PROFIBUS-DP® Option Technical Manual

PROFIBUS-DP® Option Technical Manual
PROFIBUS-DP® Option
Technical Manual
Models: CIMR-G5*, F7*, P7*, G7* Document Number TM.AFD.12
Warnings and Cautions
This Section provides warnings and cautions pertinent to this product, that if not heeded, may
result in personal injury, fatality, or equipment damage. Yaskawa is not responsible for
consequences of ignoring these instructions.
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 50 VDC. 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 over voltage 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.
i
Introduction
This manual explains the specifications and handling of the Yaskawa PROFIBUS-DP Option for the Yaskawa GPD515/G5, F7, P7 and G7
drives. The PROFIBUS-DP Option connects the drive to a PROFIBUS-DP 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 MODBUS technical manual. All
technical manuals and support files can be found on the CD that came with the drive, CD.4005, and are available for download at
www.drives.com.
For information on PROFIBUS-DP contact the PROFIBUS Organization at www.profibus.org.
GPD515/G5 Technical Manual document reference TM 4515
G5 HHP Technical Manual document reference TM.G5HHP.01
F7 Drive User Manual document reference TM.F7.01
F7 Drive Programming Manual document reference TM.F7.02
F7 Drive Parameter Access Manual document reference TM.F7.11
P7 Drive User Manual document reference TM.P7.01
P7 Drive Programming Manual document reference TM.P7.02
G7 Drive Technical Manual document reference TM.G7.01

GPD515/G5 MODBUS Technical Manual document reference TM 4025

PROFIBUS-DP Technical Manual document reference TM.AFD.12

PROFIBUS-DP Installation Guide document reference IG.AFD.12
GPD is a trademark of Yaskawa, Inc.
MODBUS is a registered trademark of Schneider Automation, Inc.
PROFIBUS and PROFIBUS-DP are registered trademarks of PROFIBUS Nutzerorganisation e.V.
All trademarks are the property of their respective owners.
ii
Table of Contents
Chapter 1 Installation........................................................................... 1-1
Installation Check Sheet.....................................................................................1-3
Unpack and Inspect............................................................................................1-5
Installation and Wiring ........................................................................................1-6
Option LEDs .....................................................................................................1-10
Option LEDs .....................................................................................................1-10
Drive Faults ......................................................................................................1-12
Chapter 2 Network Configuration....................................................... 2-1
Configuration ......................................................................................................2-3
GSD File .............................................................................................................2-6
Chapter 3 Network Communications ................................................. 3-1
16 Word Input/Output Message..........................................................................3-3
6 Word Input/Output Message............................................................................3-7
3 Word I/Os Message.......................................................................................3-10
Parameter Access Error Messages ..................................................................3-12
Handshaking.....................................................................................................3-13
Appendix A Product Specification ........................................................ 1
Appendix B Cable Specification ............................................................ 1
Appendix C Parameter Access .............................................................. 1
Parameter Access Overview .................................................................................3
Read Drive Data Example .....................................................................................5
Read Drive Data Error Example ............................................................................6
Write Drive Data Example .....................................................................................7
Write Drive Data Error Example ............................................................................8
Appendix D Troubleshooting................................................................. 1
Troubleshooting Check List ...................................................................................3
Installing The PROFIBUS-DP Option ....................................................................5
Wiring And Cabling ................................................................................................8
PROFIBUS-DP Configuration.............................................................................. 11
PROFIBUS-DP Option Diagnostics .....................................................................12
iii
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iv
Chapter 1 Installation
This chapter describes how to install and setup the PROFIBUS-DP Option
Installation Check Sheet ................................................... 1 - 3
Unpack & Inspect .............................................................. 1 - 5
Installation And Wiring...................................................... 1 - 6
Option LEDs..................................................................... 1 - 10
Drive Faults ...................................................................... 1 – 12
Installation 1-1
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Installation 1-2
Installation Check Sheet
The following is a quick reference guide to install and configure the PROFIBUS-DP 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: Unpack the PROFIBUS-DP Option and verify that all components are present and undamaged. Refer to Figure 1.1 –
PROFIBUS-DP Option and Table 1.1 – Product Parts List .
2: Connect power to the drive and verify that the drive functions correctly. This includes running the drive from the operator
keypad. Refer to the appropriate drive technical manual for information on connecting and operating the drive.
3: 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 level to confirm that it is at a safe level.
4: Install the PROFIBUS-DP Option on the drive.
4.1: Remove the operator keypad and all drive covers.
4.2: Mount the PROFIBUS-DP Option onto the drive. Refer to Figure 1.2 – Mount the PROFIBUS-DP Option.
5: Connect the drive to the PROFIBUS-DP communication network. Refer to Figure 1.3 – PROFIBUS-DP Option
Connections and Table 1.2 - PROFIBUS-DP Cable Connections
6: Set the node address for the drive. Refer to Figure 1.4 – Setting the PROFIBUS-DP Option Node Address.
7: If this unit is either the first or the last device on the network, including PLCs and PROFIBUS-DP Masters, and active
termination is not used, set the termination resistor switch to ON. If this device is not the first or last device on the network
or active termination is used, set the termination resistor switch to OFF. Refer to Figure 1.5 – Termination Switch.
8: Configure the PROFIBUS network for the drive. Refer to the documentation included with the PROFIBUS configuration
utility supplied with the PROFIBUS-DP Master controller.
9: Apply power to the drive. And verify that the diagnostic LEDs on the front of the PROFIBUS-DP Option are in their correct
state. Refer to Table 1.3 –Diagnostic LED Status.
10: 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 level to confirm that it is at a safe level.
11: Reinstall the operator keypad and drive covers.
12: Set parameters b1-01 and b1-02 to their appropriate values. Refer to Table 1.4 – Option Specific Parameter Settings.
Installation 1-3
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Installation 1-4
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.
Figure 1.1 – PROFIBUS-DP Option
Table 1.1 – Product Parts List
Part
Qty.
PROFIBUS-DP Option (SI-P1)
1
Installation Guide (IG..AFD.12)
1
Installation 1-5
Installation and Wiring
The following describes the installation and configuration of the PROFIBUS-DP Option. For detailed information about the drive or the
PROFIBUS-DP option, please refer to the appropriate sections of this manual or the appropriate drive technical manual.
# 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 appropriate drive technical manual, for information on connecting and operating 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.
!
Remove the operator keypad and terminal cover.
# Mount the PROFIBUS-DP Option
Mount the PROFIBUS-DP Option onto the drive by following the instructions below.
Remove
locking tab
prior to
installation
2CN
J1
Replace
locking tab
after
installation
Connect option
ground wire to
ground terminal on
drive control board
Figure 1.2 – Mount the PROFIBUS-DP Option
!
Align the J1 connector on the back of the option with its mating 2CN connector on the front of the drive.
!
Simultaneously align the two stand-offs on the drive control board with their respective holes on the PROFIBUS-DP Option.
!
Press the option and the drive together until the J1 connector is firmly seated and the stand-offs are locked through their
associated mounting holes.
!
Connect the option ground wire to the ground terminal on the drive control board.
Installation 1-6
Connect The Drive To The PROFIBUS-DP Communications Network.
!
Determine the type of connector on the PROFIBUS-DP Option. Connector Style A is a modified Phoenix pluggable connector.
The modification can be seen on the back of the connector as a small circuit board. Connector Style B is a standard Phoenix
pluggable connector without modification.
!
Connect the PROFIBUS-DP network cable to the PROFIBUS-DP Option. Refer to the appropriate connection drawing in Figure
1.3 below for your connector style.
!
Use standard PROFIBUS-DP cable as specified by the PROFIBUS Organization www.profibus.org. Refer to Appendix D
Troubleshooting for more information on network cabling.
!
Tie the PROFIBUS-DP cable to a point near the connector to provide strain relief for the connector and cable connection.
Termination
Ground
Reserved 1
Reserved 2
A In/Out (Green) 3
B In/Out (Red) 4
Shield 5
Reserved 6
Termination
S2
S2
S1
S1
Ground
Figure 1.3 – PROFIBUS-DP Option Connections
Table 1.2 – PROFIBUS-DP Cable Connections – Style A
Connector Style A
Pin
Name
Function
1
A In-(Green)
Negative Input RxD/TxD (Connected to the previous device)
2
B-In (Red)
Positive Input RxD/TxD (Connected to the previous device)
3
A Out-(Green)
Negative Output RxD/TxD (Connected to the next device)
4
B-Out (Red)
Positive Output RxD/TxD (Connected to the next device)
5
Shield
BUS cable shield (Connected to PE internally on the communication option)
6
Reserved
Table 1.3 – PROFIBUS-DP Cable Connections – Style B
Connector Style B
Pin
1
Name
Function
Reserved
2
Reserved
3
A In/ Out-(Green)
4
B-In/Out (Red)
Positive Input/Output RxD/TxD (Connected to the next device)
5
Shield
BUS cable shield (Connected to PE internally on the communication option)
6
Reserved
Negative Input/Output RxD/TxD (Connected to the previous device)
Installation 1-7
Connector Style B
Connector Style A
A In (Green) 1
B In (Red) 2
A Out (Green) 3
B Out (Red) 4
Shield 5
Reserved 6
# Set Node Address
Set the network node address by setting the address’s 10‘s digit with S2 and the 1’s digit with S1. All devices on the network must have
unique node addresses. Check the network layout to verify that the node address selected is unique, matches the master device
configuration for that device and falls between 3 – 99. Node addresses 0 and 1 are typically reserved for master devices, while node address
2 is reserved for diagnostic equipment.
Address = (Switch 2 x 10) + (Switch 1 x 1)
Example: Set node address to 15
Set address switch 2 to "1
Set address switch 1 to "5"
901
901
7 8
7 8
23
23
4 56
4 56
S2
S1
Figure 1.4 – Setting the PROFIBUS-DP Option Node Address
# Set Network Termination
If this unit is either the first or the last device on the network, including any PLC and/or PROFIBUS-DP Master, and active termination is
not used, set the termination resistor switch to ON. If this device is not the first or last device on the network or active termination is used,
set the termination resistor switch to OFF. Active termination is the recommended termination method and is required for networks
operating above 1.5Mbps. Active termination will eliminate the possibility of network failure due to the removal of a terminated device.
The Siemens Active terminator Module part number is 6ES7 972-0DA00-0AA0.
OFF
ON
Figure 1.5 – Termination Switch
# Verify PROFIBUS-DP Option Operation
!
Apply power to the drive.
!
Verify that the diagnostic LEDs on the front of the PROFIBUS-DP Option are in their correct state.
Table 1.4 –Diagnostic LED States
LED Display
Content
PWR
COM
ERR
WD
Solid Green
Solid Green
OFF
Flashing Green
Normal
State
Normal communication.
!
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.
!
Install the operator keypad and all drive covers.
Installation 1-8
# Run/Stop and Frequency Reference Command Source Selection
The run/stop and frequency reference commands can originate from serial communication, the operator keypad, external terminals, or the
PROFIBUS-DP Option. Parameter b1-02 (Operation Method Selection) allows the selection of the origin of the run/stop commands.
Parameter b1-01 (Reference Selection) allows the selection of the origin 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 (b1-02 = 1) while the
Frequency Reference may be set to Option PCB (PROFIBUS-DP Option) (b1-01 = 3).
