NOID processing mode, process resp data is active, ctrl data is on hold (Until MEMOBUS
process is complete)
Online-PRG
NOID processing mode, NO process (ctrl/resp) data is active
Host
YASKAWA inverter drive or regenerative unit
LED
Light Emitting Diode
OPT, Option
The unit described in this document
INV, Inverter
Inverter drive or regenerative unit
PCB
Printed Circuit Board
FCS
Frame Check Sequence
INVR
MEMOBUS register number
ESI
EtherCAT® Slave Information file
■ About Registered Trademarks
• EtherCAT® is a registered trademark of Beckhoff Automation GmbH.
• Other company names and product names that appear in this document are trademarks or registered trademarks
of the respective companies.
◆ Safety
Read the safety guidelines carefully before installing, wiring, or operating this product.
■ Explanation of Signal Words
DANGER
Indicates a hazardous situation, which, if not avoided, will cause death or serious injury.
WARNING
Indicates a hazardous situation, which, if not avoided, could cause death or serious injury.
CAUTION
Indicates a hazardous situation, which, if not avoided, could cause minor or moderate injury.
NOTICE
Indicates a property damage message.
■ General Safety Instructions
Yaskawa Electric manufactures and supplies electronic components for a variety of industrial applications. The
selection and application of Yaskawa products is the responsibility of the designer of the equipment or the
customer that assembles the final product. Yaskawa is not responsible for how our products are incorporated into
the final system design. In all cases, Yaskawa products should not be incorporated into a product or design as the
exclusive or sole safety control function. All control functions are designed to dynamically detect failures and
operate safely without exception. All products that are designed to incorporate parts manufactured by Yaskawa
YASKAWA ELECTRIC TOEP C710616 99B YASKAWA EtherCAT Communication Option Installation Manual
5
1 Preface and General Precautions
must be provided to the end user and include proper warnings and instructions regarding their safe use and
operation. All warnings from Yaskawa must be promptly issued to the end user. Yaskawa offers warranties only
for the quality of our products, in compliance with standards and specifications that are described in the manual.
Yaskawa does not offer other warranties, either explicit or implied. Yaskawa assumes no responsibility for
personal injury, property damage or loss, or compensation for damage caused by the incorrect application of our
products.
Note:
Be aware that serious injury or death may result if the warnings described in this manual are not observed. Yaskawa assumes no
responsibility for injuries or equipment damage to your company or customers that are caused by a failure to observe the information
contained in this manual.
• Read this manual carefully when mounting, operating, and repairing AC drives and Communication options.
• Follow all warnings, cautions, and instructions.
• All work should be carried out by qualified personnel.
• Ensure the drive is installed to an area that matches the following conditions.
DANGER Electrical Shock Hazard. Do not examine, connect, or disconnect wiring on an energized drive. Before
servicing, disconnect all power to the equipment and wait for the time specified on the warning label at a minimum. The internal
capacitor stays charged after the drive is de-energized. The charge indicator LED extinguishes when the DC bus voltage
decreases below 50 Vdc. To prevent electric shock, always wait for at least the amount of time indicated on the warning labels.
When all indicators are OFF, remove the covers before measuring for dangerous voltages to make sure that the drive is safe.
Failure to obey will cause death or serious injury.
WARNING Fire Hazard. Do not connect power supply wiring to drive output terminals U/T1, V/T2, and W/T3. Connect
power supply wiring to main circuit input terminals R/L1, S/L2, and T/L3. Failure to obey can cause death or serious injury.
WARNING Electrical Shock Hazard. Do not make changes to the drive body or drive circuitry. Failure to obey can cause
death or serious injury and will void warranty. Yaskawa is not responsible for changes to the product made by the user.
WARNING Electrical Shock Hazard. Only let authorized persons install, wire, maintain, examine, replace parts, and
repair the drive. Failure to obey can cause death or serious injury.
WARNING Electrical Shock Hazard. Always ground the motor-side grounding terminal. Contacting the motor case can
cause death or serious injury from incorrect equipment grounding.
WARNING Electrical Shock Hazard. Do not work on the drive or around the drive while wearing loose clothing or jewelry.
Tighten loose clothing and remove all metal objects such as watches or rings. Failure to obey can cause death or serious injury.
WARNING Electrical Shock Hazard. The leakage current of drive models 4389A to 4675A, 2xxxB/C and 4xxxB/C is more
than 3.5 mA. The IEC/EN 61800-5-1: 2007 standard specifies that users must wire the power supply to automatically turn off
when the protective ground wire disconnects. Users can also connect a protective ground wire that has a minimum crosssectional area of 10 mm2 (copper wire) or 16 mm2 (aluminum wire). Failure to obey these standards can cause death or serious
injury.
WARNING Sudden Movement Hazard. Remove all persons and objects from the area around the drive, motor, and load
before starting Auto-Tuning. The drive and motor can start suddenly during Auto-Tuning and cause death or serious injury.
WARNING Sudden Movement Hazard. Remove all persons and objects from the area around the drive, motor, and
machine area and attach covers, couplings, shaft keys, and machine loads before energizing the drive. Failure to obey can
cause death or serious injury.
WARNING Fire Hazard. Do not use the main circuit power supply (Overcurrent Category III) at incorrect voltages. Make
sure that the drive rated voltage aligns with the power supply voltage before energizing the drive. Failure to obey can cause
death or serious injury.
