DeviceNet™ CM059 Option Technical Manual - Innovative-IDM

DeviceNet™ CM059 Option Technical Manual - Innovative-IDM

DeviceNet

CM059 Option

Technical Manual

For Option Card: CM059 (SI-N1)

Models: CIMR-G5*, CIMR-F7*, CIMR-G7* Document Number TM.AFD.13

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 50VDC. To prevent electric shock, wait at least 5 minutes after all indicators are OFF and measure the DC bus voltage level to confirm that it is at a safe level.

„ Do not perform a withstand voltage test on any part of the unit. This equipment uses sensitive devices and may be damaged by high voltage.

„ The Drive is not suitable for circuits capable of delivering more than the specified RMS symmetrical amperes. Install adequate branch short circuit protection per applicable codes. Refer to the specification. Failure to do so may result in equipment damage and/or personal injury.

„ Do not connect unapproved LC or RC interference suppression filters, capacitors, or overvoltage protection devices to the output of the Drive. Capacitors may generate peak currents that exceed Drive specifications.

„ To avoid unnecessary fault displays, caused by contactors or output switches placed between Drive and motor, auxiliary contacts must be properly integrated into the control logic circuit.

„

YASKAWA is not responsible for any modification of the product made by the user, doing so will void the warranty. This product must not be modified.

„ Verify that the rated voltage of the Drive matches the voltage of the incoming power supply before applying power.

„ To meet CE directives, proper line filters and proper installation are required.

„ Some drawings in this manual may be shown with protective covers or shields removed, to describe details. These must be replaced before operation.

„ Observe Electrostatic Discharge Procedures when handling the Drive and Drive components to prevent ESD damage.

„ The attached equipment may start unexpectedly upon application of power to the Drive. Clear all personnel from the

Drive, motor and machine area prior to applying power. Secure covers, couplings, shaft keys, machine beds and all safety equipment before energizing the Drive.

2

Introduction

This manual explains the specifications and handling of the Yaskawa DeviceNet™ CM059 Option for the Yaskawa model

GPD515/G5, F7 and G7 Drives. The CM059 option card is also known as the SI-N1 card. They are one in the same.

Throughout this manual, SI-N1 typically will be used to describe the card. The DeviceNet™ Option connects the Drive to a

DeviceNet™ network and facilitates the exchange of data. In this document, the word “inverter”, “ac drive” and “drive” may be used interchangeably.

To ensure proper operation of this product, read and understand this manual. For details on installation and operation of the

Drive, refer to the appropriate Drive technical manual. For details on specific parameters, refer to the appropriate Drive

MODBUS technical manual. All technical manuals and support files can be found on the CD that came with the Drive and are available for download at

www.drives.com

.

For information on DeviceNet™ contact the Open DeviceNet™ Vendor Association at

www.odva.org

.

GPD515/G5 Technical Manual document reference TM 4515

F7 document reference TM.F7.01(F7 User Manual) or TM.F7.02 (F7 Programming Manual)

G7 document reference TM.G7.01 (G7 User Manual)

GPD515/G5 MODBUS Technical Manual document reference TM 4025

F7 MODBUS Technical Manual document reference TM.F7.11

GPD is a trademark of Yaskawa, Inc.

MODBUS

®

is a registered trademark of Schneider Automation, Inc

.

DeviceNet™ is a registered trademark of the Open DeviceNet™ Vendor Association.

RSNetWorx™ is a registered trademark of Rockwell Automation.

All trademarks are the property of their respective owners.

3

Overview

This manual describes the set-up and programming of the SI-N1 DeviceNet Option. The SI-N1 DeviceNet card will allow communication between a DeviceNet Communication Network and one Drive.

To connect a Drive to the DeviceNet network, the following materials will be necessary:

„ SI-N1 DeviceNet Option Card

„ SI-N1 DeviceNet Option Technical Manual

„ SI-N1 DeviceNet EDS Files (Found on www.drives.com or CD.AFD7.01 included with the Drive)

„ Drive User Manual (TM 4515, TM.F7.01, or TM.G7.01).

The DeviceNet Network

DeviceNet is a low-cost communications link to connect industrial devices (such as limit switches, photoelectric switches, valve manifolds, motor starters, smart motor controllers, operator interfaces, and variable frequency Drives) as well as control devices

(such as programmable controllers and computers) to a network. Figure 1 shows an example DeviceNet network.

R

Terminating

Resistor

Trunkline

Droplines

RS-232 Interface

Module

Master

24Vdc

G5

F7

G7

R

Terminating

Resistor

Fig. 1 Sample DeviceNet Network

DeviceNet is a simple, networking solution that reduces the cost and time to wire and install factory automation devices, while providing interchangeability of “like” components from multiple vendors.

DeviceNet is an “open device network standard”. The specifications and protocol are open - vendors are not required to purchase hardware, software, or licensing rights to connect devices to a system. Vendors who choose to participate may obtain the set of specifications from the Open DeviceNet Vendor Association (ODVA).

DeviceNet provides:

„ A cost effective solution to low-level device networking

„ Access to intelligence present in the devices

„ Master/Slave capabilities

DeviceNet has two primary purposes:

„ Transport of control-oriented information associated with the control/monitoring of devices

„ Transport of configuration parameters which are indirectly related to system control

4

The list below presents a summary of the Physical/Media specific characteristics of DeviceNet:

„ Trunkline-dropline configuration

„ Support for up to 64 nodes

„ Node removal without severing the network

„ Simultaneous support for both network-powered and self-powered devices

„ Use of sealed or open-type connectors

„ Protection from wiring errors

„ Selectable data rates of 125kBaud, 250kBaud, and 500kBaud

„ Adjustable power configuration to meet individual application needs

„ High current capability (up to 16 Amps per supply)

„ Operation with off-the-shelf power supplies

„ Power taps that allow the connection of several power supplies from multiple vendors that comply with

DeviceNet standards

The list below summarizes additional communication features provided by DeviceNet:

„ Use of Controller Area Network (CAN) technology

„ Connection-based model to facilitate application to application communications

„ Provisions for the typical request/response oriented network communications

„ Provisions for the efficient movement of I/O data

„ Fragmentation for moving larger quantities of data

„ Duplicate MAC ID detection

The communication platform for the DeviceNet Network is based on the CAN (Controller Area Network) technology, which was first developed by Bosch for the automotive industry. Some of the benefits of this protocol are high noise immunity and high temperature operation. Because it uses a serial bus, it reduces signal wiring complexity and cost while providing highspeed digital control for optimum performance. These benefits make DeviceNet especially suitable for the industrial automation environment.

5

Notes:

6

Table of Contents

Warnings and Cautions ....................................................................................2

Introduction ......................................................................................................3

Overview of the DeviceNet Network ................................................................4

Chapter 1- Installation................................................................................................... 9

DeviceNet™ Simplified Start-up Procedure .................................................. 11

Unpack and Inspect....................................................................................... 13

Part Names ................................................................................................... 13

Installation and Wiring ................................................................................... 14

Verify Drive Operation ................................................................................... 14

Installation of DeviceNet Option .....................................................................14

Connect The Drive To The DeviceNet Network..............................................15

Set Baud Rate and Node Address .................................................................15

Baud Rate Setting Switch...............................................................................16

MAC ID Setting Switch ...................................................................................16

Termination Resistors.....................................................................................16

DeviceNet Option Card Indication LEDs ........................................................16

Verify DeviceNet Option Operation ................................................................17

Initial Settings .................................................................................................17

Run/Stop and Frequency Selection................................................................17

DeviceNet Indication LEDs.............................................................................18

Chapter 2- Network Configuration ............................................................................. 19

DeviceNet Configuration ............................................................................... 20

EDS Files in General..................................................................................... 20

Install EDS File.............................................................................................. 21

Set Application Parameters........................................................................... 23

Configure the Scanner .................................................................................. 24

Add Drive to Scanlist and Specify Settings ................................................... 25

Data Storage of DeviceNet Option Card and Drive ....................................... 30

Save Data to EEPROM with the ENTER Command..................................... 31

7

Chapter 3- Network Communications........................................................................33

DeviceNet Polled I/O Messaging Communications ..................................... 34

Basic Speed Control Input Instance 20 (14 Hex) ......................................... 35

Basic Speed Control Output Instance 70 (46 Hex) ...................................... 36

Extended Speed Control Input Instance 21 (15 Hex)................................... 37

Extended Speed Control Output Instance 71 (47Hex)................................. 38

Drive Modbus I/O Control Input Instance 100 (64 Hex) ............................... 39

Drive Modbus I/O Control Output Instance 150 (96 Hex) ............................. 40

Standard Drive Control Input Instance 101 (65 Hex) .................................... 41

Standard Drive Control Output Instance 151 (97 Hex) ................................. 43

DeviceNet Explicit Messaging Communications........................................... 45

Identity Object Class (01 Hex): ..................................................................... 46

Message Router Object Class (02 Hex): ...................................................... 48

DeviceNet Object Class (03 Hex): ................................................................ 48

Assembly Object Class (04 Hex): ................................................................. 49

DeviceNet Connection Object Class (05 Hex): ............................................. 50

Motor Data Object Class (28 Hex): ............................................................... 52

Control Supervisor Object Class (29 Hex): ................................................... 52

AC/DC Drive Object Class (2A Hex):............................................................ 54

Drive Parameters Object Class 100 (64 Hex):.............................................. 56

DeviceNet Fault Diagnostics......................................................................... 58

Drive Faults................................................................................................... 58

Fault Diagnostics .......................................................................................... 59

DeviceNet Communication LED Faults and Operation................................. 60

Explicit Message Communication Error ........................................................ 61

I/O Message Communication Modbus I/O Instance Errors........................... 61

Appendix A- Product Specifications..........................................................................63

DeviceNet Product Specification Table .....................................................................64

Appendix B- Cable Specifications .............................................................................65

DeviceNet Cable Specifications ................................................................... 66

DeviceNet Cable Vendor Table .................................................................... 66

DeviceNet Network Topology ....................................................................... 67

DeviceNet Maximum Cable Distance........................................................... 67

8

Chapter 1

Installation

This chapter describes how to install and setup the DeviceNet Option

DeviceNet™ Simplified Start-up Procedure ........................ 11

Unpack and Inspect ............................................................... 13

Part Names ............................................................................. 13

Installation and Wiring .......................................................... 14

Verify Drive Operation ........................................................... 14

Installation of DeviceNet Option ........................................... 14

Connect The Drive To The DeviceNet Network .................... 15

Set Baud Rate and Node Address......................................... 15

Baud Rate Setting Switch ......................................................16

MAC ID Setting Switch ...........................................................16

Termination Resistors ............................................................ 16

DeviceNet Option Card Indication LEDs .............................. 16

Verify DeviceNet Option Operation ....................................... 17

Initial Settings .........................................................................17

Run/Stop and Frequency Selection ...................................... 17

DeviceNet Indication LEDs .................................................... 18

9

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10

DeviceNet™ Simplified Start-up Procedure

The following is a quick reference guide to install and configure the Drive’s DeviceNet option card. For more details, please refer to the Drive’s DeviceNet Technical Manual sections referenced.

1. Verify that the Drive functions properly without the communications interface unit. This includes running the Drive from the operator keypad, without communications.

2. Turn off the Drive power supply and wait for at least 1 minute for the charge lamp to be completely out before removing the operator and front cover. Remove the option card hold-down tab on the left side of the Drive case by carefully compressing the top and bottom until it becomes free of its holder. Lift it out.

3.

Install the DeviceNet Option Card onto the Drive. Mount the DeviceNet unit onto the Drive making sure to connect 2CN securely. Replace the option card hold-down. Install the operator keypad and front cover back onto the unit after securing the DeviceNet unit with screw.

4. Connect the DeviceNet communication wires to the screw terminals on the DeviceNet Option Card.

BL WH

B K B L

G R

W H R D

Terminal

No.

1

Table 1: DeviceNet Terminal Block Connections

Terminal

Color

Black

Name

V-

Wiring

Color

Content

Black Communication power supply GND

2

3

4

5

Blue

Green

White

Red

CAN_L

Shield

CAN_H

V+

Blue Communication data low side

Bare Shield wire

White Communication data high side

Red Communication power supply +24V dc

5.

Using the DIP switch bank on the DeviceNet option kit, set communication baud rate (switch 1, 2) and MAC ID

(switch 3 – 8). Be sure to verify that no devices on the network have duplicate MAC IDs.