Table 1.5 – – Frequency Reference Source Selection
b1-01
0
Frequency Reference Selection
Operator keypad
1
External Terminals
2
Serial Communication
3
Option PCB (PROFIBUS-DP Option)
4
Pulse input (Available on F7 and G7 drives only)
Table 1.6 Operation Method Selection
b1-02
0
Operation Method Selection (Run/Stop)
Operator keypad
1
External Terminals
2
Serial Communication
3
Option PCB (PROFIBUS-DP Option)
Installation 1-9
Option LEDs
The PROFIBUS-DP Option Unit is equipped with four indication LEDs for module and PROFIBUS-DP status indication. The LEDs are
located on the unit according to the figure below.
PWR
COMM
ERR
WD
Figure 1.6 – PROFIBUS-DP LED Locations
# LED Indicators
The following LEDs indicate the PROFIBUS-DP status.
Table 1.5 – Communication LEDs
LED
Color
Indication/Function
COMM
Green
Lit during data exchange with the PROFIBUS-DP Master .
ERR
Red
Lit when no data exchange is taken place.
# Module Status Indicators
The following LEDs indicates the status of the PROFIBUS-DP Option.
Table 1.6 – Diagnostic LEDs
LED
Color
Indication/Function
PWR
Green
Lit when the +5V power to the PROFIBUS-DP Option is supplied. Turned off if the +5V is below +4.5V (min)
WD
Red/Green
Indicates the module status
OFF
Communication Option CPU not running.
Solid Green:
Initialization.
Flashing green:
Normal operation.
Solid Red:
Internal Communication Option error.
Flashing red:
error detected.
Other indication
Unspecified, Communication Option error
Installation 1-10
# LED Diagnostics
The following table presents the faults displayed by the LEDs on the communication option, their causes, and solutions.
Table 1.7 – LED Diagnostics
LED Display
PWR
COM
ERR
OFF
Content
Cause
Solutions
WD
OFF
Power is not being supplied
from the drive.
• Check the main circuit wiring on the drive.
• Cycle drive power.
Power Off
Power is not being supplied to
the option unit due to poor
option unit connection.
• Turn of the drive power.
• Check the PROFIBUS-DP Option connection to the
2CN connector on the drive
• Cycle drive power.
OFF
OFF
Solid
Green
OFF
Solid
Red
Solid
Red
CPU Error
Option unit CPU error.
• Cycle drive power.
• Replace PROFIBUS-DP Option if fault persists.
Solid
Green
OFF
Solid
Red
Flashing
Red
Drive Error
Error in Drive unit.
• Cycle drive power.
• Replace PROFIBUS-DP Option if fault persists.
• Replace drive if fault persists.
Solid
Green
OFF
Flashing
Red
Solid
Green
Com Error
A fault has occurred rendering
communication impossible.
• Check whether the address set in the PROFIBUS-DP
Master differs from the address of the option unit.
• Check that the master is functioning properly.
• Check that the termination resistor is correctly
connected to the communication line.
• Check whether the communication line is correctly
connected (disconnected or poor connection).
• Check that the communication line is separated from
the main power line.
Solid
Green
Solid
Green
Flashing
Red
Solid
Green
Com Error
A fault has occurred rendering
communication impossible.
• Check whether the address is duplicated with any other
devices on the PROFIBUS-DP network.
Solid
Green
Solid
Green
OFF
Solid
Green
CPU Init
Option unit under initialization
• Wait until WD LED is flashing
Solid
Green
Solid
Green
OFF
Flashing
Green
Normal
Normal communication
possible.
Installation 1-11
Drive Faults
The following is a table of faults that could be caused by the PROFIBUS-DP Option that will be displayed on the Operator Keypad, their
causes, and possible solutions. For any fault displayed on the operator that is not listed in the following table, please see the appropriate
drive technical manual.
Table 1.8 – Drive Faults
Fault
Content
Cause
BUS
Option PCB communications error
Communication is not established between
PROFIBUS-DP Master and the drive.
•
Check PROFIBUS-DP communication LED display.
EF0
Option PCB external fault
Drive received an external fault command
from the Option PCB
•
•
•
Check multi-function input settings
Check PLC or controller program
Eliminate cause of fault (machine device in fault state)
OPE05
Command selection fault
Parameter b1-01 is set to Option PCB and
no card is detected
•
•
•
Install Option PCB
Reprogram b1-01
Replace the Option PCB
OPE06
Control mode selection fault
Parameter b1-02 is set to Option PCB and
no card is detected
•
•
•
Install Option PCB
Reprogram b1-02
Replace the Option PCB
CPF20
Option PCB fault
Faulty J1/2CN connection
•
•
•
•
Power cycle the drive
Reseat the Option PCB
Replace the Option PCB
Replace the inverter
CPF21
Option PCB self-diagnostics fault
Faulty Option PCB
•
Replace the Option PCB
CPF22
Option PCB ID code fault
CPF23
Watch dog timer fault
Installation 1-12
Solution
Chapter 2 Network Configuration
This chapter provides an example configuration using the COM PROFIBUS
configuration utility from Siemens. It also explains the differences between the
three station configurations.
Configuration..................................................................... 2 - 3
GSD File ............................................................................. 2 - 6
Network Configuration 2-1
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Network Configuration 2-2
Configuration
Once the PROFIBUS-DP Option has been installed and the drive parameters set appropriately, it is necessary to add the drive to the
PROFIBUS-DP network through the use of a configuration tool. This tool is usually supplied by the vendor that supplied the PROFIBUSDP Master controller. This section provides a general overview of how to select the appropriate drive configuration. The Siemens COM
PROFIBUS configuration tool is used in the examples below. The examples and descriptions below assume familiarity with both
PROFIBUS-DP network and setting up a PROFIBUS-DP Master for the devices on that network.
The PROFIBUS-DP Communication Option can be configured as one of three possible input/output messages; 16 word input/output, 6
word input/output and 3 word I/Os, combined input/output, messages. The structure of each message is described in Chapter 3 – Network
Communications.
# Configure Master Device
!
Copy the GSD file from the CD that came with the PROFIBUS-DP Option to the GSD sub-directory under the COM PROFIBUS
directory. The GSD file may also be downloaded from http://www.drives.com
!
Open COM PROFIBUS and configure the Master device. A Siemens 545-1104 is used in this example.
!
Select the DRIVES block from the list of available devices. The cursor should change to
the icon representing the Master device and press the left mouse button.
Move the cursor to below
Figure 2.1 – Select Drive
# Select Drive Address
A list box will appear displaying the available addresses for the drive. Select an address for the drive and click on the OK button. The
address selected must match the address switch setting on the PROFIBUS-DP Option. Refer to the engineering documentation or network
schematic to determine which address is applicable for the drive selected.
Figure 2.2 – Select Address
Network Configuration 2-3
# Select Station Type
Select the appropriate station type from the list displayed. The PROFIBUS-DP Option is listed as PROFIBUS-DP INTER. Highlight the
selection and click on the Configure button.
Figure 2.3 – Select Station Type
# Station Configuration
Select the configuration desired. Basic Data consists of 3 word I/Os, combined input/output, message (3 input words and 3 output words).
Extended Data 1 consists of 16 input words and 16 output words. Extended Data 2 consists of 6 input words and 6 output words.
Figure 2.4 – Select Configuration
!
The Basic Data configuration consists of 3 words of combined inputs and outputs, 3 input words and 3 output words. Refer to 3
Word I/O Message section of Chapter 3 for a detailed description of the Basic Data configuration.
Figure 2.5 – Basic Data Configuration
Network Configuration 2-4
!
The Extended Data 1 configuration consists of 16 input words and 16 output words. Refer to 16 Word Input/Output Message
section of Chapter 3 for a detailed description of the Extended Data 1 configuration. This configuration is also used on those
PROFIBUS-DP Options that have an Option Name SI-P/or Code Numbers prior to 73606-7110. The Option Name and Code
Number are located on the right side of the option.
Figure 2.6 – Extended Data 1 Configuration
!
The Extended Data 2 configuration consists of 6 input words and 6 output words. Refer to 6 Word Input/Output Message section
of Chapter 3 for a detailed description of the Extended Data 2 configuration. This configuration is also used on those
PROFIBUS-DP Options previously released as Profibus II.
Figure 2.6 – Extended Data 2 Configuration
Network Configuration 2-5
GSD File
The listing of the current GSD file is shown below. The GSD file name is YASK00CA.GSD. The file is listed for information purposes only. Do not attempt to
modify the GSD file in any way.
;=====================================================================
; Device description file according to DIN 19245 Part 3 (PROFIBUS-DP)
;=====================================================================
;; FILENAME : YASK00CA_Rev1YEA.GSD
;--------------------------------------------------------------------; DEVICENAME : PROFIBUS-DP INTERFACE CARD SI-P1
;--------------------------------------------------------------------; PROTOCOL : PROFIBUS-DP slave
;--------------------------------------------------------------------; VENDOR : Yaskawa Electric
;--------------------------------------------------------------------; DATE : 06 June 2001
;--------------------------------------------------------------------; MODIFICATIONS : 06 June 2001, rev. 3.0 Created
;
08 April 2002, TW,rev 3.3 Revised for customer compatibility
;;=====================================================================
#PROFIBUS_DP
GSD_Revision = 1
Vendor_Name = "YASKAWA ELECTRIC"
Model_Name = "PROFIBUS-DP INTERFACE CARD SI-P1"
Revision
= "Version 3.3"
Ident_Number = 0x00CA
Protocol_Ident = 0
Station_Type = 0
FMS_supp
=0
Hardware_Release = "Version 1.3"
Software_Release = "Version 3.3"
9.6_supp
=1
19.2_supp
=1
45.45_supp = 1
93.75_supp = 1
187.5_supp = 1
500_supp
=1
1.5M_supp
=1
3M_supp
=1
6M_supp
=1
12M_supp
=1
MaxTsdr_9.6 = 60
MaxTsdr_19.2 = 60
MaxTsdr_45.45 = 250
MaxTsdr_93.75 = 60
MaxTsdr_187.5 = 60
MaxTsdr_500 = 100
MaxTsdr_1.5M = 150
MaxTsdr_3M = 250
MaxTsdr_6M = 450
MaxTsdr_12M = 800
Redundancy = 0
Repeater_Ctrl_Sig = 2
24V_Pins
=0
Implementation_Type = "SPC3"
Freeze_Mode_supp = 1
Sync_Mode_supp = 1
Auto_Baud_supp = 1
Set_Slave_Add_supp = 0
Min_Slave_Intervall = 1
Modular_Station = 1
Max_Module = 1
Max_Input_Len = 32
Max_Output_Len = 32
Max_Data_Len = 64
Modul_Offset = 1
Fail_Safe
=0
Slave_Family = 1
Max_Diag_Data_Len = 6
Module = "Basic data" 0x72
EndModule
Module = "Extended Data 1" 0x5F, 0x6F
EndModule
Module = "Extended Data 2" 0x55, 0x65
EndModule
Network Configuration 2-6
Chapter 3 Network Communications
This chapter describes in detail the composition of the three station types.
16 Word Input/Output Messages...................................... 3 - 3
6 Word Input/Output Messages........................................ 3 - 7
3 Word I/Os Messages .................................................... 3 - 10
Parameter Access Error Messages................................ 3 - 12
Handshaking.................................................................... 3 - 13
Network Communications 3-1
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Network Communications 3-2
16 Word Input/Output Message
The PROFIBUS-DP Option can be configured as one of three possible I/O messages; 16 word input/output message, 6 word input/output
message and 3 word I/Os messages. The 16 word input/output message structure is described in this section.