WARNING Fire Hazard. Do not put flammable or combustible materials on top of the drive and do not install the drive
near flammable or combustible materials. Attach the drive to metal or other noncombustible material. Failure to obey can cause
death or serious injury.
WARNING Fire Hazard. Tighten all terminal screws to the correct tightening torque. Connections that are too loose or too
tight can cause incorrect operation and damage to the drive. Incorrect connections can also cause death or serious injury from
fire.
WARNING Electrical Shock Hazard. Do not cause a short circuit on the drive output circuit. Failure to obey can cause
death or serious injury.
WARNING Electrical Shock Hazard. Use a type B Residual Current Monitor/Residual Current Device (RCM/RCD) for
protection against contact when using a residual current operated protective device or monitoring device as specified by IEC/EN
60755. The drive can cause a residual current with a DC component in the protective earthing conductor. Failure to obey can
cause death or serious injury.
WARNING Electrical Shock Hazard. Ground the neutral point on the power supply of drive models 2xxxB/C and 4xxxA/B/
C to comply with the EMC Directive before turning on the EMC filter or if there is high resistance grounding. Failure to obey can
cause death or serious injury.
6
YASKAWA ELECTRIC TOEP C710616 99B YASKAWA EtherCAT Communication Option Installation Manual
2 Product Overview
WARNING Electrical Shock Hazard. Do not immediately energize the drive or operate peripheral devices after the drive
blows a fuse or trips an RCM/RCD. Wait for the time specified on the warning label at a minimum and make sure that all
indicators are OFF. Then check the wiring and peripheral device ratings to find the cause of the problem. Contact Yaskawa
before energizing the drive or peripheral devices if the cause is not known. Failure to obey can cause death or serious injury
and damage to the drive.
WARNING Fire Hazard. Install sufficient branch circuit short circuit protection as specified by applicable codes and this
manual. The drive is suited for circuits that supply not more than 100,000 RMS symmetrical amperes, 240 Vac maximum (200 V
Class), 480 Vac maximum (400 V Class). Failure to obey can cause death or serious injury.
CAUTION Burn Hazard. Do not touch a hot drive heatsink. De-energize the drive, wait 15 minutes minimum, and make
sure that the heatsink is cool to replace the cooling fans. Failure to obey can cause minor to moderate injury.
NOTICE
Observe correct electrostatic discharge (ESD) procedures when touching the drive and circuit boards. Failure
to obey can cause ESD damage to the drive circuitry.
NOTICE
Do not connect or disconnect the motor from the drive while the drive is supplying voltage. Incorrect
equipment sequencing can cause damage to the drive.
NOTICE
Do not do a withstand voltage test or Megger test on the drive. Failure to obey can cause damage to the drive.
NOTICE
Do not connect or operate damaged equipment or equipment with missing parts. Failure to obey can cause
damage to the drive and connected equipment.
NOTICE
Install fuses and an RCM/RCD. Failure to obey can cause damage to the drive.
NOTICE
Do not use unshielded wire for control wiring. Use shielded, twisted-pair wires and ground the shield to the
ground terminal of the drive. Failure to obey can cause electrical interference and unsatisfactory system performance.
NOTICE
Make sure that all connections are correct after installing the drive and connecting peripheral devices. Failure
to obey can cause damage to the drive.
■ Intended Use
This communication option card is electrical equipment intended to enable Yaskawa drives to communicate with
an additional fieldbus system for commercial use. Do not use this product for any other purpose.
1. Read and understand all safety precautions.
2. Wire and ground the drive and communication option card in accordance with all applicable standards and
safety precautions.
3. Firmly attach all parts and protective covers.
4. Always use the product in the proper environmental conditions as specified in this manual.
DANGER Electrical Shock Hazard. Make sure that all electrical connections are correct and install all drive covers
before energizing the drive. Use terminals for their intended function only. Incorrect wiring or ground connections, and incorrect
repair of protective covers can cause death or serious injury.
WARNING Electrical Shock Hazard. Do not make changes to the drive body or drive circuitry. Failure to obey can cause
death or serious injury and will void warranty. Yaskawa is not responsible for changes to the product made by the user.
◆ Warranty and Exclusion of Liability
This product is not designed nor manufactured for use in life-support machines or systems.
Contact your sales representative if you are considering the application of this product for special purposes, such
as machines or systems used for passenger cars, medicine, airplanes and aerospace, nuclear power, electric power,
or undersea relaying.
WARNING Injury to Personnel. Yaskawa manufactured this product with strict quality-control guidelines. Install applicable
safety devices to minimize the risk of accidents when installing the product where its failure could cause a life-or-death situation,
loss of human life, or a serious accident or physical injury.
2
Product Overview
◆ About This Product
The EtherCAT Communication Option (Models: SI-ES3 and SI-ES3/V) is an option card designed to connect the
YASKAWA inverter drives or regenerative units to an EtherCAT network. Using this option card and an
EtherCAT master you can:
• Operate the inverter drive or regenerative unit
• Monitor the inverter drive or regenerative unit operation status
YASKAWA ELECTRIC TOEP C710616 99B YASKAWA EtherCAT Communication Option Installation Manual
7
3 Receiving
• Read or modify inverter drive or regenerative unit parameters.
The option contains support for the Velocity mode according the CANopen Device Profile and Motion Control
(DSP402) profile. It also contains YASKAWA vendor specific CANopen objects based on the present CANopen
option board specification.