OFF

ON

1 2 3 4 5 6 7 8

1 2 3 4 5 6 7 8

Baud Rate

1 2

OFF OFF 125kbps

OFF

ON

250kbps

ON

OFF 500kbps

ON ON

Not Allowed

Note: Setting the “Not Allowed” baud rate configuration

(Switch 1 and 2 “ON”) causes a “BUS” fault on the Digital Operator.

MAC ID

3 4 5 6 7 8

OFF OFF OFF OFF OFF OFF 0

OFF OFF OFF OFF OFF

ON

1

OFF OFF OFF OFF

ON

OFF 2

OFF OFF OFF OFF

ON ON

3

ON ON ON ON ON

OFF 62

ON ON ON ON ON ON

63

Fig. 2 DeviceNet DIP Switch Settings

11

6.

Power up the Drive and set the number of motor poles in parameter o1-03 to read and set the speed in motor RPMs.

7.

Set the Drive’s run/stop and frequency reference to meet the application requirements as explained below.

Example 1. Control from DeviceNet network

When the Drive is set to be controlled by the DeviceNet network, the frequency and the start/stop commands are issued through the master device. Set the Drive parameters b1-01 and b1-02 as shown in the table.

Table 2: Drive Parameter Settings for DeviceNet Control

Parameter Display Text Value Description

b1-01

Reference Source

Option PCB

3

Sets the frequency reference to come from the DeviceNet option card.

b1-02

Run Source

Option PCB

3

Sets the sequence to come from the

DeviceNet option card.

Example 2. Monitor only

The Drive can be connected to the DeviceNet network without being controlled.The motor speed and the status of the

Drive can be monitored via DeviceNet while controlling the Drive from another source specified by parameters b1-01 and b1-02.

Please refer to the Drive Technical Manual for the proper settings of parameters b1-01 and b1-02.

8.

Download the proper EDS file for the corresponding Drive model number from CD ROM - CD.AFD7.01 included with the Drive or from www.drives.com

in the “Software Downloads” area. Refer to the table of EDS Files and

Product Codes for a complete list of EDS files with the model number of the Drive. Each model of Drive has its own

EDS file, so it is important to select the EDS file that matches the Drive capacity. The EDS file is necessary to map the DeviceNet and Drive parameters into the configuration tool where the user can access the parameters through

DeviceNet. Install the EDS file in the configuration tool software, such as RSNetWorx™ for DeviceNet™ from

Rockwell Software (Appendix B DeviceNet Configuration for RSNetWorx).

Note: The EDS files will be in zip format, so you must unzip the file before installing it in the configuration tool.

12

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.

Part Names

Option card components are as follows:

Connector for Options (60-pin)

Indication LEDs

DeviceNet

Terminal Block

DIP Switch

Ground Wire

Fig. 3 CM059 (SI-N1) DeviceNet Option Card

Table 3: CM059 DeviceNet Option Kit Parts List

Part

DeviceNet Option (SI-N1)

Installation Guide (IG.AFD.13.DeviceNetCM059)

Qty.

1

1

13

Installation and Wiring

The following describes the installation and configuration of the DeviceNet Option Card. For detailed information about the

Drive or the DeviceNet 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 Drive cover(s).

„ Remove the option card hold-down on the left side of the Drive case by carefully compressing the top and bottom until it becomes free of its holder. Lift it out.

Installation of the CM059 DeviceNet Option

Install the DeviceNet Option Card on the control PCB after having removed the front cover of the Drive body. Install the Option Card in accordance with the following procedure:

„ Align the JP2 connector on the back of the CM059 DeviceNet Option with its mating 2CN connector on the drive control card.

„ Align the two standoffs on the front of the Drive control board with the two holes on the right side of the CM059

DeviceNet Option.

„ Press the CM059 DeviceNet Option firmly onto the drive 2CN connector and standoffs until the JP2 connector is fully seated on 2CN and the drive standoffs have locked into their appropriate holes.

„ Replace the option card hold down.

„ Connect the ground wire from the ground terminal E on the option card to a ground terminal on the terminal assembly.

„ After installing the option card, make the terminal connections per the instructions on the next page and set the DIP switch to the correct settings. Thereafter, re-install the front cover and the operator in their original positions.

4CN

Option Card A

2CN

Option Card C

Option Clip

3CN

Option Card D

Grounding Terminal

Fig. 4 Option Card Locations

14

Connect The Drive To The DeviceNet Network

Wire the DeviceNet communication cable to the terminal block according to the following procedures:

„

Loosen terminal screws using a slotted screwdriver.

„

Strip about 5.5mm of insulation from the end of each DeviceNet wire and insert it into the corresponding terminal according to the table and diagram below.

„

Secure wires by tightening terminal screws (Tightening torque: 0.22 ~ 0.25 [N・m]).

„

Tie the DeviceNet cable to a point near the terminal block to provide strain relief for the terminal block and cable connection.

Note:

The shield is daisy chained between devices and should be grounded at the 24 V dc

power supply as specified by the Open DeviceNet Vendor Association (ODVA).

BL WH

B K B L

G R

W H R D

Terminal

No.

1

Table 4: DeviceNet Terminal Block Connections

Terminal

Color

Black

Name

V-

Wiring

Color

Content

Black Communication power supply GND

2

3

4

5

Blue

Green

White

Red

CAN_L

Shield

CAN_H

V+

Blue Communication data low side

Bare Shield wire

White Communication data high side

Red Communication power supply +24V dc

Set Baud Rate and Node Address

The card is equipped with one 8-bit DIP switch for baud rate and node address set-up. The DIP switches are located next to the

DeviceNet connector on the short side of the communication option card. Set the network node address (MAC ID) by setting the DIP switches. All devices on the network must have unique node addresses. Check the network layout to verify that the node address selected is unique, falls between 3 and 62, and matches the master device configuration for that device. Node addresses 0 and 1 are typically reserved for master devices, while node address 2 is reserved for diagnostic/monitoring equipment, and address 63 for vendor-specific functions in some systems.

1 2 3 4 5 6 7 8

OFF

ON

Baud Rate Setting

MAC ID Setting

Fig. 5 DIP Switch Settings for Baud Rate and Node Address

15

Baud Rate Setting Switch

Table 5: Baud Rate DIP Switch Setting

Switch

DR1

500 kbps

ON

250 kbps

OFF

125 kbps

OFF

DR0 OFF ON OFF

Note: If DR1 and DR0 are ON and set to Setting Prohibited, both MS and NS LEDs light up solid red.

Setting Prohibited

ON

ON

MAC ID Setting Switch

DIP Switch

ADR5

ADR4

ADR3

ADR2

ADR1

ADR0

Table 6: MAC ID Switch Setting

MAC ID

0 1 2 3 4 5 6 7 8

・・・

OFF OFF OFF OFF OFF OFF OFF OFF OFF

・・・

OFF OFF OFF OFF OFF OFF OFF OFF OFF

・・・

OFF OFF OFF OFF OFF OFF OFF OFF ON

・・・

OFF

OFF

OFF

OFF

OFF

ON

OFF

ON

ON

OFF

ON

OFF

ON

ON

ON OFF

・・・

ON OFF

・・・

62

ON

ON

ON

ON

ON

63

ON

ON

ON

ON

ON

OFF ON OFF ON OFF ON OFF ON OFF

・・・

OFF ON

Termination Resistors

Terminating resistors must be mounted on the first and last node in a DeviceNet network, at both of the furthest ends of the cable. The value of the Terminating resistor is specified by the ODVA (Open DeviceNet Vendors Association) and is a value of

121 Ohms, 1% tolerance, and ¼ watt. Terminating resistors can be found in the ODVA product catalog.

Trunkline

R

Terminating

Resistor

Droplines

R

Terminating

Resistor

RS-232 Interface

Module

Master

PLC/

Scanner

24Vdc

G5

F7

G7

Fig. 6 Terminating Resistor Placement on DeviceNet Network

DeviceNet Option Card Indication LEDs

The DeviceNet Option Card is equipped with four indication LEDs for module and DeviceNet status indication. The LEDs are located on the card according to the figure below.

DeviceNet Option Card Status (WD)

Power (PWR)

DeviceNet Module Status (MS)

DeviceNet Network Status (NS)

Fig. 7 DeviceNet Status Indication LEDs

16

Verify DeviceNet Option Operation

„ Apply power to the Drive.

„ Verify that the diagnostic LEDs on the front of the DeviceNet Option are in their correct state.

Table 7: Diagnostic LED States

PWR

Solid Green

MS

LED Display

NS

Content

WD

Solid Green Solid Green 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.

Initial Settings

Since the DeviceNet interface utilizes the AC Drive for many of its calculations; such as speed, please check the following parameters to verify the correct setting.

Table 8: Parameter o1-03 – Digital Operator Display Mode

Setting No.

o1-03

Name

Frequency reference set / display unit selection

Description

Make sure to set number of motor poles (2 ~ 39) to input and output motor speed in

RPMs on DeviceNet control and operator display.

DeviceNet indicates the motor speed unit as RPM.

o1-03 setting value is used since the option card converts frequency to RPM. Initial value is 0 for frequency reference in Hz.

Run/Stop and Frequency Selection

The run/stop commands and frequency reference command can originate from serial communication, the Digital Operator, the external terminals, or the DeviceNet interface card. The origin of the run/stop command does not have to be the same as the origin for the frequency reference command. Parameter b1-01 (Reference Selection) allows you to set up the origin of the frequency reference and parameter b1-02 (Operation Method Selection) sets up the origin of the run/stop commands. When the DeviceNet network is connected to the Drive, the motor speed and the status of the Drive can be monitored via DeviceNet while controlling the Drive from another source specified by parameters b1-01 and b1-02. The table shown below illustrates the possible frequency reference and run/stop selections.

Table 9: Possible Frequency Reference and Run/Stop Selections

Parameter b1-01 Setting

0

1

2

Frequency Reference Selection

Digital Operator

Terminals

Serial Communication (Modbus)

3

4

Option Card (DeviceNet)

Pulse Input

Note: The default setting of parameter b1-01 is ‘1’. For DeviceNet Operation, use Setting ‘3’ – Option Card.

Parameter b1-02 Setting

0

1

2

3

Operation Method Selection (Run/Stop)

Digital Operator

Terminals

Serial Communication (Modbus)

Option Card (DeviceNet)

Note: The default setting of parameter b1-02 is ‘1’. For DeviceNet Operation, use Setting ‘3’ – Option Card.

17

DeviceNet Indication LEDs

The table below describes the function of DeviceNet specific LEDs.

LED

Name

MS

NS

Table 10: DeviceNet LED Function

Display

Color Status

Green

Green

Lit

Flashing

Not lit

During interface card operation

During interface card preparation

Power OFF

The interface card is operating normally.

Initial setting status or communication is not ready.

Red Lit

Recovery from fault impossible

Impossible recovery fault occurred in the interface card.

Red Flashing Recovery from fault possible Possible recovery fault such as switch settings occurred.

Power is not being supplied to the Drive.

Interface card has not been properly connected. Therefore, the power is not being supplied to the interface card.

Green

Green

Lit

Flashing

Operation Status

Online communication is taking place

Online communication is not taking place.

Description

DeviceNet is communicating normally.

Red

Red

Lit

Flashing

Not lit

Communication fault

Communication timeout

Offline, Power OFF

DeviceNet network is normal, but is not communicating with the master.

A fault that makes it impossible for the DeviceNet to communicate has occurred.

„ MAC ID overlap

„ Bus-off detection

Communication time out with master occurred.

DeviceNet is not set to online.

Power is not being supplied to the interface card.

Mismatch of baud rate.

PWR

Green

Lit

Not lit

Power ON

Power OFF

Power to the interface card is supplied from the Drive.

Power is not being supplied to the Drive.

The interface card has not been properly connected.

Therefore, the power is not supplied to the interface card.

CPU of the interface card is operating normally.

Green Flashing During CPU operation

WD

Red

Lit

Not lit

CPU fault

Power OFF

Option card CPU is being ready or has fault.

Power is not being supplied to the Drive.

Option card has not been properly connected. Therefore, power is not being supplied to the interface card.

Notes:

1) If the baud rate configuration is set for “Not Allowed”, both the NS and MS diagnostic LEDs will be solid RED.

2) The LEDs will flash red once (100 ms) during initialization (Internal testing process to verify that the red LED is working properly).

18

Chapter 2

Network Configuration

This chapter describes how to properly adjust the parameter settings of a

DeviceNet slave in a network system.