The 16 word input and output messages are divided into two areas. The first 16 bytes of each message is fixed. This is the most frequently
used data and is referred to as the fast I/O data. The remaining 16 bytes of each message are used for reading from and writing to all other
drive parameters and is referred to as parameter data. All command, monitor, and parameter data in the drive is accessible via the parameter
access portion of the message.
RUN Operation Command MSB
0
Drive Status MSB
1
RUN Operation Command LSB
1
Drive Status LSB
2
Frequency Reference MSB
2
Motor Speed MSB
3
Frequency Reference LSB
3
Motor Speed LSB
4
Torque Reference/Limit MSB (Flux Vector Mode)
4
Torque Reference/Limit MSB (Flux Vector Mode)
5
Torque Reference/Limit LSB (Flux Vector Mode)
6
Torque Compensation MSB (Flux Vector Mode)
7
Torque Compensation LSB (Flux Vector Mode)
8
Reserved
9
Reserved
10
Analog Output Channel 1 MSB
Fast I/O Area
0
5
Torque Reference/Limit LSB (Flux Vector Mode)
6
Speed Detection PG Count MSB (w/ PG)
7
Speed Detection PG Count LSB (w/ PG)
8
Frequency Reference MSB
9
Frequency Reference LSB
10
Output Frequency MSB
11
Analog Output Channel 1 LSB
11
Output Frequency LSB
12
Analog Output Channel 2 MSB
12
Output Current MSB
13
Analog Output Channel 2 LSB
13
Output Current LSB
14
Multifunction Digital Output MSB
14
Analog Input Channel 1 MSB
15
Multifunction Digital Output LSB
15
Analog Input Channel 1 LSB
16
Function Code
16
Function Code
17
Starting Address MSB
17
Starting Address MSB
18
Starting Address LSB
18
Starting Address LSB
19
Data Length (2, 4, 6 or 8bytes of data)
19
Data Length (2, 4, 6 or 8bytes of data)
20
Data 1 MSB
20
Data 1 MSB
21
Data 1 LSB
22
Data 2 MSB
23
Data 2 LSB
24
Data 3 MSB
25
Data 3 LSB
26
Data 4 MSB
27
Data 4 LSB
28
Parameter Access Area
Parameter Access Area
Fast I/O Area
Table 3.1 – PROFIBUS-DP 16 Word Input/Output Message Table
Output Data (PROFIBUS-DP Master-> Drive)
Input Data (Drive -> PROFIBUS-DP Master )
Byte
Function
Byte
Function
21
Data 1 LSB
22
Data 2 MSB
23
Data 2 LSB
24
Data 3 MSB
25
Data 3 LSB
26
Data 4 MSB
27
Data 4 LSB
Reserved
28
Reserved
29
Reserved
29
Reserved
30
Reserved
30
Reserved
31
Handshake Register
31
Handshake Register
Network Communications 3-3
# Fast I/O Output Data
The fast I/O output data area is used to transfer parameter data directly to the drive via a dual port RAM interface. The following table
details the functions of the fast I/O output data (Bytes 0 to 15) For detailed explanation of the terminal and multi-function inputs and
outputs, refer to the appropriate drive technical manual.
Byte
Function
0
Command
Reference
1
2
3
4
Frequency
Reference
Table 3.2 – 16 Word Input/Output Message Fast I/O Output Data
Fast I/O Output Data (PROFIBUS-DP Master -> Drive)
Bit
Note
0h
Fwd Run/Stop
1 = RUN Forward (Enabled when b1-02 is set to 3)
1h
Rev Run/Stop
1 = RUN Reverse (Enabled when b1-02 is set to 3)
2h
Multi-Function Input 3
1 = Close
3h
Multi-Function Input 4
1 = Close
4h
Multi-Function Input 5
1 = Close
5h
Multi-Function Input 6
1 = Close
6h
Multi-Function Input 7
1 = Close
7h
Multi-Function Input 8
1 = Close (F7U and G7 drives only)
8h
External Fault
1 = External Error
9h
Fault Reset
1 = Reset Fault
Ah
Multi-Function Input 9
Bh
Multi-Function Input 10
Ch
Multi-Function Input 11
Dh
Multi-Function Input 12
Eh
Clear Error Log
Fh
External Base Block
Frequency Reference MSB
Frequency Reference LS
Torque
Reference/Limit
Torque Reference/Limit MSB
Torque
Compensation
Torque Compensation MSB
7
8
Reserved
9
Reserved
10
Analog Output
Channel 1
Analog Output Channel 1 MSB
Analog Output
Channel 2
Analog Output Channel 2 MSB
5
6
11
12
13
14
Multi-Function
Output
Torque Reference/Limit LSB
Torque Compensation LSB
Analog Output Channel 1 LSB
Analog Output Channel 2 LSB
1 = 0.01Hz
scaling is dependent on the setting of parameter o1-03
0.1%
Flux Vector mode only
0.1%
Flux Vector mode only
H4-01 = 1Fh
H4-02 = 1Fh
0h
Output 1
1 = Close
1h
PCH 1
1 = Close
2h
PCH 2
1 = Close
3h
PCH 3
1 = Close (G7 only)
4h
PCH 4
1 = Close (G7 only)
5h
Reserved
Reserved
6h
Fault Contact Enable
7h
Fault Contact State
Reserved
8h ~ Fh
15
1 = Close (G7 drive only)
1 = Close (G7 drive only)
1 = Close (G7 drive only)
1 = Close (G7 drive only)
Available when bit 6 = 1
Reserved
Network Communications 3-4
# Fast I/O Input Data
The fast I/O input data area is used to transfer parameter data directly from the drive via a dual port RAM interface. The following table
details the functions of the fast I/O input data (Bytes 0 to 15). For detailed explanation of the terminal and multi-function inputs and
outputs, refer to the appropriate drive technical manual.
Table 3.3 – 16 Word Input/Output Message Fast I/O Input Data
Fast I/O Input Data (Drive -> PROFIBUS-DP Master )
Byte
Function
0
Drive
Status
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Bit
Note
0h
@ RUN
1h
@ Zero Speed
2h
@ Reverse
3h
@ Reset Signal
4h
@ Frequency Agree
5h
@ Drive Ready (Rdy)
6h
@ Minor Fault (Alarm)
7h
@ Major Fault
8h
@ OPE Error
9h
@ Fault Restart
Ah
Local/Remote
1 = Remote Operation
Bh
Multi-Function Output 1
1 = Close
Ch
Multi-Function Output 2
1 = Close
Dh
Multi-Function Output 3
1 = Close
Eh
Motor Select
1 = #2 Motor
Fh
@ Zero Servo Complete
Frequency
Reference
Frequency Reference MSB
Torque
Reference
Torque Reference MSB
Speed Detection
PG Count
Speed Detection PG Count MSB
Frequency
Reference
Frequency Reference MSB
Output
Frequency
Output Frequency MSB
Output
Current
Output Current MSB
AI
Frequency Reference LSB
0.1Hz
scaling is dependent on the setting of parameter o1-03
Flux Vector mode
Torque Reference LSB
PG Option must be installed
Speed Detection PG Count LSB
Frequency Reference LSB
0.1Hz
scaling is dependent on the setting of parameter o1-03
0.1Hz
scaling is dependent on the setting of parameter o1-03
Output Frequency LSB
Scaled Value
Output current(Drive rating/8192)
Output Current LSB
Analog Input @ Terminal 14 MSB
Analog Input @ Terminal 14 LSB
±10vdc = ±100%
# Parameter Access Area
This area is used to read and write parameter data from and to the drive. The PROFIBUS-DP Master completes the Parameter Access
command (output) message and waits for and then processes the data returned in the Parameter Access response (input) message. These
messages may contain 1 - 4 words of data. The handshaking byte is used to synchronize the communications between the PROFIBUS-DP
Master and the drive. This is necessary due to the additional time required for the drive to process the message. Refer to the Handshaking
section of this chapter for more information on handshaking. Note: Care must be taken when writing certain parameters to the drive as
other parameters may be dependant on them. Control method, A1-02, maximum Frequency, E1-04, and Acc/Dec Scale Time, C1-10, are
just a few. Refer to the appropriate drive MODBUS technical manual for more information.
Network Communications 3-5
# Parameter Access Command Message Structure
Two command, output, functions are available, read parameter data, 03h, and write parameter data, 10h. If no parameter access
communications is desired, use 00h as the function code. These function codes are programmed in byte 16 of the 16 word input/output
message. Bytes 17 and 18 contain the parameter access address of the parameter to be accessed. Byte 19 contains the number of data bytes
to be read from or written to the drive. Since each parameter consists of two bytes, this value is incremented by two for each parameter
accessed. Bytes 19 through 27 contain the data to be written to the selected parameter. If the command is to read parameter data, bytes 19
through 27 must be set to 0.
Table 3.4 – 16 Word Input/Output Message Parameter Access Command Structure
Output Data – Parameter Access Command Message (PROFIBUS-DP Master -> Drive)
Name
Function
Byte
16
Function Code
17
Starting Address MSB
18
Starting Address LSB
19
Data Quantity
20
Data 1 MSB
21
Data 1 LSB
22
Data 2 MSB
23
Data 2 LSB
24
Data 3 MSB
25
Data 3 LSB
26
Data 4 MSB
27
Data 4 LSB
28
Reserved
29
Reserved
Parameter Access Command Code (Read data = 03h, Write data = 10h)
The first register to be read or written
Bytes of data (2 x Number of parameters to be read or written)
Value of data to write to the drive parameter Starting Address
Value of data to write to the drive parameter Starting Address + 1
Value of data to write to the drive parameter Starting Address + 2
Value of data to write to the drive parameter Starting Address + 3
30
Reserved
31
Handshaking Register
Synchronizes drive communication with PROFIBUS-DP Master
# Parameter Access Response Message Structure
The standard Parameter Access response structure is described below. In a non-erroneous response, the Function Code, Starting Register
and Data Quantity are identical to the command message. If the command function code is 03h, read data, the data bytes will contain the
values of the requested parameters. If the command function code is 10h, write data, the data bytes will contain 0 and should be ignored.
Table 3.5 – 16 Word Input/Output Message Parameter Access Response Structure
Input Data – Parameter Access Response Message (Drive -> PROFIBUS-DP Master )
Name
Function
Byte
16
Function Code
17
Starting Address MSB
18
Starting Address LSB
19
Data Quantity
20
Data 1 MSB
21
Data 1 LSB
22
Data 2 MSB
23
Data 2 LSB
24
Data 3 MSB
25
Data 3 LSB
26
Data 4 MSB
27
Data 4 LSB
28
Reserved
29
Reserved
30
Reserved
31
Handshaking Register
Parameter Access Response Code (Command code or command code & 80h for error)
The first register to be read or written
Bytes of data (2 x Number of parameters to be read or written)
Value of data read from the drive parameter Starting Address
Value of data read from the drive parameter Starting Address + 1
Value of data read from the drive parameter Starting Address + 2
Value of data read from the drive parameter Starting Address + 3
Synchronizes drive communication with PROFIBUS-DP Master
Network Communications 3-6
6 Word Input/Output Message
The 6 word input and output messages are divided into two areas. The first 4 bytes of each message is fixed. This is the most frequently
used data and is referred to as the fast I/O data. The remaining 8 bytes of each message are used for reading from and writing to all other
drive registers and is referred to as parameter data. All command, monitor, and parameter data in the drive is accessible via the Parameter
Access portion of the message. . Note: Care must be taken when writing certain parameters to the drive as other parameters may be
dependant on them. Control method, A1-02, maximum Frequency, E1-04, and Acc/Dec Scale Time, C1-10, are just a few. Refer to the
appropriate drive MODBUS technical manual for more information.