The EtherCAT Option supports the following communication profiles:
• DS 301 Ver. 4.02
• DSP 402 Ver. 3.0 Velocity Mode (not available for D1000 and R1000)
◆ Applicable Models
The option can be used with the drive models in Table 2.1:
Table 2.1 Applicable Models
Option Card Model
Drive Series
Software Version
SI-ES3
A1000
For models up to 630 kW: VSA901017 and higher
For models more than 630 kW: VSA903015 and higher
D1000
For models up to 630 kW: VSD902006 and higher
For models more than 630 kW: VSD903014 and higher
R1000
VSD902102 and higher
U1000
VSU901010 and higher
GA700
VSAA0010 and higher
V1000
VSV901020 and higher
SI-ES3/V
For software version, see “PRG” on the nameplate of the drive or regenerative unit.
3
Receiving
This instruction manual contains the information necessary to use the product correctly. Thoroughly read this
manual before installing, wiring, operating, or performing maintenance and inspections. Make sure to read and
understand the safety information and precautions before using the product.
◆ Receiving the Option Card
Please perform the following tasks after receiving the Communication Option card:
• Inspect the Communication Option card for damage. If the Communication Option card appears damaged upon
receipt, contact the shipper immediately.
• Verify receipt of the correct model by checking the information:
For V1000: find the information on the mounting frame label of the option card.
For other units: find the information on the PCB.
• If you have received the wrong option card model or the Communication Option card does not function
properly, contact your supplier.
8
YASKAWA ELECTRIC TOEP C710616 99B YASKAWA EtherCAT Communication Option Installation Manual
4 EtherCAT Option Components
◆ Content and Packaging
Table 3.1 Option Package Contents for SI-ES3 (Inverter Drives and Regenerative Units)
Description
Option Card
Ground Cables
Screws (M3)
LED Label
Illustration
L/A IN
L/A OUT
Installation
Manual
RUN
ERR
MANUAL
RUN ERR
L/A IN L/A OUT
Quantity
1
1
3
2
1
Table 3.2 Option Package Contents for SI-ES3/V (V1000 Inverter Drive)
Description
Option Card
Ground Cables
Installation Manual
Illustration
MANUAL
Quantity
1
4; of different length
1
◆ Tools Required
A Phillips screwdriver PH1(#1) or PH2(#2) is required to install the Communication Option card.
Note:
Tools required to prepare communication network cables for wiring are not listed in this manual.
4
EtherCAT Option Components
◆ EtherCAT Option SI-ES3
I
A
IN
D
Underside
OUT
E
SI-ES3
Looking from the connector
B
F
HG
C
A - Communication cable connector
(RJ45)
B - Ground terminal (installation
hole)
C - Model number
D - Installation hole
E - LED (RUN)
FGHI-
LED (ERR)
LED (L/A OUT)
LED (L/A IN)
Connector (CN5)
Figure 4.1 Option Card
YASKAWA ELECTRIC TOEP C710616 99B YASKAWA EtherCAT Communication Option Installation Manual
9
4 EtherCAT Option Components
◆ EtherCAT Option SI-ES3/V for V1000
EtherCAT with cover attached
EtherCAT with cover removed
Underside
A
B
I
RUN
L/A IN
ERR
L/A OUT
J
C
D
K
H
FE
E
G
IN
ABCDEF-
LED (ERR)
LED (RUN)
LED (L/A IN)
LED (L/A OUT)
Option Cover
Communication cable connector
(RJ45)
G - Mounting clip
H - Connector (CN5)
N
OUT
F
L
M
O
I - Option Card PCB
J - Attachment screw hole for option
cover
K - Nameplate
L - Ground terminal (FE)
M - Mounting clip
N - Wire
O - Through-hole for wire
Figure 4.2 Option Card for V1000
◆ EtherCAT Option Status LEDs
The EtherCAT Option has four LEDs that indicate the communication status. The indications conform with
DS303, Part 3: Indicator Specification.
■ LEDs L/A OUT and L/A IN: Ethernet Link/Activity 1 and 2
The Link/Activity indicators show the status of the physical link and show activity on the link period.
LED
Color
Display
Meaning
Off
No link. The communication cable is not physically connected. The
communication controller is not started up.
Green
On
The module is connected to Ethernet. A communication cable is
physically connected, but no data is being exchanged.
Green
Flickering
There is traffic on Ethernet, data is being exchanged.
Link Activity 1/2 –
■ RUN LED
A green lit RUN LED indicates the status of the communication network state machine.
A red lit RUN LED is only used by the NOID firmware loader.
10
YASKAWA ELECTRIC TOEP C710616 99B YASKAWA EtherCAT Communication Option Installation Manual
4 EtherCAT Option Components
LED
Color
Display
Meaning
RUN
–
Off
The device is in Init state.
Green
Blinking
The device is in Pre-Operational State.
Green
Single flash
The device is in Safe-Operational State.
Green
On
The device is in Operational State.
Red
Blinking
(1 Hz or 6 Hz)
The Option BOOT or APP firmware is executing the NOID firmware
loader.
1 Hz: Firmware loader protocol in IDLE state (waiting for commands
from the drive)
6 Hz: Firmware loader protocol is processing commands
■ ERR LED
The red error LED indicates the presence of any errors.
LED
Color
Display
Meaning
ERR
–
Off
No link. The communication option card is in working condition.
Red
Blinking
General configuration error.
Single flash
The slave device application has changed the communication state
autonomously: The parameter "Change" in the AL status register is set
to 01 (Hex): change/error.
