YASKAWA SI-P3V Technical Manual
Iklan
Iklan
YASKAWA AC Drive-V1000 Option
PROFIBUS-DP
Technical Manual
Type SI-P3/V
To properly use the product, read this manual thoroughly and retain for easy reference, inspection, and maintenance. Ensure the end user receives this manual.
MANUAL NO. SIEP C730600 23B
This Page Intentionally Blank
Table of Contents
6 PROFIBUS-DP OPTION DRIVE PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
8 PARAMETER PROCESS DATA OBJECT FORMATS . . . . . . . . . . . . . . . . . . . . . . . . 26
Copyright © 2007 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.
YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual 3
4
1 Preface and Safety
1 Preface and Safety
Yaskawa manufactures products used as components in a wide variety of industrial systems and equipment. The selection and application of Yaskawa products remain the responsibility of the equipment manufacturer 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 fail safely under all circumstances. All systems or equipment designed to incorporate a product manufactured by Yaskawa must be supplied to the end user with appropriate warnings and instructions as to the safe use and operation of that part. 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.
Applicable Documentation
The following manuals are available for the PROFIBUS-DP Option:
Option Unit
Yaskawa AC Drive -V1000 Option PROFIBUS-DP Installation Manual
Manual No.: TOBPC73060023
Read this manual first.
The installation manual is packaged with the PROFIBUS-DP Option and contains a basic overview of wiring, settings, functions, and fault diagnoses.
Yaskawa AC Drive -V1000 Option PROFIBUS-DP Technical Manual
Manual No.: SIEPC73060023
The technical manual contains detailed information and command registers.
To obtain the technical manual access these sites:
U.S.: http://www.yaskawa.com
Europe: http://www.yaskawa.eu.com
Japan: http://www.e-mechatronics.com
Other areas: contact a Yaskawa representative.
STOP
V1000
ᵄᢙᜰ
ᱜォㅒォㆬᛯ
ജᵄᢙ
ജ㔚ᵹ
ജ㔚
ࡕ࠾࠲
ࡌࡈࠔࠗ
࠶࠻ࠕ࠶ࡊ
ࡄࡔ࠲⸳ቯ
ࠝ࠻࠴ࡘ࠾ࡦࠣ
ෂޓ㒾
ߌ߇㧚ᗵ㔚ߩ߅ߘࠇ߇ࠅ߹ߔޕ
ᝪ߃ઃߌޔㆇォߩ೨ߦߪᔅߕขᛒ⺑ᦠࠍ⺒ߎߣޕ
ㅢ㔚ਛ߅ࠃ߮㔚Ḯㆤᢿᓟ 5 ಽએౝߪࡈࡠࡦ࠻ࠞࡃࠍ
ᄖߐߥߎߣޕ
400V
⚖ࠗࡦࡃ࠲ߩ႐วߪޔ㔚Ḯߩਛᕈὐ߇ធ
ߐࠇߡࠆߎߣࠍ⏕ߔࠆߎߣޕ㧔ޓޓኻᔕ㧕
(Hz)
(Hz)
(A)
(V)
Yaskawa AC Drive-V1000 Technical
Manual
Yaskawa Drive
To obtain instruction manuals for Yaskawa products access these sites:
U.S.: http://www.yaskawa.com
Europe: http://www.yaskawa.eu.com
Japan: http://www.e-mechatronics.com
Other areas: contact a Yaskawa representative.
Yaskawa AC Drive-V1000 Quick Start
Guide
For questions, contact the local Yaskawa sales office or the nearest
Yaskawa representative.
Terms
Note: Indicates a supplement or precaution that does not cause drive damage.
Drive: Yaskawa AC Drive -V1000 Series
PROFIBUS Option: Yaskawa AC Drive -V1000 Option PROFIBUS-DP
Registered Trademarks
• PROFIBUS-DP is a registered trademark of PROFIBUS International.
• Other company names and product names listed in this manual are registered trademarks of those companies.
YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual
1 Preface and Safety
Supplemental Safety Information
Read and understand this manual before installing, operating, or servicing this option unit. The option unit must be installed according to this manual and local codes.
The following conventions are used to indicate safety messages in this manual. Failure to heed these messages could result in serious or possibly even fatal injury or damage to the products or to related equipment and systems.
DANGER
Indicates a hazardous situation, which, if not avoided, will result in death or serious injury .
W ARNING
Indicates a hazardous situation, which, if not avoided, could result in death or serious injury.
CAUTION
Indicates a hazardous situation, which, if not avoided, could result in minor or moderate injury.