The 6 word input and output messages was designed for situations where processor memory may be a factor in the number of PROFIBUSDP devices resident on the network.
Table 3.7 – PROFIBUS-DP 6 Word Input/Output Message I/O Table
Output Data (PROFIBUS-DP Master -> Drive)
Input Data (Drive -> PROFIBUS-DP Master )
Byte
Function
Byte
Function
2
Frequency Reference MSB
3
Frequency Reference LSB
4
5
Starting Address MSB
6
Starting Address LSB
7
Data Length (always 2)
8
Data 1 MSB
Fast I/O
RUN Operation Command MSB
RUN Operation Command LSB
Function Code
9
Data 1 LSB
10
Reserved
11
Handshake Register
Parameter Access
Parameter Access
Fast I/O
0
1
0
1
Drive Status MSB
Drive Status LSB
2
Frequency Feedback MSB
3
Frequency Feedback LSB
4
5
Function Code
6
Starting Address LSB
Starting Address MSB
7
Data Length (always 2)
8
Data 1 MSB
9
Data 1 LSB
10
Reserved
11
Handshake Register
# Fast I/O Output Data
The fast I/O output data area is used to transfer parameter data directly to the drive via a dual port RAM interface. The following table
details the functions of the fast I/O output data (Bytes 0 to 3) For detailed explanation of the terminal and multi-function inputs and outputs,
refer to the appropriate drive technical manual.
Byte
Function
0
Command
Reference
1
2
3
Frequency
Reference
Bit
Table 3.8 – 6 Word Input/Output Message Fast I/O Output Data
Fast I/O Output Data (PROFIBUS-DP Master -> Drive)
Note
0h
Fwd Run/Stop
1 = RUN Forward (Enabled when b1-02 is set to 3)
1h
Rev Run/Stop
1 = RUN Reverse (Enabled when b1-02 is set to 3)
2h
Multi-Function Input 3
1 = Close
3h
Multi-Function Input 4
1 = Close
4h
Multi-Function Input 5
1 = Close
5h
Multi-Function Input 6
1 = Close
6h
Multi-Function Input 7
1 = Close
7h
Multi-Function Input 8
1 = Close (F7U and G7 drives only)
8h
External Fault
1 = External Error
9h
Fault Reset
1 = Reset Fault
Ah
Multi-Function Input 9
Bh
Multi-Function Input 10
Ch
Multi-Function Input 11
Dh
Multi-Function Input 12
Eh
Clear Error Log
Fh
External Base Block
Frequency Reference MSB
Frequency Reference LS
1 = Close (G7 drive only)
1 = Close (G7 drive only)
1 = Close (G7 drive only)
1 = Close (G7 drive only)
1 = 0.01Hz
scaling is dependent on the setting of parameter o1-03
Network Communications 3-7
# Fast I/O Input Data
The fast I/O input data area is used to transfer parameter data directly from the drive via a dual port RAM interface. The following table
details the functions of the fast I/O input data (Bytes 0 to 3) For detailed explanation of the terminal and multi-function inputs and outputs,
refer to the appropriate drive technical manual.
Byte
Function
0
Drive
Status
1
2
3
Frequency
Reference
Bit
Table 3.9 – 6 Word input/Output Message Fast I/O Input Data
Fast I/O Input Data (Drive -> PROFIBUS-DP Master )
Note
0h
@ RUN
1h
@ Zero Speed
2h
@ Reverse
3h
@ Reset Signal
4h
@ Frequency Agree
5h
@ Drive Ready (Rdy)
6h
@ Minor Fault (Alarm)
7h
@ Major Fault
8h
@ OPE Error
9h
@ Fault Restart
Ah
Local/Remote
1 = Remote Operation
Bh
Multi-Function Output 1
1 = Close
Ch
Multi-Function Output 2
1 = Close
Dh
Multi-Function Output 3
1 = Close
Eh
Motor Select
1 = #2 Motor
Fh
@ Zero Servo Complete
Frequency Reference MSB
Frequency Reference LSB
0.1Hz
scaling is dependent on the setting of parameter o1-03
# Parameter Access Area
This area is used to read and write parameter data from and to the drive. The PROFIBUS-DP Master completes the Parameter Access
command (output) message and waits for and then processes the data returned in the response (input) message. These messages may
contain 1 - 4 words of data. The handshaking byte is used to synchronize the communications between the PROFIBUS-DP Master and the
drive. This is necessary due to the additional time required for the drive to process the message.
Network Communications 3-8
# Parameter Access Command Message Structure
Two command, output, functions are available, read parameter data, 03h, and write parameter data, 10h. If no Parameter Access
communications is desired, use 00h as the function code. These function codes are programmed in byte 4 of the 6 word input/output
message. Bytes 5 and 6 contain the address of the parameter to be accessed. Byte 7 contains the number of data bytes to be read from or
written to the drive. Since only one parameter may be accessed at a time, this value must always be set to 2. Bytes 8 and 9 contain the data
to be written to the selected parameter. If the command is to read parameter data, bytes 8 and 9 must be set to 0.
Table 3.10 – 6 Word Input/Output Message Parameter Access Command Messages
Output Data – Parameter Access Command Message (PROFIBUS-DP Master -> Drive)
Name
Function
Byte
4
Function Code
5
Starting Address MSB
6
Starting Address LSB
7
Data Quantity
8
Data 1 MSB
9
Data 1 LSB
10
Reserved
11
Handshaking Register
Parameter Access Command Code (Read data = 03h, Write data = 10h)
The first register to be read or written
Bytes of data (2 x Number of parameters to be read or written)
Value of data to write to the drive parameter Starting Address
Synchronizes drive communication with PROFIBUS-DP Master
# Parameter Access Response Message Structure
The standard Parameter Access response structure is described below. In a non-erroneous response, the Function Code, Starting Address
and Data Quantity are identical to the command message. If the command function code is 03h, read data, the data bytes will contain the
values of the requested registers. If the command function code is 10h, write data, the data bytes will contain 0 and should be ignored.
Table 3.11 – 6 Word Input/Output Message Parameter Access Response Structure
Input Data – Parameter Access Response Message (Drive -> PROFIBUS-DP Master )
Name
Function
Byte
4
Function Code
5
Starting Address MSB
6
Starting Address LSB
7
Data Quantity
8
Data 1 MSB
9
Data 1 LSB
10
Reserved
11
Handshaking Register
Parameter Access Response Code (Command code or command code & 80h for error)
The first register to be read or written
Bytes of data (2 x Number of parameters to be read or written) (always 2)
Value of data read from the drive parameter Starting Address
Synchronizes drive communication with PROFIBUS-DP Master
Network Communications 3-9
3 Word I/Os Message
The 3 word I/Os, combined input/output, messages have only one fixed area. This is the most frequently used data and is referred to as the
fast I/O data. 3 Word messages are used when processor memory is a critical factor in the network design. As shown below, the 3 word I/Os
message contains only the minimum drive data.
0
RUN Operation Command MSB
0
Drive Status MSB
1
RUN Operation Command LSB
1
Drive Status LSB
2
3
Frequency Reference MSB
Frequency Reference LSB
2
3
Frequency Feedback MSB
Frequency Feedback LSB
4
Torque Reference MSB
4
Output Current MSB
5
Torque Reference LSB
5
Output Current LSB
Fast I/O
Fast I/O
Table 3.12 – PROFIBUS-DP 3 Word Message I/O Table
OUTPUT DATA PROFIBUS-DP Master -> Drive
Drive INPUT DATA -> PROFIBUS-DP Master
Byte
Function
Byte
Function
# Fast I/O Output Data
The fast I/O output data area is used to transfer parameter data directly to the drive via a dual port RAM interface. The following table
details the functions of the fast I/O output data (Bytes 0 to 5) For detailed explanation of the terminal and multi-function inputs and outputs,
refer to the appropriate drive technical manual.
Byte
Function
0
Command
Reference
1
2
3
4
5
Bit
Table 3.13 – 3 Word Input/Output Message Fast I/O Output Data
Fast I/O Output Data (PROFIBUS-DP Master -> Drive)
Note
0h
Fwd Run/Stop
1 = RUN Forward (Enabled when b1-02 is set to 3)
1h
Rev Run/Stop
1 = RUN Reverse (Enabled when b1-02 is set to 3)
2h
Multi-Function Input 3
1 = Close
3h
Multi-Function Input 4
1 = Close
4h
Multi-Function Input 5
1 = Close
5h
Multi-Function Input 6
1 = Close
6h
Multi-Function Input 7
1 = Close
7h
Multi-Function Input 8
1 = Close (F7U and G7 drives only)
8h
External Fault
1 = External Error
9h
Fault Reset
1 = Reset Fault
Ah
Bh
Ch
Dh
Eh
Fh
Multi-Function Input 9
Multi-Function Input 10
Multi-Function Input 11
Multi-Function Input 12
Clear Error Log
External Base Block
1 = Close (G7 drive only)
1 = Close (G7 drive only)
1 = Close (G7 drive only)
1 = Close (G7 drive only)
Frequency
Reference
Frequency Reference MSB
Torque
Reference
Torque Reference MSB
Frequency Reference LS
1 = 0.01Hz
scaling is dependent on the setting of parameter o1-03
Flux Vector Mode
Torque Reference LSB
Network Communications 3-10
# Fast I/O Input Data
This area is used to transfer parameter data directly from the drive dual port RAM interface. The following tables detail the functions of the
fast I/O input data (Bytes 0 to 5)
Byte
Function
Table 3.14 – 3 Word input/Output Message Fast I/O Input Data
Fast I/O Input Data (Drive -> PROFIBUS-DP Master )
Bit
Note
0h
0
Drive
Status
1
2
3
4
5
Frequency
Reference
Output Current
@ RUN
1h
@ Zero Speed
2h
@ Reverse
3h
@ Reset Signal
4h
@ Frequency Agree
5h
@ Drive Ready (Rdy)
6h
@ Minor Fault (Alarm)
7h
@ Major Fault
8h
@ OPE Error
9h
@ Fault Restart
Ah
Local/Remote
1 = Remote Operation
Bh
Multi-Function Output 1
1 = Close
Ch
Multi-Function Output 2
1 = Close
Dh
Multi-Function Output 3
1 = Close
Eh
Motor Select
1 = #2 Motor
Fh
@ Zero Servo Complete
Frequency Reference MSB
Frequency Reference LSB
Output Current MSB
Output Current LSB
0.1Hz
scaling is dependent on the setting of parameter o1-03
Calculated value
Drive Current(Drive Rating/8192)
Network Communications 3-11
Parameter Access Error Messages
Whenever there is an invalid parameter access message, the drive will respond with an error message containing the fault code for that
particular error. Parameter access pertains only to16 Word and 6 word messages.