Double flash
The sync manager watchdog time out has occurred.
On
Possible causes:
1: A Process Data Interface error has occurred, the NOID application
interface has failed.
2: An option card FATAL event has occurred (system has stalled
execution, see object 4000 (Hex) for the cause).
Blinking
(1 Hz or 6 Hz)
The option BOOT or APP firmware is executing the NOID firmware
loader.
1 Hz: Firmware loader protocol in IDLE state (waiting for commands
from drive)
6 Hz: Firmware loader protocol is processing commands
YASKAWA ELECTRIC TOEP C710616 99B YASKAWA EtherCAT Communication Option Installation Manual
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4 EtherCAT Option Components
■ Indicator Flash Rates
50 ms
on
flickering
off
on
200 ms
blinking
200 ms
off
on
200 ms
single
flash
1000 ms
200 ms
off
on
double
flash
200 ms
200 ms
200 ms
1000 ms
200 ms
200 ms
200 ms
1000 ms
200 ms
200 ms
200 ms
off
on
inverted
double
flash
off
on
triple
flash
200 ms
200 ms
1000 ms
off
1
2
n
200 ms
200 ms
on
200 ms
n flashes
200 ms
1000 ms
off
Figure 4.3 Meaning of LED Flash Rates
◆ Communication Connector
The Communication Option card is connected to the network using a RJ45 connector.
12
YASKAWA ELECTRIC TOEP C710616 99B YASKAWA EtherCAT Communication Option Installation Manual
5 Mechanical & Electrical Installation
Table 4.1 Pin Assignment of RJ45 Communication Connector
Connector
8
...
...
1
Pin
Signal
Description
1
TD+
Send data
2
TD-
Send data
3
RD+
Receive data
4
–
N.C. (Pins denoted as N.C. do not connect to any signal)
5
–
N.C. (Pins denoted as N.C. do not connect to any signal)
6
RD-
Receive data
7
–
N.C. (Pins denoted as N.C. do not connect to any signal)
8
–
N.C. (Pins denoted as N.C. do not connect to any signal)
Housing
–
Shield
■ Communication Cable
YASKAWA recommends using EtherCAT® dedicated Cat5e or better communication cables.
■ Network Termination
If the drive is the last node in the network, network termination is automatically realized by the ASIC of the
Communication Option card.
5
Mechanical & Electrical Installation
◆ Safety Precautions
DANGER Electrical Shock Hazard. Do not examine, connect, or disconnect wiring on an energized drive. Before
servicing, disconnect all power to the equipment and wait for the time specified on the warning label at a minimum. The internal
capacitor stays charged after the drive is de-energized. The charge indicator LED extinguishes when the DC bus voltage
decreases below 50 Vdc. To prevent electric shock, always wait for at least the amount of time indicated on the warning labels.
When all indicators are OFF, remove the covers before measuring for dangerous voltages to make sure that the drive is safe.
Failure to obey will cause death or serious injury.
WARNING Electrical Shock Hazard. Do not operate equipment with covers removed. The diagrams in this section may
include drives without covers or safety shields to illustrate details. Be sure to reinstall covers or shields before operating the
drives and run the drives according to the instructions described in this manual. Failure to obey can cause death or serious
injury.
WARNING Electrical Shock Hazard. Do not work on the drive or around the drive while wearing loose clothing or jewelry.
Tighten loose clothing and remove all metal objects such as watches or rings. Failure to obey can cause death or serious injury.
WARNING Electrical Shock Hazard. Do not remove covers or touch the circuit boards while the power is on. Failure to
comply could cause death or serious injury.
WARNING Electrical Shock Hazard. Only let authorized persons install, wire, maintain, examine, replace parts, and
repair the drive. Failure to obey can cause death or serious injury.
WARNING Electrical Shock Hazard. Do not make changes to the drive body or drive circuitry. Failure to obey can cause
death or serious injury and will void warranty. Yaskawa is not responsible for changes to the product made by the user.
WARNING Fire Hazard. Tighten all terminal screws to the correct tightening torque. Connections that are too loose or too
tight can cause incorrect operation and damage to the drive. Incorrect connections can also cause death or serious injury from
fire.
CAUTION Crush Hazard. Do not hold the drive by the front cover or terminal cover. Tighten the screws correctly before
moving the drive. Failure to obey can cause minor to moderate injury.
NOTICE
Observe correct electrostatic discharge (ESD) procedures when handling the drive. Failure to obey can cause
ESD damage to the drive circuitry.
NOTICE
Do not the lift drive when it has its cover removed. The drive board and terminal block may be damaged.
NOTICE
Do not use unshielded wire for control wiring. Use shielded, twisted-pair wires and ground the shield to the
ground terminal of the drive. Failure to obey can cause electrical interference and unsatisfactory system performance.
NOTICE
Do not modify the drive circuitry. Failure to comply could cause damage to the drive and will void warranty.
Yaskawa is not responsible for any modification of the product made by the user.
YASKAWA ELECTRIC TOEP C710616 99B YASKAWA EtherCAT Communication Option Installation Manual
13
5 Mechanical & Electrical Installation
NOTICE
Make sure that all connections are correct after installing the drive and connecting peripheral devices. Failure
to obey can cause damage to the drive.
◆ Before Installing the Option Card
Prior to installing the Communication Option Card, wire the inverter drive or regenerative unit and connect to the
drive terminals. For more information on wiring and connecting the inverter drive or regenerative unit, refer to the
manual packaged with the inverter drive or regenerative unit.