DeviceNet Configuration .................................................................... 20

EDS Files in General ........................................................................... 20

Install EDS File .................................................................................... 21

Set Application Parameters................................................................ 23

Configure the Scanner........................................................................ 24

Add Drive to Scanlist and Specify Settings...................................... 25

Data Storage of DeviceNet Option Card and Drive .......................... 30

Save Data to EEPROM with the ENTER Command .......................... 31

19

DeviceNet Configuration

DeviceNet configuration refers to properly setting the DeviceNet slave in a network system through its parameter settings. The

DeviceNet Option Card allows accessibility to DeviceNet parameters and Drive parameters through its EDS file. The configuration software uses the EDS file to map the DeviceNet and Drive parameters. The user can read and set parameters and save the configuration. The configuration software that this document will address is RSNetWorx for DeviceNet™ from

Rockwell Software.

Note: This section is only intended to be used as a guide for configuration of the Yaskawa SI-N1 DeviceNet Option Card using configuration tool software RSNetWorx. Any updates to the configuration tool software will not be noted in this section. Please reference the configuration tool technical manual as the primary reference. Use the contents of this section only as a general guide.

EDS files can be downloaded from the internet at www.drives.com

or www.odva.org

. For correct scaling of parameters, be sure to select the version of the EDS file that corresponds to the Drive capacity and version number of the DeviceNet Option Card.

Each Yaskawa Drive capacity has its own EDS file, so it is important to select the EDS file that matches the Drive capacity.

Install the EDS files in a subdirectory of the PC where the configuration software is located.

Note: The EDS files will be compressed in zip format, so unzip the file before installing in the configuration too.

The following steps will outline how to configure the Yaskawa Drive on DeviceNet using RSNetWorx.

1.

Install the Drive EDS file.

2.

Set Drive parameters and select the proper Polled Producing Assembly (PPA) and Polled Consuming Assembly (PCA) of the Drive for the application.

3.

Configure the scanner by adding the Drive to the scanner module scanlist.

4.

AutoMap the Drive in the Input and Output of the scanner’s M File Memory.

EDS Files in General

EDS files are typically used together with a DeviceNet Network Configuration tool.

DeviceNet Network Configuration tools are used to configure all nodes on a DeviceNet network. Network Configuration tools provide the ability to upload data from a device and download data to a device. The EDS files provide the Network

Configuration tool with the following information:

„ Description of each device parameter

„ Maximum and Minimum values for each device parameter

„ Default values for each device parameter

„ Read / Write access for each device parameter

„ Help Information for each device parameter

„ Vendor ID of the device

„ Device Type of the device

„ Product Code of the device

„ Revision of the device

Each device on the network has the following values assigned to it:

„ Vendor ID

„ Device Type

„ Product Code

„ Revision

„ Serial Number

The Network Configuration tool will read these values from the device. When using EDS files, the tool will compare the values of Vendor ID, Device Type, Product Code, and Revision that were read from the device to the values in the EDS file. They must match.

20

Install EDS File

Install the Drive’s EDS file by selecting EDS Wizard and follow the appropriate steps.

In RSNetWorx, select EDS Wizard under Tools. Be sure that you have the Drive EDS files downloaded and unzipped.

Follow the appropriate steps in the EDS Wizard.

21

Once the proper EDS file is installed, the Drive icon will appear along with the Drive model number.

Yaskawa

Double-click on the Drive icon to access the Drive’s specifications and parameters.

Yaskawa [44]

22

Set Application Parameters

Select the Parameters tab to access DeviceNet and Drive parameters and set the parameters according to the application.

The parameters are categorized into Groups, which allows you to filter the parameters that are displayed. DN: Polled Config group shows Polled Producing Assembly (PPA) and Polled Consuming Assembly (PCA).

23

Enter appropriate PPA and PCA to use for polled communications. See Chapter 3 for a complete list of available PPA and PCA.

Click OK or Apply to save any changes.

Configure the Scanner

Double-click on the Scanner Module icon to configure the Scanner.

Yaskawa

24

Add Drive to Scanlist and Specify Settings

Select the Scanlist tab to show available devices for the scanlist.

Add the Drive to the scanlist by highlighting the Drive and click on the right arrow button (>).

Click on Edit I/O Parameters to set the I/O data settings.

25

Select Polled communications and the correct amount of bytes for PCA (Rx) and PPA(Tx). Click OK.

Select the Input tab and Unmap any data in the Discrete Memory.

26

Select the M File Memory.

Click on the AutoMap button. The selected bytes of polled input data should appear in the scanlist. Click OK.

27

Select the Output tab and Unmap any data in the Discrete Memory.

Select the M File Memory. Click on the AutoMap button. The selected bytes of polled output data should appear in the scanlist.

28

Select the Summary tab to make sure the correct number of I/O bytes are selected and are mapped.

Save the changes and download the configuration to the scanner by clicking Apply.

29

Data Storage of DeviceNet Option Card and Drive

The Drive with DeviceNet Option Card stores data in four locations:

„ Active RAM memory on the Drive

„ Inactive RAM memory on the Drive

„ EEPROM memory on the Drive

„ EEPROM memory on the DeviceNet Option Card

Data held in RAM memory, both Active and Inactive, is “Volatile”. Data held in Volatile memory will be lost when power is removed from the Drive.

Data held in Drive EEPROM and Interface EEPROM memory is “Non-Volatile”. Data held in Non-Volatile memory will be retained when power is removed from the Drive.

The following table shows which memory location is used for the data available over the DeviceNet network.

DataType

Drive Runtime Commands

Run/Stop

Frequency Reference

Drive Runtime Status and Diagnostics

Run/Stop Status

Frequency Output

Current Output

Fault Diagnostics

Drive Application Parameters

A1-00 through o3-02

DeviceNet Network Parameters

Polled Consuming Assembly

Polled Producing Assembly

Motor Nameplate Data

MemoryType

Drive RAM

Drive RAM

Drive EEPROM

& Drive RAM

Option Card

EEPROM

The Drive Application Parameters are held both in Drive EEPROM and Drive RAM. On power-up, the Drive Application

Parameters that are stored in Drive EEPROM memory are transferred to Drive RAM memory.

If Drive Application Parameters are changed via DeviceNet, the new data will be placed into Drive Inactive RAM memory. At this point, the new data will not be activated or retained if a Drive power loss occurs. In order for the new data to be retained, the ‘ACCEPT’ command must be executed. When the ‘ACCEPT’ command is executed, the new data is transferred into Active

RAM memory. In order for the new data to be retained, the ‘ENTER’ command must be executed. When the ‘ENTER’ command is executed, all of the Drive Application Parameters in Drive RAM memory are transferred into Drive EEPROM memory.

Drive EEPROM Drive Active

RAM

Drive Inactive

RAM

Drive Runtime

Commands

Drive Runtime

Status/Diagnostics

ENTER

ENTER

Drive Application

Parameters

Drive Application

Parameters

Drive Application

Parameters

Power-Up

ACCEPT

30

Some Parameter Data registers may be written to while the Drive is running. These parameters are called run operative parameters. For a list of these parameters refer to Appendix A of the Drive User Manual.

All other Parameter Data registers may only be written to when the Drive is stopped. These are called non-run operative parameters.

If new data is written to any parameter serially, and is not followed by an ‘ENTER’ command, a Busy Write Protected” message will flash on the Digital Operator display if an attempt is then made to change a parameter using the Digital Operator.

Save Data to EEPROM with the ENTER Command

The ENTER Command can be accomplished in the following way:

„ Perform a SET service on Yaskawa Class 64 Hex, Instance 09 Hex, Attribute 00 Hex

The value ‘0’ should be SET to the ENTER Command attribute.

CAUTION

Use the ENTER Command only when necessary!

The life of the EEPROM on the Drive will support a finite number of operations.

This means that the ENTER command can only be used a maximum of 100,000 times to store data in the EEPROM. After the specified number of operations, the EEPROM may fault (CPF04) requiring the Drive control board to be replaced.

CAUTION

The DeviceNet Network parameters do not require the use of the ENTER Command.

They are automatically stored in EEPROM memory. The life of the EEPROM on the DeviceNet Option Card will support a finite number of operations. This means that the DeviceNet Network parameters can only be changed a maximum of 100,000 times. After the specified number of operations, the EEPROM may fault, requiring the DeviceNet Option Card to be replaced.

31

Notes:

32

Chapter 3

Network Communications

This chapter describes how to install and setup the DeviceNet Option

DeviceNet Polled I/O Messaging Communications.......................... 34

Basic Speed Control Input Instance 20 (14 Hex) .............................. 35

Basic Speed Control Output Instance 70 (46 Hex) ........................... 36

Extended Speed Control Input Instance 21 (15 Hex) ....................... 37

Extended Speed Control Output Instance 71 (47Hex) ..................... 38

Drive Modbus I/O Control Input Instance 100 (64 Hex).................... 39

Drive Modbus I/O Control Output Instance 150 (96 Hex)..................40

Standard Drive Control Input Instance 101 (65 Hex).........................41

Standard Drive Control Output Instance 151 (97 Hex) ......................43

DeviceNet Explicit Messaging Communications ..............................45

Identity Object Class (01 Hex):............................................................46

Message Router Object Class (02 Hex):.............................................48

DeviceNet Object Class (03 Hex): .......................................................48

Assembly Object Class (04 Hex): .......................................................49

DeviceNet Connection Object Class (05 Hex): ..................................50

Motor Data Object Class (28 Hex):......................................................52

Control Supervisor Object Class (29 Hex):........................................52

AC/DC Drive Object Class (2A Hex): ..................................................54

Drive Parameters Object Class 100 (64 Hex):....................................56

DeviceNet Fault Diagnostics ...............................................................58

Drive Faults ...........................................................................................58

Fault Diagnostics .................................................................................59

DeviceNet Communication LED Faults and Operation.....................60

Explicit Message Communication Error ............................................61

I/O Message Communication Modbus I/O Instance Errors ..............61

33

DeviceNet Polled I/O Messaging Communications

DeviceNet Communications between a Master (PLC or PC) and the Drive (Slave) uses Polled I/O messaging, based from the following I/O Assemblies, to transfer control and diagnostic information to and from the Drive. The “Input Data Assemblies” or “Polled Consuming Assemblies (PCA)” refer to a message sent from the Master to the Drive. The “Output Data

Assemblies” or “Polled Producing Assemblies (PPA)” refer to the response from the Drive back to the Master. The factory default of the Drive DeviceNet is Extended Speed Control Input Instance 21 and Extended Speed Control Output Instance 71.

The configuration software uses the EDS file to change the PCA and PPA. By accessing the EDS file through configuration software, the PCA and PPA can be accessed under the DeviceNet Parameter Groups “Polled Consuming Assembly” and

“Polled Producing Assembly”. Set the appropriate value using the table below and save the changes to the device.

Be sure to power down the Drive, then power up to store the changes made to the PCA and PPA.

Service Code

Class

101

(65 Hex)

(Hex)

0E

10

Instance Attribute

1

1

2

Table 11: Supported Service

Service Name

Get_Attribute_Single

Set_Attribute_Single

Type

PPA

(Output Data

Assembly)

PCA

(Input Data

Assembly)

Designated attribute content is read.

Designated attribute content is changed.

Data

70

(46 Hex)

71

(47 Hex)

150

(96 Hex)

151

(97 Hex)

20

(14 Hex)

21

(15 Hex)

100

(64 Hex)

101

(65 Hex)

Description of Service

Description

Basic Speed Control Output Instance 70

Extended Speed Control Output Instance 71

*default

Drive Modbus I/O Control Output Instance 150

Drive Standard Drive Control Output Instance 151

Basic Speed Control Input Instance 20

Extended Speed Control Input Instance 21

*default

Drive Modbus I/O Control Input Instance 100

Drive Standard Drive Control Input Instance 101

The tables in the following pages indicate the format and structure of the I/O Assemblies.

Note:

1. Regardless if I/O Data Exchange is enabled or disabled, communications will occur at the determined intervals set by the Master.

2. Input Data Assemblies = Polled Consuming Assemblies

Output Data Assemblies = Polled Producing Assemblies

34

Basic Speed Control Input Instance 20 (14 Hex)

This function is the basic I/O instance of Assembly Object Class (04 Hex) Attribute (03 Hex), which defines DeviceNet AC

Drive profile. Both input/output use 4 bytes each.

Table 12: Drive Basic Speed Control Instance 20 (14 Hex) (INPUT ASSEMBLY)

Byte

0

1

2

3

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Speed Reference (Lower Byte)

Speed Reference (Upper Byte)

Bit 2

Fault Reset

Bit 1

Bit 0

Fwd Run

Data

Byte 0, Bit 0

Name

Run Fwd

The Drive runs forward

Description

0: Stop

1: FWD run

The Drive from fault detection status is reset. 0: Fault reset off

Byte 0, Bit 2

Byte 2, 3

Fault Reset

Speed Reference

1: Fault reset

The Drive speed reference is set.