# 16 Word Input/Output Message
If an erroneous Parameter Access message is sent to the drive, the drive will respond with a fault message. The MSB of byte 16 of the fault
response will be set. If the fault is a read parameter data fault, byte 16 of the response message will contain 83h, read parameter function
code 03h with the MSB set. If the fault is a write parameter data fault, byte 16 of the response message will contain 90h, write parameter
function code 10h with the MSB set. Byte 19 will contain 2 and byte 21 will contain the specific error code. Refer to Table 3.15 below for
description of the possible error codes.
# 6 Word Input/Output Message
If an erroneous Parameter Access message is sent to the drive, the drive will respond with a fault message. The MSB of byte 4 of the fault
response will be set. If the fault is a read parameter data fault, byte 4 of the response message will contain 83h, read parameter function
code 03h with the MSB set. If the fault is a write parameter data fault, byte 4 of the response message will contain 90h, write parameter
function code 10h with the MSB set. Byte 7 will contain 2 and byte 9 will contain the specific error code. Refer to Table 3.15 below for
description of the possible error codes.
Error Code
Table 3.15 – Parameter Access Fault Message Response
Error Name
Details
01h
Function Error
Invalid function code
02h
Address Error
Parameter starting address greater than 600h
03h
Amount of Data Fault
Read or Write less than 2 words or more than 4 words
21h
Data Content Fault
Parameter exceeds upper and lower limits
22h
Write Fault
•
•
•
•
Parameter change during running or under-voltage
ENTER command was written during running
Write attempted to read–only data or during under-voltage
Write attempted during parameter data storage
Network Communications 3-12
Handshaking
The handshaking register is necessary to synchronize the send/receive timing of parameter access message data between the PROFIBUSDP Master and the PROFIBUS-DP Option. One register (byte 32 of the 16 word input/output message or byte 12 of the 6 word input/output
message) in the input and output parameter access message areas is dedicated to handshaking. The data set in the output area of the master
becomes enabled in the PROFIBUS-DP Option when the status of the HS bit, bit 7, is changed.
# Command Handshaking Register PROFIBUS-DP Master To Drive
Bit
7
Name
Table 3.16 – Handshaking Output Register Bit Definitions
Function
Handshaking bit. Used to synchronize the data exchange. Toggled when a new command is transmitted. This bit must be cleared
after power-up or re-initialization by the Master program.
Not used.
HS
6-0
# Response Handshake Register Drive To PROFIBUS-DP Master
Bit
7
Name
HS
6-5
STATUS
4-1
0
WD
Table 3.17 – Handshaking Input Register Bit Definitions
Function
Handshaking bit. Used to synchronize the data exchange. Toggled when a new response is transmitted
Status of data exchanged between Communication Option and drive.
00H: Idle
01H: Sending parameter access message to drive
10H: Waiting for parameter access response from drive
11H: Response received from drive
Watch Dog Counter, incremented approximately every 64 ms.
Not used
Network Communications 3-13
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Network Communications 3-14
Appendix A Product Specification
This appendix describes the specification for the PROFIBUS-DP Option interface
card
Table A.1 – Product Specification
PROFIBUS-DP Option
Ambient Temperature
Storage Temperature
Relative Humidity
Altitude
Vibration
PROFIBUS-DP Specification
PROFIBUS-DP Profile
Connector Type
Physical Layer Type
Node Address Setting
Baud Rate
ASIC Implementation
Feature Support
-10 to +45OC (14 to 113OF)
-20 to +60OC (-4 to 140OF)
Not to exceed 90% RH (non-condensing)
Not to exceed 1000m (3280ft)
1G (9.8m/s2) at 10 to 20Hz.
0.2G (2m/s2) at 20 to 50Hz.
PROFIBUS-DP Slave- EN 50170
Vendor-Specific, PNO-approved
6-pin open-style screw connector
Isolated Physical Layer (RS485 transceiver + photo-coupler)
2 Decimal Rotary Switches: address 1 to 99
Auto-configure: 9600 bps to 12 Mbps
SPC 3
Freeze Mode, Sync Mode, Auto Baud
Product Specification A-1
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Product Specification A-2
Appendix B Cable Specification
This appendix describes in detail the PROFIBUS-DP cable specification and
minimum and maximum allowable cable lengths.
Product Specification B-1
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Product Specification B-2
# PROFIBUS-DP Cable Specification
The cable used by the PROFIBUS-DP network is specified by PROFIBUS European Standard EN50170. It is a shielded, twisted pair cable
with the following specifications. In order for the cable to fit the currently available PROFIBUS-DP standard connectors, the surrounding
diameter must be 8.0mm (+/- 0.5 mm).
Table B.1 – PROFIBUS-DP Cable Specifications
Parameter
Impedance
PROFIBUS-DP Cable Requirements
135 to 165 Ohm / 3 to 20Mhz
Capacitance
< 30 pF / m
Resistance
< 110 Ohm / Km
Wire Gauge
> 0.64 mm
Conductor Area
> 0.34 mm2
Shield Density
Greater than 80%
# PROFIBUS-DP Cable Length Limits
Both data rate and cable type affect the total allowable length of the network. The total amount of measured linear cable allowed between
any two points on the network segment must be within the following table’s specification. Also, the total amount of network length,
allowed through segment repeaters must be less than the Maximum Network Length in the following table. The minimum cable length
between device connections is one (1) meter.
Table B.2 – PROFIBUS-DP Cable Length Specifications
Baud Rate
Maximum Segment Length
Maximum Network Length
9.6 Kbps
1,200 Meters
10,000 Meters
187.5 Kbps
1,000 Meters
10,000 Meters
500.0 Kbps
400 Meters
4,000 Meters
1.5 Mbps
200 Meters
2,000 Meters
3.0 Mbps
100 Meters
1,000 Meters
6.0 Mbps
100 Meters
1,000 Meters
12.0 Mbps
100 Meters
1,000 Meters
# PROFIBUS-DP Stub Length Limits
The total amount of measured linear cable allowed between the point of the stub connection (from the main PROFIBUS-DP cable) to the
node connection on the line, along with the cumulative total or sum of all stub cable length(s) must not exceed the maximum specified.
When calculating stub lengths, include stub in the device itself. Use 1cm for each drive. The following table and diagram specifies the stub
length requirements. DO NOT use stubs when the PROFIBUS-DP network is configured to operate at baud rates above 1.5Mbps
Table B.3 – PROFIBUS-DP Stub Length Specifications
Baud Rate
Total Capacitance for all Stubs
Total Stub Length
9.6 Kbps
15.0 nF
500 Meters
187.5 Kbps
3.0 nF
100 Meters
500.0 Kbps
1.0 nF
33 Meters
1.5 Mbps
0.6 nF
20 Meters
3.0 Mbps
0.2 nF
Approx. 0
6.0 Mbps
Stubs Not Allowed
Approx. 0
12.0 Mbps
Stubs Not Allowed
Approx. 0
Product Specification B-3
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Product Specification B-4
Appendix C Parameter Access
This appendix describes in detail how to read and write parameter data to and
from the drive.
Parameter Access Overview............................................. C - 3
Read Drive Data Example ................................................. C - 5
Read Drive Data Error Example........................................ C - 6
Write Drive Data Example ................................................. C - 7
Write Drive Data Error Example ....................................... C - 8
Parameter Access C-1
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Parameter Access C-2
Parameter Access Overview
Parameter access allows the reading and writing of drive parameters. For a detailed description of the drive parameters refer to the

appropriate drive User’s manual or MODBUS technical manual.
# Initialize Data Structures
Prior to setting the command message, insure that the command message handshake byte HS, bit 7, bit matches the HS bit, bit 7, of the
response message.
# Set PROFIBUS-DP Master Command Message
!
Function Code: Enter 03h (0000 0011) to read data from the drive or 10h (1010 0000) to write data to the drive. If no
parameter access messaging is required, enter 00h as the function code.
!
Addressing: All register addresses consist of two (2) bytes. The most significant byte, the upper half, is entered as the Starting
Address MSB. The least significant byte, the lower half, is entered as the Starting Address LSB. If more than one register is to
be accessed, only valid with 16 word input/output messages, the registers must be consecutive beginning with the register at the
starting address.
$
Starting Address MSB: Enter the upper half of the starting address. For address 1234h, enter 12h.
$
Starting Address LSB: Enter the lower half of the starting address. For address 1234h, enter 34h.
!
Data Quantity:
Enter the quantity of data to either read or write. Each register contains 2 data bytes. To read or write 1
register, enter 2. To read or write 2 registers, enter 4. For 6 word input/output messages, 2 is the only valid entry.
!
Data:
All drive register data consists of 2 bytes. The most significant byte, the upper half, of the value is contained in Data #
MSB. The least significant byte, the lower half, is contained in Data # LSB. For reading data from the drive, these registers must
be set to 0. For writing data to the drive, enter the data in the order that it is to be written to the drive at consecutive addresses
starting with the address entered as the Starting Address. For 16 word input/output messages, if data is to be written to 2 registers,
enter the appropriate values into Data 1 and Data 2. Data 3 and Data 4 must contain 0.
!
$
Data # MSB: To read drive data, set this value to 0. To write data, enter the most significant byte, the upper half, of the data
to be written. To write data 5678h, enter 56h. To write more than one register, valid for 16 word input/output messages only,
the registers must be consecutive starting with the address entered as the Starting Address.
$
Data # LSB: To read drive data, set this value to 0. To write data, enter the least significant byte, the lower half, of the data
to be written. To write data 5678h, enter 78h. To write more than one register, valid for 16 word input/output messages only,
the registers must be consecutive starting with the address entered as the Starting Address.
Handshaking:
Set the HS bit, the MSB, bit 7, of the command message handshaking byte to the same state as the HS bit ,
the MSB, bit 7, of the response message handshaking byte.
# Toggle the PROFIBUS-DP Master Handshake Bit
Toggle the command message Handshake MSB, the most significant bit, bit 7, to signal the drive that the command message contains a
valid Parameter Access message. Make sure that all data has been entered into the command message before setting this bit. It is advisable
to insert at least one processor scan between setting the command message and setting the handshake bit. Maintain the state of the HS bit
until another command is to be sent to the drive.
# Message Received By PROFIBUS-DP Option - Ignore All Response Data
To signify the receipt of the command message, the PROFIBUS-DP Option will set the response message handshaking HS bit to match the
state of the command message handshaking HS bit. Depending on the scan time of the PROFIBUS-DP Master and the interval between
reviewing response messages, the PROFIBUS-DP Master may not see this response.
Parameter Access C-3
# Message Sent To Drive - Ignore All Response Data
The PROFIBUS-DP Option formats the Parameter Access command message and transmits it to the drive, setting bit 5 of the response
message handshake. Depending on the scan time of the PROFIBUS-DP Master and the interval between reviewing response messages, the
PROFIBUS-DP Master may not see this response.
# Wait For Drive Response - Ignore All Response Data.
Upon receiving the Parameter Access message from the PROFIBUS-DP Option, the drive processes the message, setting bit 6 and resetting
bit 5 of the response message handshake. This processing typically takes 10ms to 15ms dependant on the state of the drive at the time of
receiving the message. Depending on the scan time of the PROFIBUS-DP Master and the interval between reviewing response messages,
the PROFIBUS-DP Master may not see this response.
# Process Response – Store And Process Data
The response message handshake byte bits 5 and 6 are set to signal that the drive has completed processing the Parameter Access message.
If the command message was to read drive data, the data bytes will now contain valid data. If the command message was to write drive
data, the data has been successfully written.