Verify that the inverter drive or regenerative unit runs normally without the option installed.
◆ Installing the Option on a A1000, D1000, R1000 or U1000
1.
Turn off the power. Wait until the CHARGE LED turns off and then remove the cover. Refer to the drive
manual for direction on removing the front cover.
2.
Plug the option card (E) to the CN5-A connector (C).
Fieldbus option cards must always be plugged into CN5-A connector.
3.
Connect the ground wire (F) to option card and fix with screw (1).
Select shortest possible cable for ground connection.
4.
Fix option card to the inverter with screw (2) additionally. Connect the ground wire (F) to inverter ground
terminal (D).
Note:
There are only two screw holes on the drive for ground terminals. If three different option cards are connected, two of the
ground wires will need to share the same ground terminal.
A
B
E
C
H
D
RUN
L/A IN
G
ERR
L/A OUT
I
F
J
2
1
ABCDE-
Connector CN5-C
Connector CN5-B
Connector CN5-A
Drive grounding terminal (FE)
Option cards
F - Ground wire
G - Opening for cable lines (use
cutter to create the opening)
H - Operator
I - LED labels
J - Front cover
Figure 5.1 Installing the Option Card on a A1000, D1000, R1000 or U1000
5.
14
Prepare the RJ45 network cable connectors.
For inverter drives CIMR-Ax2A0004 to 0040 and 4A0002 to 0023: the network cable should be routed to
the outside through the openings at the left side (G) of the front cover. Make sure no sharp edges remain.
For Inverter drives 2A0056 to 0211, and 4A0031 to 0165: enough space to keep all wiring inside the unit is
available.
YASKAWA ELECTRIC TOEP C710616 99B YASKAWA EtherCAT Communication Option Installation Manual
5 Mechanical & Electrical Installation
A
B
A - Opening for network cables
(CIMR-Ax2A0004 to 0040, 4A0002
to 0023)
B - Space for wiring (CIMR-Ao2A0056
to 0211, 4A0031 to 0165)
Figure 5.2 Network Cable Routing
6.
7.
8.
9.
Plug in the RJ45 network cable connector to the option.
Reinstall the front cover back onto the drive as it was before.
Attach the LED label (I) as shown in Figure 5.1.
Switch on the drive power supply.
◆ Installing the Option on a V1000
1.
2.
Turn off the power. Wait until the CHARGE LED turns off and then remove the cover.
Remove the front cover. Refer to the drive manual for direction on removing the front cover.
Note:
The original front cover may be discarded because it will be replaced by the cover of the Communication Option card.
3.
Remove the bottom cover and connect the Communication Option ground wire to the ground terminal.
D
E
C
B
A
A - Bottom Cover
B - Ground Cable
C - Wire
D - Communication Option card
connection (screw size: M3)
E - Drive-side connection (screw
size: M3.5 to M6)
Figure 5.3 Connect Ground Wire
Select shortest possible cable for ground connection.
4.
Re-attach the bottom cover.
YASKAWA ELECTRIC TOEP C710616 99B YASKAWA EtherCAT Communication Option Installation Manual
15
5 Mechanical & Electrical Installation
5.
Connect the Communication Option card to the drive. Properly secure the tabs on the left and right side of
the Communication Option card to the drive case.
A
A
A - Tabs should line up
Figure 5.4 Attach Communication Option Card
6.
Connect the ground wire to the Communication Option card.
When wiring the Communication Option card, pass the ground wire through the inside of the drive bottom
cover, then pass the ground wire into the through-hole for the ground wire at the front of the
Communication Option card.
A B
C
A - Through-hole for ground wire
B - Ground wire
D
C - Pass ground wire through the
bottom cover of the drive
D - Drive ground terminal
Figure 5.5 Connect Ground Wire
7.
8.
9.
16
Connect the communication wire to the Communication Option card modular connector.
Attach the cover to the front of the Communication Option card.
Switch on the drive power supply.
YASKAWA ELECTRIC TOEP C710616 99B YASKAWA EtherCAT Communication Option Installation Manual
5 Mechanical & Electrical Installation
◆ Installing the Option on a GA700
A
B
C
E
D
K
F
J
I
H
G
ABCDEF-
Insertion for CN5 connector
Option card
Screws (included)
Drive front cover
LED label
Keypad
GHIJ-
Option terminal block (CN1)
LED Status Ring board
Connector CN5-A
Connector CN5-B (Not for
communication option
installation)
K - Connector CN5-C (Not for
communication option
installation)
Figure 5.6 GA700 Components with Option Card
The procedures for removing and re-attaching the front cover of the inverter drives, and for removing the LED
Status Ring board, differ by model. For detailed information please refer to the Technical Manual of the inverter
drive. Communication option cards can only be inserted into the CN5-A connector located on the drive control
board.
1.
Affix the LED label (E) in the appropriate position on the drive front cover (D).
E
D
Figure 5.7 Affix the LED Label
2.
Turn off the power. Wait until the CHARGE LED turns off and then remove the cover. Refer to the drive
manual for direction on removing the front cover.
YASKAWA ELECTRIC TOEP C710616 99B YASKAWA EtherCAT Communication Option Installation Manual
17
5 Mechanical & Electrical Installation
3.
Move the keypad connector to the holder on the drive after removing the keypad and before removing the
front cover. Insert the keypad connector tab into the holder when installing the keypad connector to the
holder.