Speed command data: Frequency reference [RPM]×1 / 2

SS

Setting range: where

SS

: Speed Scale

*1

0xFFFF Hex

*2

Example: When setting 1800r/min reference, (Speed scale = 0)

Speed reference data: 1800 X 1 / 2

0

= 0708 Hex

Lower Byte (byte 2) = 08 Hex, Upper Byte (byte 3) = 07 Hex

Notes: *1 Speed scale can be set by explicit messaging communication AC/DC Drive Object (Class 2A Hex) attribute 16.

*2 Setting of a speed exceeding the Drive maximum output frequency (E1-04) will be limited by the maximum output frequency (E1-04).

*3 When applying a speed reference make sure to set No. of poles (2 ~ 39) to the Drive parameter o1-03 (frequency reference set/display unit selection).

35

Basic Speed Control Output Instance 70 (46 Hex)

This function is the basic I/O instance of Assembly Object Class (04 Hex) Attribute (03 Hex), which defines DeviceNet AC

Drive profile. Both input/output use 4 bytes each.

Byte

0

1

2

3

Table 13: Drive Basic Speed Control Instance 70 (46 Hex) (OUTPUT ASSEMBLY)

Bit 7

Bit 6

Bit 5

Bit 4 Bit 3 Bit 2

During FWD

- -

- -

Speed Monitor (Lower Byte)

Run (Fwd)

Speed Monitor (Upper Byte)

Bit 1

Bit 0

Fault

Data

Byte 0, Bit 0

Byte 0, Bit 2

Byte 2, 3

Name

Fault

During FWD

Speed Monitor

Description

The Drive fault detection status is displayed. 0: Normal

1: During fault detection

The Drive run status is displayed. 0: During Stop/REV.

1: During FWD/DC braking

The Drive speed is displayed.

Speed monitor data: Frequency monitor [r/min]×1 / 2

SS where

SS

: Speed Scale

*1

Example: If speed monitor data is 1000RPM (03E8 Hex), speed scale = 0

Lower Byte (byte 2) = E8 Hex, Upper Byte (byte 3) = 03 Hex

Frequency monitor: 03E8 Hex X 1 / 2

0

X = 1000r/min.

Note: *1 Speed scale can be set by explicit messages communication AC/DC Drive Object (Class 2A Hex) attribute 16.

*2 When applying a speed reference make sure to set No. of poles (2 ~ 39) to the Drive parameter o1-03 (frequency reference set/display unit selection).

36

Extended Speed Control Input Instance 21 (15 Hex)

This function is the basic I/O instance of Assembly Object Class (04 Hex) Attribute (03 Hex), which is defined by the

DeviceNet AC Drive profile. This is the Factory Default. Both I/O Assemblies use 4 bytes.

Table 14: Drive Extended Speed Control Instance21 (15 Hex) (INPUT ASSEMBLY)

Byte

0

1

2

3

Data

Byte 0, Bit 0

Byte 0, Bit 1

Byte 0, Bit 2

Byte 0, Bit 5

Byte 0, Bit 6

Byte 2, 3

Bit 7

Bit 6

NetRef

Name

Fwd Run

Rev Run

Fault Reset

NetCtrl

NetRef

Speed Reference

Bit 5

NetCtrl

Bit 4

Bit 3

Speed Reference (Lower Byte)

Speed Reference (Upper Byte)

Bit 2

Fault Reset

Bit 1

Rev Run

Bit 0

Fwd Run

The Drive runs forward.

Description

0: Stop

1: Fwd run

0: Stop The Drive runs reverse.

1: Rev. run

The Drive resets at fault detection status.

0: Fault reset off

1: Fault reset

Run command rights are set.

0: Run command input procedures are set by set run command selection (b1-02)

1: Run command (Byte 0 – Bit 0, 1) through DeviceNet enabled.

Frequency reference rights are set.

0: Frequency reference input procedures set by frequency reference selection (b1-01)

1: Frequency reference (Byte 2, 3) through DeviceNet enabled.

The Drive speed reference is set.

This function is the same as the Speed Reference in the Basic Speed Control Input

Instance 20 (14 Hex) section.

37

Extended Speed Control Output Instance 71 (47 Hex)

This function is the basic I/O instance of Assembly Object Class (04 Hex) Attribute (03 Hex), which is defined by the

DeviceNet AC Drive profile. This is the Factory default. Both I/O Assemblies use 4 bytes.

1

2

3

Table 15: Drive Extended Speed Control Instance 71 (47 Hex) (OUTPUT ASSEMBLY)

Byte

0

Bit 7

Speed

Agree

Bit 6

Ref From

Net

Bit 5

Ctrl From

Net

Bit 4

Inverter

Ready

Bit 3

During

Reverse

Run

Speed Monitor (Lower Byte)

Speed Monitor (Upper Byte)

Bit 2

During

Forward

Run

Bit 1

Alarm

Bit 0

Fault

Data

Byte 0, Bit 0

Byte 0, Bit 1

Alarm

Byte 0, Bit 2

During Fwd Run

Byte 0, Bit 3

Byte 0, Bit 4

Name

Fault

During Rev Run

Inverter Ready

Description

The Drive fault detection status is displayed: 0: Normal

1: During fault detection

The Drive alarm detection status is displayed: 0: Normal

1: During alarm detection

The Drive run status is displayed:

The Drive run status is displayed:

The Drive ready status is displayed:

0: During stop/reverse

1: During forward run/DC braking

0: During stop/forward run/DC brake

1: During reverse run

0: During fault detection/ready

Byte 0, Bit 5

Byte 0, Bit 6

Byte 0, Bit 7

Byte 2, 3

Ctrl From Net

Ref From Net

Speed Agree

Speed Monitor

The Drive run command input selection status is displayed.

0: Run command input is enabled other than the DeviceNet.

1: Run command input is enabled from the DeviceNet.

The Drive frequency input selection status is displayed.

0: Run command input is enabled other than the DeviceNet.

1: Run command input is enabled from the DeviceNet.

The Drive frequency agree detection status is displayed.

0: During stop/acceleration and deceleration

1: Frequency agree

The Drive speed is displayed.

This function is the same as the Speed Monitor in the Basic Speed Control Output

Instance 70 (46 Hex) section.

38

Drive Modbus I/O Control Input Instance 100 (64 Hex)

This I/O instance allows all Drive parameters and monitors to be read/set. This instance is for Yaskawa Drives only, and is not interchangeable with other DeviceNet Drives, Assembly Object Class (04 Hex) Attribute (03 Hex). Both input/output use 5 bytes each. Refer to the Appendix A for a list of Modbus Registers.

Byte

0

1

2

3

4

Table 16: Drive Modbus I/O Control Instance 100 (64 Hex) (INPUT ASSEMBLY)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3

Function Code

Register Number (Upper Byte)

Register Number (Lower Byte)

Register Data (Upper Byte)

Register Data (Lower Byte)

Bit 2 Bit 1 Bit 0

Data

Byte 0

Byte 1, 2

Byte 3, 4

Function Code

Name Description

Modbus (reference message) function code is set.

03 Hex: Read

10 Hex: Write

00 Hex: Undetermined

Register Number (Upper and Lower Byte)

A Drive Modbus register No. is set.

Register Data (Upper and Lower Byte)

The write data at Modbus write command is set.

39

Drive Modbus I/O Control Output Instance 150 (96 Hex)

This I/O instance allows all Drive parameters and monitors to be read/set. This instance is for Yaskawa Drives only, and is not interchangeable with other DeviceNet Drives, Assembly Object Class (04 Hex) Attribute (03 Hex). Both input/output use 5 bytes each. Refer to the Appendix A for a list of Modbus Registers.

Byte

0

1

2

3

4

Table 17: Drive Modbus I/O Control Instance 150 (96 Hex) (OUTPUT ASSEMBLY)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3

Function Code

Register Number (Upper Byte)

Register Number (Lower Byte)

Register Data (Upper Byte)

Register Data (Lower Byte)

Bit 2 Bit 1 Bit 0

Data

Byte 0

Name

Function Code

Byte 1, 2

Register Number (Upper and Lower Byte)

Byte 3, 4

Register Data (Upper and Lower Byte)

Description

The Modbus (response message) function code No. is displayed.

03 Hex: Read normal

10 Hex: Write normal

83 Hex: Read fault

90 Hex: Write fault

The processed Modbus register No. is displayed.

For Read/write faults, Modbus error code is displayed.

The read data at Modbus read command is displayed.

The ACCEPT/ENTER parameter group contains only two parameters, the ACCEPT and ENTER parameters.

If the value of ‘0’ is written to the ACCEPT parameter (0910 Hex), the Drive will save the current values of the all Drive parameters (A1-00 through o3-02) into RAM memory on the Drive. Values saved in RAM memory will not be retained in case of power loss to the Drive.

If the value of ‘0’ is written to the ENTER parameter (0900 Hex), the Drive will save the current values of all of the Drive parameters (A1-00 through o3-02) into EEPROM memory on the Drive. Values saved in EEPROM memory will be retained in case of power loss to the Drive.

CAUTION

Use the ENTER Command only when necessary! The life of the EEPROM on the Drive will support a finite number of operations. This means that the ENTER command can only be used a maximum of 100,000 times to store data in the EEPROM. After the specified number of operations, the EEPROM may fault (CPF04) requiring the Drive control board to be replaced.

40

Standard Drive Control Input Instance 101 (65 Hex)

This I/O instance is for the input / output functions as well as the expansion I/O instance functions. This instance is for

Yaskawa Series Drives only, and is not interchangeable with other DeviceNet Drives, Assembly Object Class (04 Hex)

Attribute (03 Hex). Both input and output use 8 bytes each.

4

5

2

3

6

7

Byte

0

1

Table 18: Standard Drive Control Instance 101 (65 Hex) (INPUT ASSEMBLY)

*1

Bit 7

Terminal

S8

Terminal

M5-M6

Bit 6

Terminal

S7

Terminal

M3-M4

Bit 5

Terminal

S6

Terminal

M1-M2

Terminal

S5

Bit 4

S4

Bit 3

Terminal

Bit 2

Terminal

S3

Speed Reference (Lower Byte)

Speed Reference (Upper Byte)

Torque Reference / Torque Limit (Low Order Byte)

Torque Reference / Torque Limit (High Order Byte)

Torque Compensation (Low Order Byte)

Torque Compensation (High Order Byte)

Bit 1

Rev Run

Fault

Reset

Bit 0

Fwd Run

External

Fault

Data

Table 19: Standard Drive Control Instance 101 (65 Hex) (INPUT ASSEMBLY)

Name

Description

*1

Byte 0, Bit 0

Byte 0, Bit 1

Byte 0, Bit 2

Byte 0, Bit 3

Byte 0, Bit 4

Byte 0, Bit 5

Byte 0, Bit 6

Byte 0, Bit 7

Forward Run

Reverse Run

Terminal S3

Terminal S4

Terminal S5

Terminal S6

Terminal S7

Terminal S8

The Drive runs forward.

0: Stop

1: Forward run

The Drive runs reverse.

0: Stop

1: Reverse run

Functions set in the Drive multi-function input terminal S3 is input. The Drive parameter H1-01 sets multi-function input terminal S3 functions.

0: Terminal S3 multi-function OFF

1: Terminal S3 multi-function ON

Functions set in the Drive multi-function input terminal S4 is input. The Drive parameter H1-02 sets multi-function input terminal S4 functions.

0: Terminal S4 multi-function OFF

1: Terminal S4 multi-function ON

Functions set in the Drive multi-function input terminal S5 is input. The Drive parameter H1-03 sets multi-function input terminal S5 functions.

0: Terminal S5 multi-function OFF

1: Terminal S5 multi-function ON

Functions set in the Drive multi-function input terminal S6 is input. The Drive parameter H1-04 sets multi-function input terminal S6 functions.

0: Terminal S6 multi-function OFF

1: Terminal S6 multi-function ON

Functions set in the Drive multi-function input terminal S7 is input. The Drive parameter H1-05 sets multi-function input terminal S7 functions.

0: Terminal S7 multi-function OFF

1: Terminal S7 multi-function ON

Functions set in the Drive multi-function input terminal S8 is input. The Drive parameter H1-06 sets multi-function input terminal S8 functions.