Parameter Access C-4
Read Drive Data Example
Table C.2 – Read Drive Data Example
PROFIBUS-DP Master Command
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (1000 0000)
00h
00h
00h
00h
00h
00h
80h
PROFIBUS-DP Master Command
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (1000 0000)
03h
00h
37h
02h
00h
00h
80h
PROFIBUS-DP Master Command
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (0000 0000)
03h
00h
37h
02h
00h
00h
00h
PROFIBUS-DP Master Command
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (0000 0000)
03h
00h
37h
02h
00h
00h
00h
PROFIBUS-DP Master Command
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (0000 0000)
03h
00h
37h
02h
00h
00h
00h
PROFIBUS-DP Master Command
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (0000 0000)
03h
00h
37h
02h
00h
00h
00h
Initialize Data Structures
Set the command message handshake byte HS bit to the same state as the
response message handshake HS bit.
Set PROFIBUS-DP Master Command Message
Set the Function Code, Starting Address, and Data Quantity. This
example configures the command message to retrieve data from drive
register at address 0037h, Output Power. For detailed information of
drive registers refer to the Technical Manual and the MODBUS
Technical Manual.
Toggle the PROFIBUS-DP Master Handshake Bit
Drive Response
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (1110 0000)
Drive Response
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (1110 0000)
The PROFIBUS-DP Option formats the command message and transmits
it to the drive, setting bit 5 of the response handshake byte. As the
response message may contain invalid data, ignore all response message
data.
Wait for Response
Bit 5 is reset and bit 6 set of the response handshake byte when the
message has been received by the drive and that the drive has begun
processing the message. As the response message may contain invalid
data, ignore all response message data.
Process Response
Bits 5 and 6 of the response byte handshake are both set when the
processing has been completed and the response message contains valid
data.
Parameter Access C-5
03h
01h
00h
02h
00h
00h
E0h
Drive Response
Function Code
After the data bits have been set, toggle the HS bit, bit 7, of the command
Starting Address MSB
handshake byte to signal the drive that the command message contains a
Starting Address LSB
Parameter Access command. On receipt of the command message, the
HS bit, bit 7, of the response message handshake byte is set to the same
Data Quantity
state as the HS bit of the command message handshake byte. As the
Data 1 MSB
response message may contain invalid data, ignore all response message
Data 1 LSB
data.
Handshaking (0000 0000)
Wait for Response
03h
01h
00h
02h
00h
00h
E0h
00h
Drive Response
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (0010 0000)
20h
Drive Response
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (0100 0000)
40h
Drive Response
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (0110 0000)
03h
00h
37h
02h
00h
15h
60h
Read Drive Data Error Example
Table C.3 – Read Drive Data Error Example
PROFIBUS-DP Master Command
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (0000 0000)
00h
00h
00h
00h
00h
00h
00h
PROFIBUS-DP Master Command
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (0000 0000)
03h
10h
00h
02h
00h
00h
00h
PROFIBUS-DP Master Command
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (1000 0000)
03h
10h
00h
02h
00h
00h
80h
PROFIBUS-DP Master Command
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (1000 0000)
03h
10h
00h
02h
00h
00h
80h
PROFIBUS-DP Master Command
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (1000 0000)
03h
10h
00h
02h
00h
00h
80h
PROFIBUS-DP Master Command
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (1000 0000)
03h
10h
00h
02h
00h
00h
80h
Initialize Data Structures
Set the command message handshake byte HS bit to the same state as the
response message handshake HS bit.
Set PROFIBUS-DP Master Command Message
Set the Function Code, Starting Address, and Data Quantity. This
example configures the command message to retrieve data from drive
register at address 0037h, Output Power. For detailed information of
drive registers refer to the Technical Manual and the MODBUS
Technical Manual.. For the purposes of this example, an invalid Starting
Address was entered.
Toggle the PROFIBUS-DP Master Handshake Bit
Drive Response
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (0110 0000)
Drive Response
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (0110 0000)
The PROFIBUS-DP Option formats the command message and transmits
it to the drive, setting bit 5 of the response handshake byte. As the
response message may contain invalid data, ignore all response message
data.
Wait for Response
Bit 5 is reset and bit 6 set of the response handshake byte when the
message has been received by the drive and that the drive has begun
processing the message. As the response message may contain invalid
data, ignore all response message data.
Process Response
Bits 5 and 6 of the response handshake byte are both set when the
processing has been completed and the response message contains valid
data. The MSB of the function code signifies an error response and Data
1 LSB contains the error code. Refer to Parameter Access Error
Messages section of Chapter 3
Parameter Access C-6
03h
01h
00h
02h
00h
00h
60h
Drive Response
Function Code
After the data bits have been set, toggle the HS bit, bit 7, of the command
Starting Address MSB
handshake byte to signal the drive that the command message contains a
Starting Address LSB
Parameter Access command. On receipt of the command message, the
HS bit, bit 7, of the response message handshake byte is set to the same
Data Quantity
state as the HS bit of the command message handshake byte. As the
Data 1 MSB
response message may contain invalid data, ignore all response message
Data 1 LSB
data.
Handshaking (1000 0000)
Wait for Response
03h
01h
00h
02h
00h
00h
60h
80h
Drive Response
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (1010 0000)
A0h
Drive Response
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (1100 0000)
C0h
Drive Response
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (1110 0000)
83h
00h
00h
02h
00h
02h
E0h
Write Drive Data Example
Table C.4 – Write Drive Data Example
PROFIBUS-DP Master Command
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (1000 0000)
00h
00h
00h
00h
00h
00h
00h
PROFIBUS-DP Master Command
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (0000 0000)
10h
01h
05h
02h
00h
01h
00h
PROFIBUS-DP Master Command
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (1000 0000)
10h
01h
05h
02h
00h
01h
80h
PROFIBUS-DP Master Command
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (1000 0000)
10h
01h
05h
02h
00h
01h
80h
PROFIBUS-DP Master Command
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (1000 0000)
10h
01h
05h
02h
00h
01h
80h
PROFIBUS-DP Master Command
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (1000 0000)
10h
01h
05h
02h
00h
01h
80h
Initialize Data Structures
Set the command message handshake byte HS bit to the same state as the
response message handshake HS bit.
Set PROFIBUS-DP Master Command Message
Set the Function Code, Starting Address, and Data Quantity. This
example configures the command message to retrieve data from drive
register at address 0037h, Output Power. For detailed information of
drive registers refer to the Technical Manual and the MODBUS
Technical Manual.
Toggle the PROFIBUS-DP Master Handshake Bit
Drive Response
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (0110 0000)
Drive Response
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (0000 0000)
The PROFIBUS-DP Option formats the command message and transmits
it to the drive, setting bit 5 of the response handshake byte. As the
response message may contain invalid data, ignore all response message
data.
Wait for Response
Bit 5 is reset and bit 6 set of the response handshake byte when the
message has been received by the drive and that the drive has begun
processing the message. As the response message may contain invalid
data, ignore all response message data.
Process Response
Bits 5 and 6 of the response handshake byte are both set when the
processing has been completed and the response message contains valid
data.
Parameter Access C-7
03h
01h
00h
02h
00h
00h
00h
Drive Response
Function Code
After the data bits have been set, toggle the HS bit, bit 7, of the command
Starting Address MSB
handshake byte to signal the drive that the command message contains a
Starting Address LSB
Parameter Access command. On receipt of the command message, the
HS bit, bit 7, of the response message handshake byte is set to the same
Data Quantity
state as the HS bit of the command message handshake byte. As the
Data 1 MSB
response message may contain invalid data, ignore all response message
Data 1 LSB
data.
Handshaking (1000 0000)
Wait for Response
03h
01h
00h
02h
00h
00h
60h
80h
Drive Response
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (1010 0000)
A0h
Drive Response
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (1100 0000)
C0h
Drive Response
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (1110 0000)
10h
01h
05h
02h
00h
00h
E0h
Write Drive Data Error Example
Table C.5 – Write Drive Data Error Example
PROFIBUS-DP Master Command
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (1000 0000)
00h
00h
00h
00h
00h
00h
80h
PROFIBUS-DP Master Command
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (1000 0000)
10h
10h
00h
02h
00h
01h
80h
PROFIBUS-DP Master Command
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (0000 0000)
10h
10h
00h
02h
00h
01h
00h
PROFIBUS-DP Master Command
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (1000 0000)
10h
10h
00h
02h
00h
01h
00h
PROFIBUS-DP Master Command
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (0000 0000)
10h
10h
00h
02h
00h
01h
00h
PROFIBUS-DP Master Command
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (0000 0000)
10h
10h
00h
02h
00h
01h
80h
Initialize Data Structures
Set the command message handshake byte HS bit to the same state as the
response message handshake HS bit.
Set PROFIBUS-DP Master Command Message
Set the Function Code, Starting Address, and Data Quantity. This
example configures the command message to retrieve data from drive
register at address 0037h, Output Power. For detailed information of
drive registers refer to the Technical Manual and the MODBUS
Technical Manual. For the purposes of this example an invalid Starting
Address was used.
Toggle the PROFIBUS-DP Master Handshake Bit
Drive Response
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (0110 0000)
Drive Response
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (1110 0000)
The PROFIBUS-DP Option formats the command message and transmits
it to the drive, setting bit 5 of the response handshake byte. As the
response message may contain invalid data, ignore all response message
data.
Wait for Response
Bit 5 is reset and bit 6 set of the response handshake byte when the
message has been received by the drive and that the drive has begun
processing the message. As the response message may contain invalid
data, ignore all response message data.
Process Response
Bits 5 and 6 of the response handshake byte are both set when the
processing has been completed and the response message contains valid
data. The MSB of the function code signifies an error response and Data
1 LSB contains the error code. Refer to Parameter Access Error Message
section of Chapter for error code description.
Parameter Access C-8
03h
00h
37h
02h
00h
00h
E0h
Drive Response
Function Code
After the data bits have been set, toggle the HS bit, bit 7, of the command
Starting Address MSB
handshake byte to signal the drive that the command message contains a
Starting Address LSB
Parameter Access command. On receipt of the command message, the
HS bit, bit 7, of the response message handshake byte is set to the same
Data Quantity
state as the HS bit of the command message handshake byte. As the
Data 1 MSB
response message may contain invalid data, ignore all response message
Data 1 LSB
data.
Handshaking (0000 0000)
Wait for Response
03h
01h
00h
02h
00h
00h
60h
00h
Drive Response
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (0010 0000)
20h
Drive Response
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (0100 0000)
40h
Drive Response
Function Code
Starting Address MSB
Starting Address LSB
Data Quantity
Data 1 MSB
Data 1 LSB
Handshaking (0110 0000)
90h
00h
00h
02h
00h
22h
60h
Appendix D Troubleshooting
This chapter is a basic troubleshooting guide. For detailed information on the
drive refer to the Technical Manual. Detailed information on PROFIBUS-DP can
be obtained from www.profibus.com.