NOTICE
Indicates an equipment damage message.
General Safety
General Precautions
• The diagrams in this section may include option units and drives without covers or safety shields to illustrate details. Be sure to reinstall covers or shields before operating any devices. The option board should be used according to the instructions described in this manual.
• Any illustrations, photographs, or examples used in this manual are provided as examples only and may not apply to all products to which this manual is applicable.
• The products and specifications described in this manual or the content and presentation of the manual may be changed without notice to improve the product and/or the manual.
• When ordering a new copy of the manual due to damage or loss, contact your Yaskawa representative or the nearest Yaskawa sales office and provide the manual number shown on the front cover.
DANGER
Heed the safety messages in this manual.
Failure to comply will result in death or serious injury.
The operating company is responsible for any injuries or equipment damage resulting from failure to heed the warnings in this manual.
NOTICE
Do not expose the drive to halogen group disinfectants.
Failure to comply may cause damage to the electrical components in the option unit.
Do not pack the drive in wooden materials that have been fumigated or sterilized.
Do not sterilize the entire package after the product is packed.
Do not modify the drive circuitry.
Failure to comply could result in damage to the drive and will void warranty.
YASKAWA is not responsible for any modification of the product made by the user. This product must not be modified.
YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual 5
1 Preface and Safety
Option Unit Label Warnings
Warning information is displayed on the option unit as shown in the figure below. Follow all warnings and safety instructions when using the product.
When using the drive in an area that may require displaying warning information in Japanese or Chinese, a sticker is provided with the PROFIBUS-DP Option. This sticker can be placed over the English and French warnings on the front of the PROFIBUS-DP Option.
Figure 1
Warning Contents
V1000
WARNING
Risk of electric shock.
Read manual before installing.
Wait 5 minutes for capacitor discharge after disconnecting power supply.
To conform to ޓ requirements, make sure to ground the supply neutral for 400V class.
AVERTISSEMENT
Risque de decharge electrique.
Lire le manuel avant l'installation.
Attendre 5 minutes apres la coupure de l'alimentation, pour permettre la decharge des condensateurs.
Pour repondre aux exigences , s assurer que le neutre soit relie a la terre, pour la serie 400V.
Warning information
Figure 1 Warning Labels
WARNING
Risk of electric shock.
Read manual before installing.
Wait 5 minutes for capacitor discharge after disconnecting power supply.
To conform to ޓ requirements, make sure to ground the supply neutral for 400V class.
AVERTISSEMENT
Risque de decharge electrique.
Lire le manuel avant l'installation.
Attendre 5 minutes apres la coupure de l'alimentation, pour permettre la decharge des condensateurs.
Pour repondre aux exigences , s assurer que le neutre soit relie a la terre, pour la serie 400V.
6 YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual
2 Product Overview
2 Product Overview
About This Product
PROFIBUS is an open digital communication system supporting a wide range of fast, time-critical applications.
PROFIBUS-DP (Decentral Periphery) is one of the three PROFIBUS variants. DP is dedicated to fast data communication between systems and peripherals at a field level. This PROFIBUS-DP Option connects a drive to a field network using the PROFIBUS-DP protocol.
PROFIBUS-DP is included into the European Fieldbus Standard EN 50170.
The network is primarily used in process and factory automation.
By installing the PROFIBUS-DP Option to a drive, it is possible to do the following from a PROFIBUS-DP master device:
• operate the drive
• monitor the operation status of the drive
• change parameter settings
Applicable Models
The PROFIBUS-DP Option can be used with the drive models in
Table 1 Applicable Models
Drive
CIMR-V A A
<1> See “PRG” on the drive nameplate for the software version number.
≥ 1010
YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual 7
3 Receiving
3 Receiving
Please perform the following tasks after receiving the PROFIBUS-DP Option:
• Inspect the PROFIBUS-DP Option for damage.
If the PROFIBUS-DP Option appears damaged upon receipt, contact the shipper immediately.
• Verify receipt of the correct model by checking the information on the nameplate (see Figure 2
).
• If you receive the wrong model or the PROFIBUS-DP Option does not function properly, contact your supplier.
Contents and Packaging
Description: Option Unit
Table 2 Contents of Package
Ground Cables Warning Labels Installation Manual
MANUAL
_
Quantity: 1 4 1 1
Tool Requirements
A Phillips screwdriver (M3, M3.5 to M6
) U.S. standard size is required to install the PROFIBUS-DP Option.
<1> Screw sizes vary by drive capacity. Select a screwdriver that matches the drive capacity.