0: Terminal S8 multi-function OFF

1: Terminal S8 multi-function ON

*1 Drive products may provide additional inputs and outputs that are not supported through DeviceNet. For example, G7 has

12 digital inputs; however; only 8 digital inputs are supported through DeviceNet.

41

Table 19: Standard Drive Control Instance 101 (65 Hex) (INPUT ASSEMBLY)

*1

(Cont.)

Byte 1, Bit 0

Byte 1, Bit 1

Byte 1, Bit 5

Byte 1, Bit 6

Byte 1, Bit 7

Byte 2, 3

Byte 4,5

Byte 6,7

External Fault

Fault Reset

Terminal M1-M2

Terminal M3-M4

Terminal M5-M6

Speed Reference

Torque Reference /

Torque Limit

Torque Compensation

External fault (EF0) is input from option.

0: External Fault Off

1: External fault (EF0)

The Drive is reset at fault detection status.

0: Fault reset Off

1: Fault reset

The Drive multi-function output terminal M1-M2 is operated.

Only when “F” is set to the Drive parameter H2-01 becomes enabled.

0: Terminal M1-M2 OFF

1: Terminal M1-M2 ON

The Drive multi-function output terminal M3-M4 is operated.

Only when “F” is set to the Drive parameter H2-02 becomes enabled.

0: Terminal M3-M4 OFF

1: Terminal M3-M4 ON

The Drive multi-function output terminal M5-M6 is operated.

Only when “F” is set to the Drive parameter H2-03 becomes enabled.

0: Terminal M5-M6 OFF

1: Terminal M5-M6 ON

Drive speed reference is set.

This function is the same as the Speed Reference in Basic Speed Control

Input Instance 20 (14 Hex) section.

Sets the torque reference torque limit of the Drive. The setting unit is fixed at 0.1%. Enabled only when the Drive is set to the vector control mode with

PG (A1-02=3). When the Drive is in the torque control mode (d5-01=1), the torque reference is enabled. When in the speed control mode (d5-01=0), functions as the torque limit. When the Drive parameter F6-06 is set to 0, it becomes disabled.

Sets the Drive torque compensation. The setting unit is fixed at 0.1%.

Enabled only when the Drive is set into the torque control with Flux Vector

Control mode (A1-02=3).

*1 Drive products may provide additional inputs and outputs that are not supported through DeviceNet. For example, G7 has 5 digital outputs; however, only 3 digital outputs are supported through DeviceNet.

42

Standard Drive Control Output Instance 151 (97 Hex)

This I/O instance is for the input / output functions as well as the expansion I/O instance functions. This instance is for

Yaskawa Series Drives only, and is not interchangeable with other DeviceNet Drives, Assembly Object Class (04 Hex)

Attribute (03 Hex). Both input and output use 8 bytes each.

4

5

2

3

6

7

Byte

0

1

Table 20: Standard Drive Control Instance 151 (97 Hex) (OUTPUT ASSEMBLY)

*1

Bit 7

Fault

Data

Byte 0, Bit 0

Byte 0, Bit 1

Byte 0, Bit 2

Byte 0, Bit 3

Byte 0, Bit 4

Byte 0, Bit 5

Byte 0, Bit 6

Byte 0, Bit 7

Byte 1, Bit 0

Bit 6

Alarm

Bit 5

Inverter

Ready

Bit 4

Speed

Agree

Bit 3

During reset

Bit 2

During reverse

Bit 1

During zero speed

During

UV

Bit 0

During Run

Terminal

M5-M6

Terminal

M3-M4

Terminal

M1-M2

Speed Actual (Lower Byte)

Speed Actual (Upper Byte)

Output Current Monitor (Lower Byte)

Output Current Monitor (Upper Byte)

Local/

Remote

Name

During Run

During Zero Speed

During Reverse Run

During Reset Input

Speed Agree

Inverter Ready

Alarm

Fault

During OPE

During

OPE

Description

The Drive run status is displayed.

0: During stop

1: During Forward/reverse/DC braking

The Drive run status is displayed.

0: During forward/reverse

1: During stop/DC braking

The Drive run status is displayed.

0: During forward run

1: During reverse run/reverse command input

The Drive reset signal input status is displayed.

0: Off

1: During reset signal input

The Drive frequency agree detection status is displayed.

0: During stop/acceleration and deceleration

1: Frequency agree

The Drive ready status is displayed.

0: During fault detection/ready

1: Ready

The Drive alarm detection status is displayed.

0: Normal

1: During alarm detection

The Drive fault detection status is displayed.

0: Normal

1: During fault detection

The Drive Modbus parameter setting error (OPE) detection status is displayed.

0: Normal

1: During OPE, (OPE1-OPE11) fault detection

*1 Drive products may provide additional inputs and outputs that are not supported through DeviceNet. For example, G7 has 5 digital outputs; however, only 3 digital outputs are supported through DeviceNet.

43

Table 20: Standard Drive Control Instance 151 (97 Hex) (OUTPUT ASSEMBLY)

*1

(Cont.)

Byte 1, Bit 1

Byte 1, Bit 2

Byte 1, Bit 3

Byte 1, Bit 4

Byte 1, Bit 5

Byte 1, Bit 6

Byte 1, Bit 7

Byte 2, 3

Byte 4, 5

Byte 6, 7

During UV

Local/Remote

Terminal M1-M2

Terminal M3-M4

Terminal M5-M6

Not Used

During Zero Servo

Speed Monitor

Torque Reference

Output Current Monitor

The Drive low voltage error (UV) detection status is displayed.

0: Normal

1: During UV detection

The Drive run command input selection status is displayed.

0: Run command input is enabled other than the DeviceNet.

1: Run command input is enabled from DeviceNet.

The Drive multi-function output terminal M1-M2 output status is displayed.

0: Terminal M1-M2 OFF

1: Terminal M1-M2 ON

The Drive multi-function output terminal M3-M4 output status is displayed.

0: Terminal M3-M4 OFF

1: Terminal M3-M4 ON

The Drive multi-function output terminal M5-M6 output status is displayed.

0: Terminal M5-M6 OFF

1: Terminal M5-M6 ON

-

Displays the zero servo complete status of Drive.

0: Zero servo not complete or not input.

1: Zero servo complete.

The Drive speed is displayed.

This function is the same as the Speed Monitor in Basic Speed

Control Output Instance 70 (46 Hex) section.

Displays the torque reference of the Drive.

The unit is fixed at 0.1%.

The Drive output current is displayed. The unit (0.1A) is fixed.

There is no effect on the current scale setting.

*1 Drive products may provide additional inputs and outputs that are not supported through DeviceNet. For example, G7 has 5 digital outputs; however, only 3 digital outputs are supported through DeviceNet.

44

DeviceNet Explicit Messaging Communications

The DeviceNet communications may also be accomplished by utilizing an “Explicit Message” to communicate with the master PLC or controller. The Explicit messaging communications is performed differently than Polled I/O type messaging in that commands are not sent cyclically in the scan of the controlling master, but one message is sent and one response is received. See table below for details on Explicit Message Format.

Header MAC ID

Item

Header

MAC ID

Service Code

Class

Instance

Attribute

Data

Footer

Table 21: Explicit Message Format

Service Code Class Instance Attribute Data Footer

Description

Since it is automatically set, there is no need to do anything.

Master / slave MAC ID is input for communication.

Code, which shows data write/read, is input in the requested message.

Also, the requested service code MSB (the most significant bit) inputs “1” at normal response, and “94” at fault.

Example: 0E: Read request

10: Write request

94: Fault response

8E: Read normal response

90: Write normal response

Each function of DeviceNet is classified by three codes.

When you wish to designate data, use these 3 codes to do so.

Request: Write data is input.

Response: Read data and error code are input.

Since it is automatically set, there is no need to do anything.

The following pages define the supported DeviceNet implemented objects and services for the Drive DeviceNet Option Card.

45

Identity Object Class (01 Hex):

The Identity object stores DeviceNet product information.

Table 22: Supported Services

Service Code (Hex)

0E

05

Service Name

Get_Attribute_Single

Reset

Description of Service

Designated attribute content is returned.

Option unit status is reset. (returns to initial status)

Table 23:

Object Content

Instance

(Hex)

Attribute

(Hex)

00 01

01

02

Name Description

Object Software

Revision

Vendor ID

Device Type

Identity object software revision is displayed.

Manufacturer code No. is displayed.

44 (2C Hex): Yaskawa Electric

Device profile of the compatible

DeviceNet is displayed.

The DeviceNet product is compatible with AC Drive profile.

2: AC Drive

01

03

04

05

06

07

08

Product Code

Manufacturer’s code.

Revision

Status

Option unit software revision

Option unit communication status is displayed.

Serial Number

Option unit serial number

Product Name

Product model is displayed.

Present Status

Drive status is displayed.

3: Inverter ready

Initial

Value

(Hex)

0001

002C

Read Write Size

*

*

Word

Word

0002 *

(See Table of EDS

Files and

Product

Codes on the following page)

2003

0000

Depends on product

(See Table of EDS

Files and

Product

Codes on the following page)

03

*

*

*

*

*

*

Word

Word

Word

Word

Long

String

Byte

46

Table 24: DeviceNet Option Card Product Name and Product Codes

CIMR-

F7U or

CIMR-

G7U

Drive

Capacity o2-04

F7 / SI-N1

Product Name Product Code

G7 / SI-N1

Product Name Product Code

20P4

20P7

21P5

22P2

23P7

25P5

27P5

2011

2015

2018

2022

2030

2037

44P0

45P5

47P5

4011

4015

4018

4022

4030

4037

2045

2055

2075

2090

2110

40P4

40P7

41P5

42P2

43P7

00 Hex

01 Hex

02 Hex

03 Hex

04 Hex

05 Hex

06 Hex

07 Hex

08 Hex

09 Hex

0A Hex

0B Hex

0C Hex

25 Hex

26 Hex

27 Hex

28 Hex

29 Hex

2A Hex

2B Hex

2C Hex

2D Hex

0D Hex

0E Hex

0F Hex

10 Hex

11 Hex

20 Hex

21 Hex

22 Hex

23 Hex

24 Hex

CIMRF7U20P4_SI-N1

CIMRF7U20P7_SI-N1

CIMRF7U21P5_SI-N1

CIMRF7U22P2_SI-N1

CIMRF7U23P7_SI-N1

CIMRF7U25P5_SI-N1

CIMRF7U27P5_SI-N1

CIMRF7U2011_SI-N1

CIMRF7U2015_SI-N1

CIMRF7U2018_SI-N1

CIMRF7U2022_SI-N1

CIMRF7U2030_SI-N1

CIMRF7U2037_SI-N1

CIMRF7U2045_SI-N1

CIMRF7U2055_SI-N1

CIMRF7U2075_SI-N1

CIMRF7U2090_SI-N1

CIMRF7U2110_SI-N1

CIMRF7U40P4_SI-N1

CIMRF7U40P7_SI-N1

CIMRF7U41P5_SI-N1

CIMRF7U42P2_SI-N1

CIMRF7U43P7_SI-N1

CIMRF7U44P0_SI-N1

CIMRF7U45P5_SI-N1

CIMRF7U47P5_SI-N1

CIMRF7U4011_SI-N1

CIMRF7U4015_SI-N1

CIMRF7U4018_SI-N1

CIMRF7U4022_SI-N1

CIMRF7U4030_SI-N1

CIMRF7U4037_SI-N1

8960 (2500 Hex)

8961 (2501 Hex)

8962 (2502 Hex)

8963 (2503 Hex)

8964 (2504 Hex)

8965 (2505 Hex)

8966 (2506 Hex)

8967 (2507 Hex)

8968 (2508 Hex)

8969 (2509 Hex)

8070 (250A Hex)

8071 (250B Hex)

8072 (250C Hex)

8973 (250D Hex)

8974 (250E Hex)

8975 (250F Hex)

8976 (2510 Hex)

8977 (2511 Hex)

8992 (2520 Hex)

8993 (2521 Hex)

8994 (2522 Hex)

8995 (2523 Hex)

8996 (2524 Hex)

8997 (2525 Hex)

8998 (2526 Hex)

8999 (2527 Hex)

9000 (2528 Hex)

9001 (2529 Hex)

9002 (252A Hex)

9003 (252B Hex)

9004 (252C Hex)

9005 (252D Hex)