Keypad connector tab
Holder
Keypad
connector
D
Figure 5.8 Remove the Front Cover and Keypad
4.
Carefully remove the LED Status Ring board (H) and place it on the right side of the drive using the
temporary placement holes. Do not remove the LED Status Ring board cable connector.
H
Temporary placement holes
Figure 5.9 Remove the LED Status Ring Board
5.
Insert the option card (B) into the CN5-A connector (I) on the drive and fasten it into place using the
included screws (C). Tighten both screws to 0.5 to 0.6 Nm (4.4 to 5.3 in. lbs).
Note:
Installing the option card on a GA700 drive requires only two screws and does not require a ground wire. The option package
ships with three screws and a ground wire for installation on other drive series. Do not use the ground wire or the extra screw.
B
C
I
Figure 5.10 Insert the Option Card
18
6.
Firmly connect the communication cable to option terminal block. Install communications cables apart
from main-circuit wiring and other electrical and power lines. Ensure the cable end is firmly connected.
7.
Reattach and secure the LED Status Ring board (H). Use the open space provided inside the LED Status
Ring board to route option wiring. Do not pinch cables between the front cover or the LED Status Ring
board and the drive.
YASKAWA ELECTRIC TOEP C710616 99B YASKAWA EtherCAT Communication Option Installation Manual
6 EtherCAT Option Related Drive Parameters
8.
Install the keypad to the drive after replacing the keypad connector and then the keypad connector. At that
time, insert the keypad connector tab into the drive.
9.
Reattach and secure the front cover of the drive (D) including the keypad (F).
Tab
Keypad
connector
D
F
H
Figure 5.11 Reinstall the Front Cover and Keypad
10. Switch on the drive power supply.
◆ ESI File
For easy network implementation of drives equipped with a Communication Option card, the ESI file (ESI_SIES3_2_01_Rev_00 or later revisions) can be obtained from these sources:
• Europe: http://www.yaskawa.eu.com
• Japan: http://www.e-mechatronics.com
• USA: http://www.yaskawa.com
• Other areas: contact a YASKAWA representative
6
EtherCAT Option Related Drive Parameters
Some drive parameters have influence on some functions of the communication option card. Check these
parameters before starting network communications.
Table 6.1 Parameter Settings
No.
Name
b1-01
Frequency Reference Selection Selects the frequency reference input source
0: Operator - Digital preset speed d1-01 to d1-17
1: Terminals - Analog input terminals
2: MEMOBUS/Modbus communications
3: Option card
4: Pulse Input (Terminal RP)
*6
Run Command Selection
Selects the run command input source
0: Digital Operator - RUN and STOP keys
1: Digital input terminals Sx
2: MEMOBUS/Modbus communications
3: Option card
1
Motor 1 Motor Poles
Set the number of motor poles described on the motor nameplate.
Relevant for DSP402.
2 to 48
4
*1
b1-02
*1
E2-04
*2
Description
YASKAWA ELECTRIC TOEP C710616 99B YASKAWA EtherCAT Communication Option Installation Manual
Default
19
7 Troubleshooting
No.
Name
Description
Default
F6-01
Operation Selection after
Communications Error
Determines drive response when a bUS error is detected during
communications with the EtherCAT Option
0: Ramp to Stop
1: Coast to Stop
2: Fast-Stop
3: Alarm Only *3
1
F6-02
External Fault Detection
Conditions (EF0)
Sets the condition for external fault detection (EF0)
0: Always detected
1: Detected only during operation
0
F6-03
Stopping Method for External
Fault from Communication
Option Board
Determines drive response for external fault input (EF0) detection
during EtherCAT communication
0: Ramp to Stop
1: Coast to Stop
2: Fast-Stop
3: Alarm Only
1
F6-06
Torque Reference/Torque
Limit selection from
Communications Option
0: Torque reference/torque limit via network communications are
disabled.
1: Torque reference/torque limit via network communications are
enabled. *5
0
F6-07
NetRef/ComRef Selection
Function
0: Multi-step speed reference disabled
1: Multi-step speed reference allowed
0
F6-08
Reset Communication Related Determines if communication-related parameters are set back to
Parameters
their original default values when the drive is initialized.
0: Do not reset F6-xx and F7-xx parameters when the drive is
initialized using parameter A1-03.
1: Reset F6-xx and F7-xx parameters when the drive is initialized
using parameter A1-03.
Note:
Setting this parameter does not affect communication-related
parameters. Setting this parameter only determines if
communication-related parameters (F6-xx and F7-xx) are also
reset when A1-03 is used to initialize the drive.
0
o1-03
Digital Operator Display
Selection
*6
*4
*7
*1
*2
*3
*4
*5
*6
*7
7
Sets the units to display the frequency reference and output
frequency.
0: 0.01 Hz
1: 0.01% (100% = E1-04)
2: r/min (enter the number of motor poles to E2-04/E4-04/E5-04).
Relevant for DSP402.
3: User defined by parameters o1-10 and o1-11
To start and stop the drive from an EtherCAT® master device using serial communications, set b1-02 to 3. To control the frequency
reference of the drive via the master device, set b1-01 to 3.
E2-04 is necessary to set up when the Drive Profile DSP402 objects are used. Also refer to *7
If set to 3, then the drive will continue to operate when an EF0 fault is detected. Take proper safety measures, such as installing an
emergency stop switch.