Troubleshooting Check List ............................................. D - 3
Installing The PROFIBUS-DP Option ............................... D - 5
Wiring And Cabling ........................................................... D - 8
PROFIBUS-DP Configuration ........................................ D - 11
PROFIBUS-DP Interface Diagnostics............................. D - 12
Troubleshooting D-1
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Troubleshooting D-2
Troubleshooting Check List
1: The drive operates correctly without the PROFIBUS-DP Option installed
Drive model number ______________
2: The PROFIBUS-DP Option is correctly and securely installed on the drive
PROFIBUS-DP Option Code number ______________
PROFIBUS-DP Option version ______________
3: All network devices have unique addresses and drives are addressed between 1 and 99
Drive address____________
S1 _______
S2 _______
4: The Run/Stop command source parameter, b1-02, is set correctly
b1-02 ____________
5: The Frequency Reference command source parameter, b1-01, is set correctly
b1-01 ____________
6: The correct cable type is used. Mfg.____________________ PN____________________
7: All cable connections are correct per device schematic and are secure
8: All cables have been checked for continuity. There are no breaks or shorts.
9: Cable length between nodes is at least 1 meter
10: Maximum segment and maximum network lengths do not exceed the maximum allowed
11: The total stub lengths do not exceed the maximum allowed
12: There are no more than 32 devices on each segment, including repeaters and controllers.
There are no more than 31 devices on each segment if no repeaters are used.
13: The network is correctly terminated on each end and only at each end.
14: The shield is continuous throughout the network and is properly grounded on each end.
15: The network cable is routed away from any high voltage cable(s) or source(s).
16: The correct GSD file is used. GSD file name ________________________________.GSD
17: The controller scan list is configured to send and receive the correct amount of data.
18: The PROFIBUS-DP LEDs are in their correct on/off states.
19: All network devices have been tested for conformance with the PROFIBUS-DP specification.
Troubleshooting D-3
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Troubleshooting D-4
Installing The PROFIBUS-DP Option
The following is a short guide to troubleshooting the PROFIBUS-DP Option installation. It highlights some of the most common issues
faced when diagnosing and correcting issues associated with the startup and operation of a drive with a PROFIBUS-DP industrial network.
Further information on the features of each interface can be found in the PROFIBUS-DP Option Technical Manual. While most of the
information is centered on the application of the drive, the guidelines presented are applicable in most PROFIBUS-DP Networks.
Diagnosis of network fault issues will typically fall into three categories: installation of the PROFIBUS-DP option, wiring and cabling
issues, and network configuration/diagnostics. Each of these areas will be discussed below to help resolve common problems associated in
PROFIBUS-DP network troubleshooting.
# Drive Operates Correctly Without Network Option Installed
Before installing any drive option, verify that the drive functions properly without the option installed. Refer to the appropriate drive
technical manual for information on the drive’s installation and operation.
# The PROFIBUS-DP Option Is Properly Installed.
Verify that the connection between CN2 on the PROFIBUS-DP Option is securely connected to CN2, labeled 2CN on the GPD515/G5, on
the drive and that all stand-offs are locked in their associated mounting holes.
# Verify And Write Down The Code Number Of The PROFIBUS-DP Option.
The Code Number can be found on the front of the PROFIBUS-DP Option and specifies the firmware version of the interface unit. The
version number can be found on the label of the socketed EPROM. The Code Number and version number are necessary to select the
proper GSD file. It will also be useful if technical support should become necessary.
Troubleshooting D-5
# Network Cable Is Connected Correctly
!
Determine the type of connector on the PROFIBUS-DP Option. Connector Style A is an extended Phoenix connector. The
extension can be seen on the back of the connector as a small circuit board. Connector Style B is a standard phoenix connector
without any modifications.
!
Connect the PROFIBUS-DP network cable to the PROFIBUS-DP Option. Refer to the appropriate connection drawing in Figure
C.2 below for your connector style.
!
Use standard PROFIBUS-DP cable as specified by the PROFIBUS Organization.
Termination
Reserved 1
Reserved 2
A In/Out (Green) 3
B In/Out (RED) 4
Shield 5
Reserved 6
Connector Style B
Connector Style A
A In (Green) 1
B In (RED) 2
A Out (Green) 3
B Out (RED) 4
Shield 5
Reserved 6
Termination
S2
S2
S1
S1
Ground
Ground
Figure D.1 – PROFIBUS-DP Option Connections
# Run/Stop Operation Parameter Is Set Correctly.
Parameter b1-02 needs to be set to the source of the drive’s Run/Stop command. If the receives the Run/Stop command from the
PROFIBUS-DP network, parameter b1-02 must be set to “3 – Option PCB”. Refer to the appropriate drive technical manual for further
explanation of this parameter.
Parameter
Value
b1-02
Table D.1 - Run/Stop Reference Source
Description
0
1
Operator Keypad
External Terminals
2
Serial Communications
3
Option PCB (PROFIBUS-DP Communications)
# Frequency Reference Parameter Is Set Correctly
Parameter b1-01 needs to be set to the source of the drive’s frequency reference command. If the receives its frequency reference from the
PROFIBUS-DP network, parameter b1-01 must be set to “3 – Option PCB”. Refer to the appropriate drive technical manual for further
explanation of this parameter.
Parameter
Value
0
1
b1-01
Table D.2 - Frequency Reference Source
Description
Operator keypad
Terminals
2
Serial Communications
3
Option PCB (PROFIBUS-DP Communications)
4
Pulse input (Available on F7 and G7 drives only)
Troubleshooting D-6
# The Network Address Correct And Unique.
Each device on the network must have a unique address. Valid addresses are 1 through 99 with 1 typically reserved for the PROFIBUS-DP
Master and 2 reserved for diagnostic equipment. Set the network address via rotary switches S1(x1) and S2(x10). To set a to address 15, set
S2 to 1 and S1 to 5.
Address = (Switch 2 x 10) + (Switch 1 x 1)
Example: Set node address to 15
Set address switch 2 to "1
Set address switch 1 to "5"
901
901
7 8
7 8
23
23
4 56
4 56
S2
S1
Figure D.2 – PROFIBUS-DP Option Addressing
Troubleshooting D-7
Wiring And Cabling
Several serial communications troubleshooting issues can be traced to cabling and grounding. The PROFIBUS-DP Option is based on
RS485 differential line technology, and specifies the cable to be used, i.e. cable length requirements, termination requirements, number of
nodes allowed per segment, etc. The following lists and describes the items that should be checked during the network installation to verify
correct cabling and grounding. Failure to follow the following guidelines could result in total or intermittent communications failure.
# The Network Cable Is The Correct Type.
The cable used by the PROFIBUS-DP network is specified by PROFIBUS European Standard EN50170. It is a shielded, twisted pair cable
with the following specifications. In order for the cable to fit the currently available PROFIBUS-DP standard connectors, the surrounding
diameter must be 8.0mm (+/- 0.5 mm).
Table D.3 – PROFIBUS-DP Cable Specifications
Parameter
PROFIBUS-DP Cable Requirements
Impedance
135 to 165 Ohm / 3 to 20Mhz
Capacitance
< 30 pF / m
Resistance
< 110 Ohm / Km
Wire Gauge
> 0.64 mm
Conductor Area
> 0.34 mm2
Shield Density
Greater than 80%
# Cable Is Correctly And Securely Connected
Check for shorts, broken wires, loose connections, and that the signal and shield wires are connected to the correct pin on the option
connector. See Figure C.1 – PROFIBUS-DP Option Connections above for required wiring.
# Cable Lengths Are Within Specified Limits
Both data rate and cable type affect the total allowable length of the network. The total amount of measured linear cable allowed between
any two points on the network segment must be within the following table’s specification. Also, the total amount of network length,
allowed through segment repeaters must be less than the Maximum Network Length in the following table. The minimum distance of cable
that is required between device connections to the PROFIBUS-DP physical media is a distance of one (1) meter.
Table D.4 – PROFIBUS-DP Cable Length Specifications
Baud Rate
9.6 Kbps
Maximum Segment Length
1,200 Meters
Maximum Network Length
10,000 Meters
187.5 Kbps
1,000 Meters
10,000 Meters
500.0 Kbps
400 Meters
4,000 Meters
1.5 Mbps
200 Meters
2,000 Meters
3.0 Mbps
100 Meters
1,000 Meters
6.0 Mbps
100 Meters
1,000 Meters
12.0 Mbps
100 Meters
1,000 Meters
Troubleshooting D-8
# Stub Lengths Are Within Specified Limits
The total amount of measured linear cable allowed between the point of the stub connection (from the main PROFIBUS-DP cable) to the
node connection on the line, along with the cumulative total or sum of all stub cable length(s) must not exceed the maximum specified.
When calculating stub lengths, include stub in the device itself. Use 1cm for each drive. The following table and diagram specifies the stub
length requirements. DO NOT use stubs when the PROFIBUS-DP network is configured to operate at baud rates above 1.5Mbps
Table D.5 – PROFIBUS-DP Stub Length Specifications
Baud Rate
Total Capacitance for all Stubs
Total Stub Length
9.6 Kbps
15.0 nF
500 Meters
187.5 Kbps
3.0 nF
100 Meters
500.0 Kbps
1.0 nF
33 Meters
1.5 Mbps
0.6 nF
20 Meters
3.0 Mbps
0.2 nF
Approx. 0
6.0 Mbps
Stubs Not Allowed
Approx. 0
12.0 Mbps
Stubs Not Allowed
Approx. 0
# There Are No More Than 32 Total Devices On Each Network Segment.
This means that only 31 physical devices can be connected on one PROFIBUS-DP network segment without a repeater.
Verify that there are no more than 31 physical nodes on the network segment, which includes all Master/PLC connections,
slave devices, and configuration nodes for all connections. If there are more than 31 devices, you must add a repeater
between the network segments to separate the devices into two separate copper buses. Note, the reason for using RS485
repeaters is for allowing more than 32 devices to talk to one Master PLC port, or there is a need to operate bus segments as
ungrounded with reference to each other, or the network segment exceeds the maximum length per the operating baud rate.
Up to nine (9) RS485 repeaters can be used in cascade (in-line).
# The Network Is Terminated Correctly.
A PROFIBUS-DP network copper bus segment is based on an RS485 standard and requires two (2) and only two (2), termination resistors
of 120 ohms, ¼ watt, at each of the furthest ends of the PROFIBUS-DP cabling. Typically, a good place for the termination resistors to be
ON is at the PLC connector (only, if the network segment starts at that point) and, at the last device on the network segment. This is to keep
transmission signal distortion to a minimum along all sections of the network bus.
If the last device on the network is a drive, the termination switch on the PROFIBUS-DP Option may be used. Set the switch to the ON
position. Active Termination Devices are the preferred method of terminating the network. They must be continually powered to function
correctly and must be used for transmission rates above 1.5 Mbps. The Siemens P/N for the Active Terminator Module is 6ES7 9720DA00-0AA0.
OFF
ON
Figure D.3 – PROFIBUS-DP Option Termination Settings
Troubleshooting D-9
# Common Mode Voltage Between Any Two Points Is Less Than 7vdc.
RS485 requires that the common mode voltage be less than 7vdc. Large voltage potential differences between points on the network, may
cause equalization current flow in the shield. This interferes with the PROFIBUS-DP signal quality. If common mode voltage is greater
than 7vdc, a separate ground conductor must connect the network devices to a central ground point, typically at the start of the segment.
# Shield Is Continuous And Both Ends Of The Shield Are Grounded.
The cable shields, between all nodes of the network segment shall be connected, to form a single conduction path throughout the segment.
The shield must then be grounded at each endpoint
# Cable Is Routed Correctly
The PROFIBUS-DP network cable must not run parallel to or close to any high power or high frequency cables. A minimum clearance of
4” – 10” is required, depending on the level of voltage or signals in the cables. If network cables must cross high power or frequency
cables, they must do so at a 90 deg angle.