CIMRG7U20P4_SI-N1

CIMRG7U20P7_SI-N1

CIMRG7U21P5_SI-N1

CIMRG7U22P2_SI-N1

CIMRG7U23P7_SI-N1

CIMRG7U25P5_SI-N1

CIMRG7U27P5_SI-N1

CIMRG7U2011_SI-N1

CIMRG7U2015_SI-N1

CIMRG7U2018_SI-N1

CIMRG7U2022_SI-N1

CIMRG7U2030_SI-N1

CIMRG7U2037_SI-N1

CIMRG7U2045_SI-N1

CIMRG7U2055_SI-N1

CIMRG7U2075_SI-N1

CIMRG7U2090_SI-N1

CIMRG7U2110_SI-N1

CIMRG7U40P4_SI-N1

CIMRG7U40P7_SI-N1

CIMRG7U41P5_SI-N1

CIMRG7U42P2_SI-N1

CIMRG7U43P7_SI-N1

CIMRG7U44P0_SI-N1

CIMRG7U45P5_SI-N1

CIMRG7U47P5_SI-N1

CIMRG7U4011_SI-N1

CIMRG7U4015_SI-N1

CIMRG7U4018_SI-N1

CIMRG7U4022_SI-N1

CIMRG7U4030_SI-N1

CIMRG7U4037_SI-N1

9984 (2700 Hex)

9985 (2701 Hex)

9986 (2702 Hex)

9987 (2703 Hex)

9988 (2704 Hex)

9989 (2705 Hex)

9990 (2706 Hex)

9991 (2707 Hex)

9992 (2708 Hex)

9993 (2709 Hex)

9994 (270A Hex)

9995 (270B Hex)

9996 (270C Hex)

4045

4055

4075

4090

4110

4132

4160

2E Hex

2F Hex

30 Hex

31 Hex

32 Hex

33 Hex

34 Hex

CIMRF7U4045_SI-N1

CIMRF7U4055_SI-N1

CIMRF7U4075_SI-N1

CIMRF7U4090_SI-N1

CIMRF7U4110_SI-N1

CIMRF7U4132_SI-N1

CIMRF7U4160_SI-N1

9006 (252E Hex)

9007 (252F Hex)

9008 (2530 Hex)

9009 (2531 Hex)

9010 (2532 Hex)

9011 (2533 Hex)

9012 (2534 Hex)

CIMRG7U4045_SI-N1

CIMRG7U4055_SI-N1

CIMRG7U4075_SI-N1

CIMRG7U4090_SI-N1

CIMRG7U4110_SI-N1

CIMRG7U4132_SI-N1

CIMRG7U4160_SI-N1

10030 (272E Hex)

10031 (272F Hex)

10032 (2730 Hex)

10033 (2731 Hex)

10034 (2732 Hex)

10035 (2733 Hex)

10036 (2734 Hex)

4185

4220

35 Hex

36 Hex

CIMRF7U4185_SI-N1

CIMRF7U4220_SI-N1

9013 (2535 Hex)

9014 (2536 Hex)

CIMRG7U4185_SI-N1

CIMRG7U4220_SI-N1

10037 (2735 Hex)

10038 (2736 Hex)

4300 37 Hex CIMRF7U4300_SI-N1 9015 (2537 Hex) CIMRG7U4300_SI-N1 10039 (2737 Hex)

Note: The EDS files will be in zip format, so unzip the file before installing in the DeviceNet configuration software tool.

9997 (270D Hex)

9998 (270E Hex)

9999 (270F Hex)

10000 (2710 Hex)

10001 (2711 Hex)

10016 (2720 Hex)

10017 (2721 Hex)

10018 (2722 Hex)

10019 (2722 Hex)

10020 (2724 Hex)

10021 (2725 Hex)

10022 (2726 Hex)

10023 (2727 Hex)

10024 (2728 Hex)

10025 (2729 Hex)

10026 (272A Hex)

10027 (272B Hex)

10028 (272C Hex)

10029 (272D Hex)

47

Message Router Object Class (02 Hex):

The Message Router object has the function of routing DeviceNet communication information to the correct object. DeviceNet messages are routed to each function through this object. The Message Router object itself performs the internal processes only.

Table 25: Supported Service

Service Code (Hex)

0E

Service Name

Get_Attribute_Single

Description of Service

Designated attribute content is returned.

Instance

(Hex)

Attribute

(Hex)

00 01

Name

Table 26: Object Content

Description

Setting

Range

Initial

Value

(Hex)

Read Write Size

Object Software

Revision

Message Router object software revision is displayed.

0001 o

Word

DeviceNet Object Class (03 Hex):

This object is for the DeviceNet communication information / functions.

Service Code (Hex)

0E

10

Table 27: Supported Service

Service Name

Get_Attribute_Single

Set_Attribute_Single

Description of Service

Designated attribute content is returned.

Designated attribute content is changed.

Instance

(Hex)

Attribute

(Hex)

00

01

01

01

02

05

Name

Object

Software

Revision

MAC ID

Baud Rate

Allocation

Information

Table 28: Object Content

Description

Setting

Range

Initial

Value

(Hex)

DeviceNet object software revision is displayed.

0002

MAC ID setting value is displayed according to the DIP switch setting.

Baud rate setting value is displayed according to the DIP switch settings.

0: 125kbps

1: 250kbps

2: 500kbps

DeviceNet communication connection information is displayed.

0x63

0x02

00

00

00,00

Read Write Size o o o o

Word

Byte

Byte

Byte

×2

48

Assembly Object Class (04 Hex):

The Assembly object is for the polled I/O message functions.

Service Code (Hex)

0E

10

Table 29: Supported Service

Service Name

Get_Attribute_Single

Set_Attribute_Single

Description of Service

Designated attribute content is returned.

Designated attribute content is changed.

Table 30: Object Content

Instance

(Hex)

Attribute

(Hex)

Name Description

00

14

15

46

47

64

01

03

03

03

03

03

Object Software

Revision

I/O Data

I/O Data

I/O Data

I/O Data

I/O Data

Assembly object software revision is displayed.

Same function as the basic I/O instance 20 (input / PCA)

Same function as the extended I/O instance 21 (input / PCA)

Same function as the basic I/O instance 70 (output / PPA)

Same function as the extended I/O instance 71 (output / PPA)

Same function as the Modbus I/O instance 100 (input / PCA)

65

96

03

03

I/O Data

I/O Data

Same function as the Drive standard control I/O instance 101

(input / PCA / PPA)

Same function as the Modbus I/O instance 150 (output / PPA)

97 03

I/O Data

Same function as the Drive standard control I/O instance 151

(output / PPA)

*1 Setting range is the same as the individual I/O message function.

Setting

Range

Initial

Value

(Hex)

Read Write Size

0002 o

*1

*1

*1

− o o o o o

Word o o

− o

Byte

×4

Byte

×4

Byte

×4

Byte

×4

Byte

×5

*1

− o o o o

Byte

×8

Byte

×5

Byte

×8

49

DeviceNet Connection Object Class (05 Hex):

The DeviceNet Connection object has the function of keeping track of the DeviceNet communication connection information/ functions. On initialization, the communication connection with the master is established by using information and functions from this object. Please note that Instance 2 of DeviceNet Object Class 05 Hex supports only polled messaging.

Table 31: Supported Service

Service Code (Hex)

0E

10

Instance

(Hex)

00

01

Explicit

Message

Attribute

(Hex)

01

01

02

03

04

05

06

07

08

09

0C

0D

0E

0F

10

Service Name

Get_Attribute_Single

Set_Attribute_Single

Description of Service

Designated attribute content is returned.

Designated attribute content is changed.

Table 32: Object Content

Name

Description

Setting

Range

Initial

Value

(Hex)

Read Write

Object Software

Revision

0001 o

Instance State

Instance type

Connection operation

Output (PPA) connection ID

Input (PCA) connection ID

Message group

No. of Max. output

(PPA) bytes

No. of Max. input

(PCA) bytes

Timeout time

Watchdog timeout process

No. of output (PPA) connection bus bytes

Output (PPA)

Connection Bus

No. of input (PCA) connection bus bytes

Input (PCA) connection bus

DeviceNet connection object software revision is displayed.

This instance status is displayed.

00: It does not exist in the Network yet, and is being prepared.

01: On-line status and waiting for the connection from the master.

02: Waiting for the connection ID write.

03: Connection is completed.

04: Time out.

This instance type is displayed.

00: Explicit message

01: I/O message

The option unit communication status is displayed by a code.

The level used by the option unit communication header is displayed.

This function is set when communication connection is completed.

The option unit communication status is displayed by a code.

No. of Max. output (PPA) bytes is displayed.

No. of Max. input (PCA) bytes is displayed.

Internal process timeout time is displayed when communication request is received.

(Round up 10ms unit)

Timeout internal process regarding communication is displayed.

00: Holds until reset/shut off

01: Automatically shut off

02: Restart with connected status.

No. of output (PPA) connection bus bytes is displayed.

The application object received the data through this instance is displayed.

No. of input (PCA) connection bus bytes is displayed.

The application object received the data through this instance is displayed.

65535

(ms)

03

00

83

71

21

21

0020

0020

09C4

(2500ms)

01

0000

0000

− o o o o o o o o o o o o o o

− o

Size

Word

Byte

Byte

Byte

Word

Word

Byte

Word

Word

Word

Byte

Word

Array

Word

Array

50

Instance

(Hex)

Attribute

(Hex)

02

Polled

Message

Only

01

02

03

04

05

06

07

08

09

0C

0D

0E

0F

10

Table 32: Object Content (Continued)

Name

Description

Setting

Range

Initial

Value

(Hex)

Instance status

Instance type

Connection operation

Output (PPA)

Connection ID

Input (PCA) connection ID

Message group

No. of Max. output

(PPA) bytes

No. of Max. input

(PCA) bytes

Timeout time

Watchdog timeout process

No. of output (PPA) connection path bytes

Output communication path

Polled Producing

Assembly (PPA)

No. of input (PCA) communication path bytes

Input communication path

Polled Consuming

Assembly (PCA)

This instance status is displayed.

00: It does not exist in the Network yet, and is being prepared.

01: On-line status and waiting for the connection from the master.

02: Waiting for the connection ID write.

03: Connection is completed.

04: Time out.

This instance type is displayed.

00: Explicit message

01: I/O message

The option unit communication status is displayed by a code.

The level used by the option unit communication header is displayed.

This function is set when communication connection is completed.

The option unit communication status is displayed by the code.

No. of max. output (PPA) bytes is displayed.

No. of max. input (PCA) bytes is displayed.

Internal process timeout time is displayed when communication request is received.

(Round up 10ms unit)

Timeout internal process regarding communication is displayed.

00: Holds until reset/shut off

01: Automatically shut off

02: Restart with connected status.

No. of output (PPA) connection path bytes is displayed.

The application object received the data through this instance is displayed.

No. of input (PCA) connection bus bytes is displayed.

The application object received the data through this instance is displayed.

65535

(ms)

03

01

82

71

21

01

0004

0004

0000

(0ms)

01

0003

62 34 37

0003

62 31 35

Read Write o o o o o o

− o o

− o o o o o o o o o

− o

Size

Byte

Byte

Word

Byte

Word

Array

Word

Array

Byte

Word

Word

Byte

Word

Word

51

Motor Data Object Class (28 Hex):

The motor data object is for the information and functions related to the motor connected to the Drive. Motor rated current and rated voltage can be set and read.

Service Code No. (Hex)

0E

10

Table 33: Supported Service

Service Name

Get_Attribute_Single

Set_Attribute_Single

Description of Service

Designated attribute content is returned.

Designated attribute content is changed.

Table 34: Object Content

Instance

(Hex)

Attribute

(Hex)

Name Description

Setting

Range

Initial

Value

(Hex)

Read Write Size

00 01

Object

Software

Revision

Motor Data object software revision is displayed.

0001 o

03

Motor Type

Used motor type is displayed,

7: Squirrel-cage induction motor

07

01

06

Motor

Rated

Current

Motor rated current can be set and read.

Setting unit: 0.1A

10~20% of Drive rated current

*1

07

Motor

Rated

Voltage

Motor rated voltage can be set and read.

Setting unit: 1V

255V

*2

00C8

*2

*1 The motor rated current initial value varies according to Drive capacity.

*2 The initial value and setting range are for the 200V class. For the 400V class, the value is twice that of the 200V class. o o o

− o o

Word

Byte

Word

Word

Control Supervisor Object Class (29 Hex):

The control supervisor object is dedicated to the information and services related to the Drive control functions. The basic control functions such as, inverter run, stop, and fault detect are implemented. The control supervisor object functions are commonly used with polled I/O messaging functions.

Service Code No. (Hex)

0E

10

05

Table 35: Supported Service

Service Name

Get_Attribute_Single

Set_Attribute_Single

Reset

Description of Service

Designated attribute content is returned.

Designated attribute content is changed.