This parameter might not appear in certain drives. Furthermore its availability is limited to depending on the control mode selection.
For details refer to the technical manual for the drive the option card is used with.
If the drive is set to receive the torque reference/limit from the network (F6-06 = 1) make sure the value is set appropriately by the
controller. If no torque reference/limit value is entered the motor will not produce torque.
The default value depends on the drive used and/or the drive software version. For details refer to the technical manual for the drive.
Changing o1-03 changes the units for input object 2010 (Hex) (frequency reference), output object 2110 (Hex) (output frequency)
and 2200 (Hex) (motor speed). Furthermore o1-03 must be set to 2 and E2-04 must be set to the correct value in order to use the
Drive Profile DSP402.
Troubleshooting
◆ Communication Option Card Error Codes
If a fault or alarm occurs in the inverter drive or regenerative unit, the fault or alarm will be stored in consecutive
sub-indices of object 1003. Additionally an emergency telegram will be sent once.
20
YASKAWA ELECTRIC TOEP C710616 99B YASKAWA EtherCAT Communication Option Installation Manual
7 Troubleshooting
Index
(Hex)
Sub Content
Acc.
PDO
Map.
Data
Type
Value
(Range)
1003
0
Number of errors
RW
No
UNS8
00 (Hex)
(00 - FF
(Hex))
1003
1
Standard error field
(Emergency error code)
RO
No
UNS32 0000 (Hex)
(0000 - FFB8
(Hex))
Table 7.1 Emergency Telegram Specification
Byte
Content
0
1
2
Emergency Error Code
3
4
Error register
object
1001 (Hex) =
1
5
6
7
Manufacturer specific error info. Not used. Set to zero.
◆ Yaskawa-specific SDO Abort Codes
SDO abort codes are supported as specified in DS301. Additionally the abort codes listed below are implemented.
SDO Abort
Code (Hex)
Description
0602 0010
Consecutive MEMOBUS/Modbus Read/Write/Enter commands are send but the wait time between messages is too
short.
A MEMOBUS/Modbus Read or Write Response (2140 (Hex) and 2150 (Hex)) was attempted but no or an incorrect
MEMOBUS/Modbus address has been written to object 2040 (Hex) or 2050 (Hex) before.
A MEMOBUS/Modbus write request has been sent during DC bus under voltage.
0602 0022
Drive Profile DSP402 is used and a value is written to object 6042 (Hex) (vl Target Velocity) while the drive status is
not "Operation Enable".
Object 2155 (Hex) is tried to be read while the SI-ES3 option is not in "Operational" state.
A MEMOBUS/Modbus Read or Write command (2040 (Hex) and 2050 (Hex)) was performed with an invalid
MEMOBUS/Modbus address.
◆ Fault
This section explains the causes and possible solutions when a fault occurs. The drive will remain inoperable until
the fault is cleared using the Fault Reset operation. Remove the cause of the fault referring to the following table.
Code
bUS
Name
Option Communication
Error
Causes
No signal was received from the
controller.
Possible Solutions
Correct any wiring errors.
The communications cable wiring is
incorrect.
There is a short circuit or disconnection
in the communications cable.
• Repair disconnected cables and short circuits for
proper wiring.
• Replace a faulty communications cable with a
normal one.
Communication data error occurred due
to noise.
• Check the control circuit lines, main circuit
lines, and ground wiring, and minimize the
effects of noise.
• Check whether an electromagnetic contactor is
the noise source, and use Surge Protective
Device if necessary.
• Use only recommended cables or other shielded
line. Ground the shield on the controller side or
the drive input power side.
• Separate all communication wiring from drive
power lines, and install a noise filter to the input
side of the power supply for communication.
• Minimize the effects of controller noise.
YASKAWA ELECTRIC TOEP C710616 99B YASKAWA EtherCAT Communication Option Installation Manual
21
7 Troubleshooting
Code
EF0
Name
Causes
Option Card External Fault
Possible Solutions
The option card is not properly
connected to the drive.
Mount the option card to the drive correctly.
The option card is damaged.
Replace the option card if the error continues to
occur even though the wiring is correct.
The communication option card
received an external fault from the
controller.
1. Identify the device that triggered the external
faults and remove the cause.
2. Clear the external fault input from the
controller.
Programming error occurred on the
controller side.
Check the operation of the controller program.
oFA00
Not supported
An option card that is not compatible
with the CN5-A connector was
connected.
Connect the option card to the correct connector.
Note:
The encoder option card could not be connected
to the CN5-A connector.
oFA01
Connection Error
The option card connected to the CN5A connector was changed during
operation.
1. De-energize the drive.
2. Properly connect the option card to the
connector on the drive, referring to the manual
for the option card.
Communication Option
Card Connection Error
(CN5-A)
A fault occurred in the option card.
1. De-energize the drive.
2. Check whether the option card is connected
securely to the connector.
3. If the problem continues, replace the option
card.
oFb00
Not supported
An option card that is not compatible
with the CN5-B connector was
connected.
Connect the option card to the correct connector.
Note:
The option cards that can be connected to the
CN5-B connector are the DO-A3, AO-A3, PGB3, and PG-X3. Use the CN5-C connector
when mounting only one encoder option card.
oFb02
DuplicateOptions
The same option card or the same type
Connect the option card to the correct connector.
of option card has been connected to the
CN5-A, B, and C connectors.
oFC00
Not supported
An option card that is not compatible
with the CN5-C connector was
connected.
oFC02
DuplicateOptions
Connect the option card to the correct connector.