Troubleshooting D-10
PROFIBUS-DP Configuration
In order for the drive with the PROFIBUS-DP Option to operate in a PROFIBUS-DP networked system, the PROFIBUS-DP master must
be configured to recognize the drive on the network. Typically, the master scan list is setup and modified with a PROFIBUS-DP
configuration utility, such as COM PROFIBUS from Siemens. The configuration utility is typically provided by the vendor supplying the
PROFIBUS-DP master.
The drive is a slave device and requires a master PROFIBUS-DP scanner to communicate on a PRFIBUS-DP network. The drive
configuration entered into the master scan list, via the configuration utility, must match exactly the configuration built into the PROFIBUSDP Option. The drive has diagnostic LEDs to annunciate the state of the PROFIBUS-DP network.
# Correct GSD file is used.
The configuration utility uses the GSD file to set certain parameters, including the Identification Number, the number of Input and Output
words, the supported baud rates, etc. The GSD file is stored in the GSD sub-directory under the directory where COM PROFIBUS was
originally installed. The “Scan GSD Files” option under the “File” menu can be used to load the GSD file information in COM
PROFIBUS if it has not already loaded. In COM PROFIBUS, for example, the Station Type PROFIBUS INTER selects the PROFIBUSDP Option.
The filename of the current version of the GSD file, that is used for the PROFIBUS-DP Option is, “YASK00CA.GSD”. This GSD file can
be found at www.drives.com .
# Master Scan List Is Setup Correctly
Verify that the PROFIBUS-DP Master scan list is configured to send and receive the correct amount of data to each node on the
PROFIBUS-DP network and that the PROFIBUS-DP Master has the devices correctly mapped in memory. There are several PROFIBUSDP scanners on the market today. Some support the configuration tools mentioned above and some have their own configuration tools.
Refer to the manufacturer’s documentation for determining how to verify and program the scan list settings in the PROFIBUS-DP Master.
The size and type of information expected from the PROFIBUS-DP Master scanner must match exactly (per the GSD file) the device
configuration. Determine that the PROFIBUS-DP Master operational words to and from the PROFIBUS-DP device are mapped into the I/O
space of the PROFIBUS-DP Master. For each specific PROFIBUS-DP Master, this I/O mapping may be different. Consult the PROFIBUSDP Master documentation to insure correct I/O mapping.
# PROFIBUS-DP Option Configuration
With PROFIBUS-DP INTER selected as the Station Type, three configuration selections will be displayed. Select the configuration
applicable to the particular application. Basic Data consists of 3 word I/Os, combined input/output, message. Extended Data 1 consists of
16 input words and 16 output words. Extended Data 2 consists of 6 input words and 6 output words.
!
The Basic Data configuration consists of 3 words of combined I/O, 3 input words and 3 output words. Refer to 3 Word I/O
Message section of Chapter 3 for a detailed description of the Basic Data configuration.
!
The Extended Data 1 configuration consists of 16 input words and 16 output words. Refer to 16 Word Input/Output Message
section of Chapter 3 for a detailed description of the Extended Data 1 configuration. This configuration is also used on those
PROFIBUS-DP Options that have an Option Name SI-P/or Part Numbers prior to 73606-7110. The Option Name and Code
Number are located on the right side of the option.
!
The Extended Data 2 configuration consists of 6 input words and 6 output words. Refer to 6 Word Input/Output Message section
of Chapter 3 for a detailed description of the Extended Data 2 configuration. This configuration is also used on those
PROFIBUS-DP Options previously released as Profibus II.
Troubleshooting D-11
PROFIBUS-DP Option Diagnostics
# The PROFIBUS-DP Option Is Operating Correctly
Verify that the PROFIBUS-DP interface unit on the drive is operating correctly, by reporting the state of the LEDs on the Interface Unit.
The drawing below shows the indication LEDs as they appear on the PROFIBUS-DP interface unit.
PWR
COMM
ERR
WD
Figure D.4 – PROFIBUS-DP LED Locations
# LED Indicators
The following LEDs indicates the PROFIBUS-DP status.
LED
Color
Table D.6 – Communication LEDs
Indication/Function
COMM
Green
Lit during data exchange with the PROFIBUS-DP Master .
ERR
Red
Lit when no data exchange is taken place.
Troubleshooting D-12
# Module Status Indicators
The following LEDs indicates the status of the PROFIBUS-DP Option.
LED
Table D.7 – Diagnostic LEDs
Indication/Function
Color
PWR
Green
WD
Red/Green
Lit when the +5V power to the electronics is OK.
Turned off if the +5V is below +4.5V (min)
Indicates the module status
OFF
Communication Option CPU not running.
Solid Green:
Initialization.
Flashing green:
Normal operation.
Solid Red:
Internal Communication Option error.
Flashing red:
error detected.
Other indication
Unspecified, Communication Option error
# LED Diagnostics
The following table presents the faults displayed by the LEDs on the PROFIBUS-DP Option, their causes, and corrections.
Table D.8 – LED Diagnostics
PWR
LED Display
COM
ERR
WD
Content
Cause
Power is not being supplied
from the drive.
OFF
Solid
Green
Solid
Green
OFF
OFF
OFF
Power
OFF
Power is not being supplied to
the option unit due to poor
option unit connection.
OFF
Solid
Red
Solid
Red
CPU
Error
Option unit CPU error.
OFF
Solid
Red
Flashing
Red
Drive
Error
Error in Drive unit.
Corrective Action
•
•
•
•
•
•
•
•
•
•
•
Solid
Green
OFF
Flashing
Red
Solid
Green
Com
Error
A fault has occurred rendering
communication impossible.
•
•
•
Solid
Green
Solid
Green
Solid
Green
Solid
Green
Solid
Green
Solid
Green
Flashing
Red
OFF
OFF
Solid
Green
Com
Error
A fault has occurred rendering
communication impossible.
Solid
Green
Flashing
Green
CPU
Init
Option unit under initialization
Normal
Normal communication
possible.
Troubleshooting D-13
•
•
Check the main circuit wiring on the drive.
Cycle drive power.
Turn of the drive power.
Check the option unit connection to the
drive.
Cycle drive power.
Cycle drive power.
Replace option unit if fault persists.
Cycle drive power.
Replace drive if fault persists.
Check whether the address set in the
PROFIBUS-DP Master differs from the
address of the option unit.
Check that the master is functioning
properly.
Check that the termination resistor is
correctly connected to the communication
line.
Check whether the communication line is
correctly connected (disconnected or poor
connection).
Check that the communication line is
separated from the main power line.
Check whether the address is duplicated
with any other devices within the
PROFIBUS-DP network.
Wait until the WD LED is flashing
# Drive Faults
The following is a table of drive faults that could be caused by the PROFIBUS-DP Option that will be displayed on the Operator Keypad,
their causes, and possible solutions. For any fault displayed on the operator that is not listed in the following table, please see the
appropriate drive technical manual for further information on drive faults.
Table D.9 – Drive Faults
Fault
Content
Cause
BUS
Option PCB communications error
Communication is not established between
PROFIBUS-DP Master and the drive.
•
Check PROFIBUS-DP communication LED display.
EF0
Option PCB external fault
Drive received an external fault command
from the Option PCB
•
•
•
Check multi-function input settings
Check PLC or controller program
Eliminate cause of fault (machine device in fault state)
OPE05
Command selection fault
Parameter B1-01 is set to Option PCB and
no card is detected
•
•
•
Install Option PCB
Reprogram B1-01
Replace the Option PCB
OPE06
Control mode selection fault
Parameter B1-02 is set to Option PCB and
no card is detected
•
•
•
Install Option PCB
Reprogram B1-02
Replace the Option PCB
Faulty CN2 connection
•
•
•
•
Power cycle the drive
Reseat the Option PCB
Replace the Option PCB
Replace the inverter
Faulty Option PCB
•
Replace the Option PCB
CPF20
Option PCB fault
CPF21
Option PCB self-diagnostics fault
CPF22
Option PCB ID code fault
CPF23
Watch dog timer fault
Troubleshooting D-14
Solution
PROFIBUS-DP® 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
MOTOMAN INC.
805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone: (937) 847-6200 Fax: (937) 847-6277
Internet: http://www.motoman.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 ELETRICO DO BRASIL COMERCIO LTDA.
Avenida Fagundes Filho, 620 Bairro Saude Sao Paolo-SP, Brasil CEP: 04304-000
Phone: 55-11-5071-2552 Fax: 55-11-5581-8795
Internet: http://www.yaskawa.com.br
YASKAWA ELECTRIC EUROPE GmbH
Am Kronberger Hang 2, 65824 Schwalbach, Germany
Phone: 49-6196-569-300 Fax: 49-6196-888-301
MOTOMAN ROBOTICS AB
Box 504 S38525, Torsas, Sweden
Phone: 46-486-48800 Fax: 46-486-41410
MOTOMAN ROBOTEC GmbH
Kammerfeldstrabe 1, 85391 Allershausen, Germany
Phone: 49-8166-900 Fax: 49-8166-9039
YASKAWA ELECTRIC UK LTD.
1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, Scotland, United Kingdom
Phone: 44-12-3673-5000 Fax: 44-12-3645-8182
YEA Document Number: TM.AFD.12
(Supercedes TM4565)
Data subject to change without notice. Yaskawa Electric America, Inc.
YASKAWA ELECTRIC KOREA CORPORATION
Paik Nam Bldg. 901 188-3, 1-Ga Euljiro, Joong-Gu, Seoul, Korea
Phone: 82-2-776-7844 Fax: 82-2-753-2639
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
Head Office: 151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore
Phone: 65-282-3003 Fax: 65-289-3003
TAIPEI OFFICE (AND YATEC ENGINEERING CORPORATION)
10F 146 Sung Chiang Road, Taipei, Taiwan
Phone: 886-2-2563-0010 Fax: 886-2-2567-4677
YASKAWA JASON (HK) COMPANY LIMITED
Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong
Phone: 852-2803-2385 Fax: 852-2547-5773
BEIJING OFFICE
Room No. 301 Office Building of Beijing International Club,
21 Jianguomanwai Avenue, Beijing 100020, China
Phone: 86-10-6532-1850 Fax: 86-10-6532-1851
SHANGHAI OFFICE
27 Hui He Road Shanghai 200437 China
Phone: 86-21-6553-6600 Fax: 86-21-6531-4242
SHANGHAI YASKAWA-TONJI M & E CO., LTD.
27 Hui He Road Shanghai 200437 China
Phone: 86-21-6533-2828 Fax: 86-21-6553-6677
BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO., LTD.
30 Xue Yuan Road, Haidian, Beijing 100083 China
Phone: 86-10-6232-9943 Fax: 86-10-6234-5002
SHOUGANG MOTOMAN ROBOT CO., LTD.
7, Yongchang-North Street, Beijing Economic & Technological Development Area,
Beijing 100076 China
Phone: 86-10-6788-0551 Fax: 86-10-6788-2878
YEA, TAICHUNG OFFICE IN TAIWAIN
B1, 6F, No.51, Section 2, Kung-Yi Road, Taichung City, Taiwan, R.O.C.
Phone: 886-4-2320-2227 Fax:886-4-2320-2239
1/31/2004
Version: 3.03
Rev 04-01
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