Option unit status is reset. (returns to initial status)

52

Table 36: Object Content

Instance

(Hex)

Attribute

(Hex)

Name

Description

Setting

Range

Initial

Value

(Hex)

Read Write Size

00

01

01

03

04

05

06

07

08

09

0A

0B

0C

0D

Object Software

Revision

Forward Run

Reverse Run

NetCtrl

Inverter Status

During

Forward Run

During Reverse

Run

Inverter Ready

Fault

Alarm

Fault Reset

Fault Code

Control supervisor object software revision is displayed.

The Drive runs forward.

00: Stop

01: Forward run

The Drive runs reverse.

00: Stop

01: Reverse run

Run command rights displayed. *1

00: Run command input method set by run command selection (n003)

01: Run command (byte 0 – bit 0, 1) is enabled through DeviceNet.

The Drive status is displayed.

03: Inverter ready

The Drive run status is displayed.

00: During stop/reverse

01: During forward run/DC braking

The Drive run status is displayed.

00: During stop/forward/DC braking

01: During reverse

The Drive operation preparing status is displayed.

00: During fault detection/preparation

01: Ready

The Drive fault detection status is displayed.

00: Normal

01: During fault detection

The Drive alarm detection status is displayed.

00: Normal

01: During alarm detection

The Drive is reset through fault detection status.

00: Fault reset off

01: Fault reset

The Drive fault detection content is displayed by the code listed in the table below. *3

The Drive run command input selection status is displayed.*1

00,01

00,01

00,01

00,01

0001

00

00

00

03

00

00

00

00

00

00

0000 o o o o o o o o o o o o

− o o o

− o

Word

Byte

Byte

Byte

Byte

Byte

Byte

Byte

Byte

Byte

Byte

Word

0F

Ctrl From Net

00: Run command input other than the DeviceNet is enabled.

01: Run command input is enabled through

DeviceNet.

Mode selection is displayed when DeviceNet

00 o

Byte

10

DeviceNet

Fault Mode

becomes fault.*2

02: Manufacturer

External fault (EF0) is input

02 o

Byte

11

External Fault from Option

00: EF0 Not Active

01: External fault (EF0)

00,01 00 o o

Byte

12

External Fault

Input Status

External fault (EF0) input status is displayed.

00: EF0 Not Active

00 o

Byte

from Option

01: During external fault (EF0) input

Notes:

*1 A setting during Drive operation cannot be changed.

*2 DeviceNet communication fault cannot be set. The Drive detects fault and stops at DeviceNet communication fault. The Drive stopping method at communication fault can be selected by time-over detection selection parameter (n151).

*3 Fault Code (See below table for interpretation)

53

AC/DC Drive Object Class (2A Hex):

The AC/DC Drive object is also dedicated to the information and function related to the Drive operation. Frequency reference settings, individual monitor parameters, and data unit settings can be changed. The AC/DC Drive object function is commonly used with I/O message functions for setting or returning Drive status information.

Table 37: Supported Service

Service Code No. (Hex)

0E

10

Service Name

Get_Attribute_Single

Set_Attribute_Single

Description of Service

Designated attribute content is returned.

Designated attribute content is changed.

Instance

(Hex)

Attribute

(Hex)

00

01

01

03

04

06

07

08

09

0F

10

11

12

13

14

Table 38: Object Content

Name Description

Object Software Revision

Speed agree

NetRef

Control mode

Speed monitor

Speed reference

Output current

Output power

Input Voltage

Output Voltage

Accel Time

Decel Time

Low Speed Limit

AC/DC Drive object software revision is displayed.

Drive frequency agree detection status is displayed.

00: During stop/ decel /accel

01: Frequency agree

Frequency reference rights is set.*1

00: Frequency reference input method set by frequency reference selection (b1-01).

01: Frequency reference (byte 2, 3) through

DeviceNet is enabled.

Drive control mode is set.*3

00: V/F control

01: Vector control

Drive speed is displayed.*2

Min. unit: [r/min/2

SS

] where SS: Speed scale: attribute 16

Frequency Reference is set/read

*2

Min. unit: [r/min/2

SS

] where SS: Speed scale: attribute 16

Drive output current is displayed:*2

Current Unit: [0.1A/2

CS

] where CS: Current scale: attribute 17

Drive output power is displayed:*2

Power Unit: [W/2

PS

] where PS: Power scale: attribute 1A

Drive input voltage is displayed:

Min. Unit: [V/2

VS

] where VS: Voltage scale: attribute 1B

Drive output voltage is displayed:

Min. Unit: [V/2

VS

] where VS: Voltage scale: attribute 1B

Acceleration time 1 is set / read.

Min. Unit: [ms/2

TS

] where TS: Time scale: attribute 1C

Deceleration time 1 is set / read.

Min. : Unit: [ms/2

TS

] where TS: Time scale: attribute 1C

Drive Frequency Reference lower limit value is set / read.

*2 *3

Min. : Unit: [r/min/2

SS

] where SS: Speed scale: attribute 16

Setting

Range

00,01

00,01

00,03

0- E1-04

0-

655.35s

0-

655.35s

0-

100.0%

Initial

Value

(Hex)

0001

00

00

01

0000

0000

0000

0000

0000

0000

0x2710

(10.0s)

0x2710

(10.0s)

0000

Read o o o o o o o o o o o o o

Write Size

− o o

− o

− o o o

Word

Byte

Byte

Byte

Word

Word

Word

Word

Word

Word

Word

Word

Word

54

01

15

16

17

1A

1B

1C

1D

High Speed Limit

Speed Scale

Current Scale

Power Scale

Voltage Scale

Time Scale

Ref From Net

Table 38: Object Content (continued)

Drive Frequency Reference upper limit value is set / read.

*2 *3

Min. :Unit: [r/min/2

SS

] where SS: Speed scale: attribute 16

Data unit coefficient regarding speed is set / read.

Min. Unit: 1 [r/min]×1/2

SS where SS: Speed scale setting value

Data Coefficient regarding current is set / read.

Current Unit: 0.1 [A]×1/2

CS where CS: Current scale setting value

Data Coefficient regarding power is set / read.

Power Unit: 1 [W]×1/2

PS where PS: Power scale setting value

Data unit coefficient regarding voltage is set / read.

Voltage Unit: 1 [V]×1/2

VS where VS: Voltage scale setting value

Data unit coefficient regarding time is set and read.

Time Unit: 1 [ms]×1/2

TS where TS: Time scale setting value

Drive frequency reference input selection status is displayed

*1

00: Frequency Reference input other than

DeviceNet is enabled.

01: Frequency Reference input from DeviceNet is enabled.

0-

100.0%

-15-15

(F1-0F)

-15-15

(F1-0F)

-15-15

(F1-0F)

-15-15

(F1-0F)

-15-15

(F1-0F)

00,01

Notes:

*1 A setting during Drive operation cannot be changed.

0x0708

(1800r/ m)

00

00

00

00

00

00 o o o o o o o

*2 An application of speed command, speed monitor, speed lower limit value, and speed upper limit value must be set as a motor pole value (2~39) to the Drive parameter o1-03 (frequency reference set/display unit selection)

*3 Control mode, speed lower limit, and speed upper limit cannot be set during Drive operation.

SS: Speed Scale (AC/DC Drive Object Attr. 22)

CS: Current Scale (AC/DC Drive Object Attr. 23)

PS: Power Scale (AC/DC Drive Object Attr. 26)

VS: Voltage Scale (AC/DC Drive Object Attr. 27)

TS: Time Scale (AC/DC Drive Object Attr. 28) o o o o o o

Word

Byte

Byte

Byte

Byte

Byte

Byte

55

Drive Parameters Object Class 100 (64 Hex):

This DeviceNet Object Class can read and write all of the same parameters and monitors available via Drive digital operator keypad. This Object Class is designed specifically for Yaskawa Drives.

A built-in Modbus protocol and addressing scheme is standard in all Yaskawa Drives. The Yaskawa DeviceNet option card converts the DeviceNet message to Modbus for use internally in the Drive.

Yaskawa Drive Parameter Object Class 100 is modeled after the Drive's internal Modbus addressing scheme. The DeviceNet path for each Drive parameter is derived by converting the Drive's Modbus register number to the DeviceNet path, Class /

Instance / Attribute. Reading or writing parameters to the Drive via DeviceNet is simplified because the DeviceNet path closely matches the Drive's Modbus register numbers.

Service Code No. (Hex)

0E

10

Table 39: Supported Service

Service Name

Get_Attribute_Single

Set_Attribute_Single

Description of Service

Designated attribute content is returned.

Designated attribute content is changed.

-

Table 40: Converting the Modbus Register Number to the DeviceNet Path

Modbus Register: 0180 Hex

Example Data

Class

DeviceNet Path: 64 / 01 / 80 Hex

Example Data

64 Hex

Byte 1

Byte 0

01 Hex

80 Hex

Instance

Attribute

01 Hex

80 Hex

The DeviceNet Class for parameter access is always “64”.

The DeviceNet Instance is always equal to Modbus register byte 1 or the MSB (most significant byte).

The DeviceNet Instance is always equal to Modbus register byte 0 or the LSB (least significant byte).

The data size for each Attribute is 2 bytes.

Refer to the Drive User Manual for description on the parameters and Modbus Manual for Modbus registers.

Example 1:

Reading the Reference Source Parameter b1-01 Value by Explicit Messaging

To read parameter b1-01 (Modbus register 0180 Hex) Reference Source, first convert the Modbus register number to DeviceNet

Instance and Attribute.

Modbus register 01 80 hex = Instance 01 hex and Attribute 80 hex

Then, send an explicit message with Service Code 0E Hex (Get Attribute Single) to Class 64 / Instance 1 / Attribute 80 Hex. If the returned value is 0001 Hex, then Reference Source is set to Parameter Setting 1, Terminals.

Note: The same Class / Instance / Attribute paths are used in the EDS file provided by Yaskawa.

56

Class 100 /

Instance /

Attribute (Hex)

64 / 1 / 80

Modbus

Register

(Hex)

180

Table 41: Reference Source Parameter b1-01 Settings

Parameter Function Setting Description b1-01 Reference

Source

2

3

0

1

4

Operator

Terminals

Serial Communication

Option PCB

Pulse Input

Example 2:

Setting the Accel Time 1 Parameter C1-01 Value by Explicit Messaging

To set parameter C1-01 (Modbus register 0200 Hex) Acceleration Time 1 to 3.5 seconds, first convert the Modbus register number to DeviceNet Instance and Attribute.

Modbus register 02 00 hex = Instance 02 hex and Attribute 00 hex

Then, send an explicit message with Service Code 10 Hex (Set Attribute Single) to Class 64 / Instance 2 / Attribute 00 Hex, with the data field as 23 Hex (35). The data field does not recognize decimal places, so the data must be written as a whole number. Also, in reading and setting to parameters C1-01 to C1-09 Accel / Decel Time 1 to 4, be sure to check the setting of parameter C1-10 Accel / Decel Time Setting Unit. For instance, in the above example, if C1-10 is set to value of 1 (0.01 – two decimal places) instead of the default value (0.1 - one decimal place), the data field to set acceleration time to 3.50 seconds would be 15E Hex (350). Refer to the Drive User Manual for further Drive parameter descriptions.

Class 100 /

Instance /

Attribute (Hex)

64 / 2 / 00

64 / 2 / 09

Modbus

Register

(Hex)

200

Table 42: Accel Time 1 Parameter C1-01 Settings

Parameter Function Setting Description

C1-01 0.00 to 600.0 seconds or 0.0 to 6000.0 seconds

209 C1-10

Acceleration

Time 1

Accel / Decel

Time Setting

Unit

0

1 default

0.01 (two decimal places)

0.1 (one decimal place)

57

DeviceNet

Fault Code No. (Hex)

0000

2120

2130

2200

2220

2221

2222

2300

3130

3210

3220

3222

4200

5110

5120

5300

6320

7110

7112

7301

7310

7500

DeviceNet Fault Diagnostics

Drive Faults

9000

Table 43: DeviceNet Fault Codes

Operator Fault

Display

DEV

BUS

EF3

EF4

EF5

EF6

EF7

EF8

EF0

PUF

OPR

ERR

RR

RH

PGO

OS

OC

PF

LF

OV

UV1

UV3

OH

UV2

-

GH

SC

OL2

OL1

OL3

OL4

Content

Drive normal

Ground fault

Load short

Drive overload

Motor overload

Overtorque 1

Overtorque 2

Overcurrent

Main circuit voltage fault

Output phase missing

Main circuit overvoltage

Main circuit low voltage

Surge protection circuit fault

Heat sink fin overheat

Control power fault

Fuse open

Operator not connected

EEPROM write failure

Braking transistor fault

Braking resistor overheat

PG wire broken detection

Excessive speed

Speed deviation excessive

Option communication error

External fault (Input terminal S3)

External fault (Input terminal S4)

External fault (Input terminal S5)

External fault (Input terminal S6)

External fault (Input terminal S7)

External fault (Input terminal S8)

Option external fault

58

Fault Diagnostics

The following is a table of faults caused by the DeviceNet Option Card that will be displayed on the Digital Operator, their causes, and possible solutions. For any fault displayed on the operator that is not listed in the following table, please see the

Drive Users Manual.