The same option card or the same type
of option card has been connected to the
CN5-A, B, and C connectors.
oFA30 to
oFA43
Connect the option card to the correct connector.
Note:
AI-A3, DI-D3, and communication option cards
cannot be connected to the CN5-C connector.
◆ Minor Faults/Alarms
This section explains the causes and possible solutions when a minor fault or alarm occurs. Remove the cause of
the fault referring to the following table.
22
Code
Name
Causes
CALL
Serial Comm Transmission
Error
Possible Solutions
The communications cable wiring is
incorrect.
Correct any wiring errors.
There is a short circuit or disconnection
in the communications cable.
• Repair disconnected cables and short circuits for
proper wiring.
• Replace a faulty communications cable with a
normal one.
Programming error occurred on the
controller side.
Check communications at start-up and correct
programming errors.
YASKAWA ELECTRIC TOEP C710616 99B YASKAWA EtherCAT Communication Option Installation Manual
8 Specifications
Code
EEP
8
Name
EEPROM Checksum Error
Causes
Possible Solutions
Communications circuitry is damaged.
• Perform a self-diagnostics check.
• If the problem continues, replace the control
board or the entire drive. For instructions on
replacing the control board, contact Yaskawa or
your nearest sales representative.
Termination resistor setting for
MEMOBUS/Modbus communications
is incorrect.
Enable the termination resistor in the last drive in a
MEMOBUS/Modbus network by setting DIP
switch S2 to the ON position.
Communication wiring is faulty, there is Correct any wiring errors.
a short circuit, or something is not
connected properly.
EEPROM checksum error.
• If these errors occur, the object dictionary will be
reset to its default values. After the object
dictionary has been changed and object
dictionary contents are then changed, execute a
Store Parameter command (Index = 1010 (Hex)).
• If the object dictionary has not been changed,
execute a Restore Parameter command (Index =
1011 (Hex)).
Programming error occurred on the
controller side.
Check communications at start-up and correct
programming errors.
Communications circuitry is damaged.
• Perform a self-diagnostics check.
• If the problem continues, replace either the
control board or the entire drive. For instructions
on replacing the control board, contact Yaskawa
or your nearest sales representative.
Termination resistor setting for
MEMOBUS/Modbus communications
is incorrect.
Enable the termination resistor in the last drive in a
MEMOBUS/Modbus network by setting DIP
switch S2 to the ON position.
Specifications
Item
Specification
Model
SI-ES3
For V1000: SI-ES3/V
Communication Profile
DSP 301 Ver. 4.02
DSP 402 Ver. 1.1 Velocity Mode
Connector
RJ45 connector
Communication Speed
10/100 Mbps
Ambient Temperature
-10 °C to +50 °C
Humidity
up to 95% RH (non-condensing)
Storage Temperature
-20 °C to +60 °C (allowed for short-term transport of the product)
Area of Use
Indoor (free of corrosive gas, airborne particles, etc.)
Altitude
Up to 1000 m
YASKAWA ELECTRIC TOEP C710616 99B YASKAWA EtherCAT Communication Option Installation Manual
23
Index
A
Alarm ................................................................... 22
B
bUS
Fault ................................................................ 21
C
CALL ................................................................... 22
E
EEP...................................................................... 23
EF0
Fault ................................................................ 22
F
Fault ..................................................................... 21
M
Minor Fault............................................................. 22
O
oFA00 ...................................................................
oFA01 ...................................................................
oFA30 to oFA43 .......................................................
oFb00 ...................................................................
oFb02 ...................................................................
oFC00 ...................................................................
oFC02 ...................................................................
24
22
22
22
22
22
22
22
YASKAWA ELECTRIC TOEP C710616 99B YASKAWA EtherCAT Communication Option Installation Manual
Revision History
Date of
Publication
Revision
Number
Section
July 2011
–
–
September 2016
B
All
Revised Content
First Edition
Updated with new supported inverter drives and regenerative unit.
Updated descriptions and procedures.
YASKAWA ELECTRIC TOEP C710616 99B YASKAWA EtherCAT Communication Option Installation Manual
25
YASKAWA EtherCAT
Communication Option
Communication Options Card for Inverter Drives and
Regenerative Units
YASKAWA EUROPE GmbH
Hauptstraβe 185, 65760 Eschborn, Germany
Phone: +49-6196-569-500
E-mail: [email protected]
http://www.yaskawa.eu.com
DRIVE CENTER (INVERTER PLANT)
2-13-1, Nishimiyaichi, Yukuhashi, Fukuoka, 824-8511, Japan
Phone: +81-930-25-2548 Fax: +81-930-25-3431
http://www.yaskawa.co.jp
YASKAWA AMERICA, INC.
2121, Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone: +1-800-YASKAWA (927-5292) or +1-847-887-7000 Fax: +1-847-887-7310
http://www.yaskawa.com
YASKAWA Europe GmbH
In the event that the end user of this product is to be the military and said product is to be
employed in any weapons systems or the manufacture thereof, the export will fall under the
relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations.
Therefore, be sure to follow all procedures and submit all relevant documentation according
to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice for ongoing product modifications and
improvements.
© 2016 YASKAWA Europe GmbH
MANUAL NO. TOEP C710616 99B <1>-0
Published in Germany September 2016
11-9
Original instructions
*TOEPC71061699*
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