Fault

Display

BUS

EF0

CPF06

CPF21

CPF22

CPF23

Table 44: Drive Faults Caused by the Communications Option Card

Content Cause Solution

Option

Communication error

External Fault from

Option

Option Connection

Fault

Communication is not established between

DeviceNet master and the

Drive.

External fault is active from

DeviceNet option.

The Drive and communication are not correctly connected.

Check DeviceNet communication LED display and connection at DeviceNet terminal.

The network and/or 24VDC power supply may be down.

Turn OFF external fault input.

Turn OFF the Drive power supply. Check the connection of the option card and Drive, and then, turn ON the Drive power supply. If the fault persists, change the option card.

Communication

Option Self-diagnostic

Fault

Communication

Option Model Code

No. Fault

Communication

Option Mutual

Diagnostic Fault

Communication option is not working.

Turn the Drive power supply back ON. If the fault persists, change the option card.

59

DeviceNet Communication LED Faults and Operation

Table 45: DeviceNet Communication LED Faults and Operation

PWR

LED Display

MS NS WD

Content Cause Solution

The Drive is not powered.

Check the Drive main circuit wiring, and then turn ON the power.

Not Lit

Solid

Green

Solid

Green

Not

Lit

Not

Lit

Flash

Green

Not

Lit

Not

Lit

Not

Lit

Not

Lit

Solid

Red

Flash

Green

Power OFF

CPU Fault

During Option

Unit Preparation

The communication option card is not correctly connected, thus, the power does not supply to the option card.

The option card CPU is being initialized or has a fault.

Initial setting status or the communication is being initialized.

Turn Off the Drive power, check the connection of the option card and the

Drive, and re-power the Drive.

Cycle Drive power. If the fault persists, change the option card.

Cycle Drive power. If the fault persists, change the option card.

Solid

Green

Flash

Red

Not

Lit

Flash

Green

Option Unit

Possible Fault

A wrong setting of a switch or a recovery fault is occurring.

Check baud rate setting (DIP switch,

DR1 and DR0), and then re-cycle the power. If the fault persists, change the option card.

Solid

Green

Solid

Green

Solid

Red

Solid

Red

Not

Lit

Solid

Red

Flash

Green

Flash

Green

Option Unit

Unrecoverable

Fault

Baud Rate Setting

Fault

An Unrecoverable fault is occurring to the option card.

Baud rate settings (DIP switch,

DR1 and DR0) are both ON.

Cycle Drive power. If the fault persists, change the option card.

Solid

Green

Solid

Green

Solid

Green

Solid

Green

Solid

Green

Solid

Green

Solid

Green

Solid

Green

Flash

Red

Solid

Red

Flash

Green

Solid

Green

Flash

Green

Flash

Green

Flash

Green

Flash

Green

Communication

Timeout

Communication

Error

Normal

(Communication data: No)

Normal

(Communication data: Yes)

A master communication timeout occurred.

Communication Unrecoverable fault occurred.

Although the fault does not occur, it is connected to the master controller.

Drive is communicating normally.

Set the baud rate switches correctly, and cycle the Drive power.

Check if the end termination resistor is correctly connected to the communication bus.

Check if the communication device is correctly connected per wiring diagrams.

Check if the communication bus wiring is separated from the main circuit wiring.

Check if other device’s MAC ID is not unique per the network.

Check if the master is correctly configured.

Check if the end termination resistor is correctly connected to the communication bus.

Check if the communication device is correctly connected per wiring diagrams.

Check if the communication bus wiring is separated from the main circuit wiring.

Send explicit message or I/O message from the master as necessary.

60

Explicit Message Communication Error

If a requested message has an error response from the master when performing Explicit message communication, the communication option sends a response message which the following error code shown in the table, is attached as data, as well as the service code “94”.

Table 46: Explicit Message Communication Error Codes

Error Code

08FF

09FF

0CFF

0EFF

13FF

14FF

Content

Service not requested

Invalid attribute value detection

Executing requested service is impossible

Setting prohibit attribute

Not enough data

Unauthorized Attribute

Excessive data

Cause

Wrong service code.

Solution

Correct service code.

Wrong attribute value.

A non run-operative Drive parameter is being attempted to be set during

Drive operation.

Cannot write to Attribute.

Correct attribute value.

Stop Drive operation.

Correct service code and attribute value.

Data size is not matched.

Unauthorized service was attempted to operate on the attribute.

Correct data size.

Correct service code and attribute value.

Data size is not matched.

Correct data size.

15FF

16FF

1FFF

20FF

Object does not exist

Manufacturer specific error

Parameter fault

Object is not defined in interface.

An unsettable Drive setting was attempted to be written to during

Drive operation.

A Drive setting is attempted to be written outside the setting range.

A data write is attempted that is outside of the setting range.

Correct class and interface value.

Stop the Drive.

Correct the data within the setting range.

Correct the data within the setting range.

I/O Message Communication Modbus I/O Instance Errors

Table 47: Modbus I/O Instance Errors and Their Causes

Error

Code

Content Causes

01 Hex Function code error Function code from the master was other than 00 Hex, 03 Hex, and 10 Hex.

02 Hex

21 Hex

22 Hex

23 Hex

Register No. error

Data setting error

Write mode error

Write during UV

A register # was not found.

Enter command (0900 Hex) registered for write started to read.

Parameter setting error occurred by a parameter write.

Upper and lower byte values were out of alignment, swapped.

A parameter was attempted to write from the master during run.

Enter command was attempted write from the master during UV.

A parameter was attempted to write from the master during UV.

Enter command was attempted to write from the master during UV.

A parameter was attempted to write from the master during data store.

Data for read only was attempted to write from the master.

Attempted to write a parameter from the master while UV was occurring.

Attempted to write an enter command from the master while UV was occurring.

24 Hex

Write during parameter processing

Attempted to write a parameter from the master while data was being stored.

61

Notes:

62

Appendix A

Product Specifications

This chapter describes the product specifications of a DeviceNet network system.

DeviceNet Product Specification ....................................................... 64

63

Product Specifications

Item

I/O Message

Explicit Message

Communication Power Supply

Operation Power Supply

Ambient Temperature

Humidity

Storage Temperature

Location

Altitude

Voltage

Current

Specifications

4 types of I/O instance are supported:

1) Basic I/O instance (Input 4 bytes, output 4 bytes)

2) Expansion I/O instance (Input 4 bytes, output 4 bytes)

3) Modbus I/O instance (Input 5 bytes, output 5 bytes)

4) Standard Drive control I/O instance (Input 8 bytes, output 8 bytes)

Suitable for DeviceNet AC/DC Drive profile.

Data communication Max. 32 byte

DC 11V~25V (20mA or less)

DC 4.75V~5.25V (Supplied from the Drive)

-10°C ~ +45°C

95%RH or less (Non-condensing)

-20°C ~ +60°C

Indoor (Protected from corrosive gas and dust)

1000m or less

11~25 Vdc

100mA

64

Appendix B

Cable Specifications

This chapter describes the cable specifications for a DeviceNet network system.

DeviceNet Cable Specifications......................................................... 66

DeviceNet Cable Vendor Table ........................................................... 66

DeviceNet Network Topology............................................................. 67

DeviceNet Maximum Cable Distance................................................. 67

65

Cable Specifications

Thick Cable

This cable consists of two shielded pairs twisted on a common axis with a drain wire in the center covered with an overall braid shield and is commonly used as trunkline when length is important.

The thick cable specified for DeviceNet network connections consists of:

· One twisted signal pair (#18): blue/white

· One twisted power pair (#15): black/red

· Separate aluminized mylar shields around power pair and signal pair

· Overall foil/braid shield with drain wire (#18): bare

Thin Cable

Thin Cable is smaller and more flexible than Thick Cable. It is commonly used for droplines, but can also be used, for shorter distances, as trunkline.

The thin cable specified for DeviceNet network connections consists of:

·One twisted signal pair (#24): blue/white

·One twisted power pair (#22): black/red

·Separate aluminized mylar shields around power pair and signal pair

·Overall foil/braid shield with drain wire (#22): bare

Cable Vendors

DeviceNet cables are available from various vendors. Two sources are listed below:

Part #

3082A

3084A

3083A

3085A

Part #

210051

210144

Thick/Thin

Thick

Thin

Thick

Thin

Thick/Thin

Thick

Thin

Table 48: DeviceNet Cable Sources

Pair

Belden Wire & Cable Company

AWG Insulation

Data

Power

18

15

Datalene

PVC/Nylon

Data

Power

24

22

Datalene

PVC/Nylon

Data

Power

Data

Power

18

15

24

22

Datalene

PVC/Nylon

Datalene

PVC/Nylon

Pair

Data

Power

Data

Power

Berk-Tek

AWG

18

15

24

22

Insulation

FPE/HDPE

PVC/Nylon

FPE/HDPE

PVC/Nylon

Outer Jacket

Lt. Gray PVC

Lt. Gray PVC

Yellow CPE

Yellow CPE

Outer Jacket

Lt. Gray PVC

Lt. Gray PVC

66

DeviceNet Network Topology

The DeviceNet media has a linear bus topology. Terminating resistors are required on each end of the trunkline. Droplines as long as 6 meters (20 feet) each are permitted, allowing one or more nodes to be attached. DeviceNet allows branching structures only on the dropline. The figure below shows an example of a DeviceNet network. The thick lines indicate a trunkline, whereas the thin lines indicate a dropline.

Terminating

Resistor

Node

Multiple Node

Branching

Multi-Port

Tap

Node

Node

Tap

Tap

Multi-Port

Tap

Tap

Node

Terminating

Resistor

Node

Node

Multiple Node

Daisy Chain

Node

Node Node

Zero Length

Node

Node

Fig. 8 DeviceNet Topology

Maximum Cable Distance

The total amount of trunkline allowable on the network depends upon the data rate and the type of cable (thick or thin) used.

The cable distance between any two points in the cable system must not exceed the Maximum Cable Distance allowed for the baud rate. For trunklines constructed of only one type of cable, refer to the following table to determine the Maximum Cable

Distance based on the data rate and the type of cable used. Cable distance between two points includes both trunkline cable and dropline cable length that exists between the two points.

Baud Rate

125 kbaud

250 kbaud

500 kbaud

Table 49: Maximum Cable Distance Allowed per Baud Rate

Maximum Cable Distance for 100% Thick Cable

500 meters (1640 feet)

250 meters (820 feet)

100 meters (328 feet)

Maximum Cable Distance for 100% Thin Cable

100 meters (328 feet)

67

DeviceNet allows the use of either thick or thin cable to be used to construct trunklines. DeviceNet also allows a combination of both types of cable to be used on the same network. To determine the maximum cable distance with a mix of both thick and thin cable, use the following figure.

Length of

Thin Cable

(meters)

10

80

60

40

20

500 250

125 kbaud kbaud kbaud

0

0 100 200 300 400 500

Length of Thick Cable (meters)

At 125 kbaud: L thick

+ (5.0 x L thin

) = 500

At 250 kbaud: L thick

+ (2.5 x L thin

) = 250

At 500 kbaud: L thick

+ L thin

(where L thick is the length of thick cable and L thin is the length of thin cable.)

Fig. 9 Maximum Cable Distance

Dropline length is the longest cable distance measured from the tap on the trunkline to each of the transceivers of the nodes on the dropline. The total amount of dropline allowable on the network depends upon the data rate. Refer to the following dropline budget when determining the number and length of droplines.

Drop Length

Baud Rate

125 kbaud

250 kbaud

500 kbaud

Maximum

6 meters (20 ft)

Cumulative

156 meters (512 feet)

78 meters (256 feet)

39 meters (128 feet)

68

Notes:

69

DeviceNet

CM059 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

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

YEA Document Number: TM.AFD.13

4/1/2007

Data subject to change without notice. Yaskawa Electric America, Inc.

Rev: 07-04

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