Note: Tools required to prepare PROFIBUS cables for wiring are not listed in this manual.
8 YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual
4 PROFIBUS-DP Option Components
4 PROFIBUS-DP Option Components
PROFIBUS-DP Option
Figure 2
PROFIBUS-DP with cover attached
E A
RUN
ERR
COMM
BF
D B
Underside
N
C
J
PROFIBUS-DP with cover removed
FE
F
I
J
K
G
H
A – LED (Comm: green)
B – LED (BF: red)
C – Option cover
D – LED (ERR: red)
E – LED (RUN: green)
F – PROFIBUS-DP PCB
M L
H – Nameplate
I – Function Earth cable connection (FE)
J – Mounting clip
L – Through-hole for cable
M – Communication cable connector (9-pin D-SUB)
N – Option board connector G – Attachment screw hole for option cover
<1> Cables are not connected to the PROFIBUS-DP Option and are packaged separately in the box.
Figure 2 Option Unit
Note:
For details on the LEDs, Refer to PROFIBUS-DP Option LED Display on page 10
.
Dimensions
The installed PROFIBUS-DP Option adds 27 mm (1.06 in.) to the total depth of the drive. (
)
Figure 3
27 mm (1.06 in.)
Figure 3 Dimensions
Communication connector
The drive has a 9 pin D-sub connector for installing the option card. Once installed, the drive can connect to a
PROFIBUS network.
YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual 9
4 PROFIBUS-DP Option Components
Figure 4
Figure 4 Communication connector location
PROFIBUS Connector
Bottom View
1
2
3
4
5
6
7
8
9
6
7
4
5
8
Pin
1
2
3
9
Table 3 Communication connector (9-pin D-SUB)
Shield
Signal
–
RxD/TxD-P
CNTR-P
DGND
VP
–
RxD/TxD-N
–
Description
Connected to the metal-shell (no direct FG-connection)
–
Receive/Transmit data; line B (red)
Control signal for repeaters (direction control)
Data ground (reference voltage to VP)
Power supply output for bus termination (for termination resistor)
–
Receive/Transmit data; line A (green)
–
PROFIBUS-DP Option LED Display
Table 4 LED Display
LED
RUN
(Power)
ERR
(Option Error)
COMM
(Communication
Status)
BF
(PROFIBUS-DP
Error)
Display
Color Status
Green
Red
Green
Red
OFF
Communication
Status
Normal operation
Meaning
ON
OFF
ON
Flashing
OFF
ON
OFF
ON
Flashing
Power is on
Power is off
SI-P3/V error
Drive connection error
Power is being properly supplied to SI-P3/V, and SI-P3/V has completed its hardware self-diagnostics check
• The drive has no power supply
• SI-P3/V and drive are not connected properly and/or there is no power supplied to the SI-P3/V
• An internal, self-diagnostic error occurred in the SI-P3/V
Self-diagnostics error occurred in the SI-P3/V
Connection error between SI-P3/V and drive. This includes node address setting errors to parameter F6-30 on the drive side
Drive and SI-P3/V are properly connected Normal operation
Communication connected
Normal send/receive between SI-P3/V and PROFIBUS-DP master
No data exchange
There is a problem establishing communication between SI-P3/V and the
PROFIBUS-DP master
Waiting for communication procedure setting
Communication setting error
Communication-related parameters are being set or initialized by the
PROFIBUS-DP master.
Communication parameter error from PROFIBUS-DP master
LED is off once the PROFIBUS-DP master is finished setting communication-related parameters
10 YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual
4 PROFIBUS-DP Option Components
Table 5 Understanding LED Display
LED
RUN ERR COMM BF
Communication Status
×
{
×
×
{
×
×
{
×
×
×
×
×
×
Possible Cause Solution
×
×
×
×
{
No power
• Checking connection with the drive
• Waiting for data from the master
SI-P3/V Self-diagnostics error
Problem connecting to the drive
Waiting for data from the master device
The drive has no power
SI-P3/V is not properly connected to the drive, and therefore is not receiving enough power
• SI-P3/V is reading the node address or parameter configuration
• Waiting for initial input data from master device
Check all wiring to the drive, then turn the power on
• Shut the drive off and check that the PROFIBUS
DP Option is properly connected
• Turn the power back on again
–
The PROFIBUS-DP Option is damaged
• Problem initializing the drive and SI-P3/V
• Incorrect node address
Waiting for data from the master device (Set_Parm_Message or
Chk_Cfg_Message)
Cycle power to the drive. If the LED status does not change, replace the PROFIBUS-DP Option
• Cycle power to the drive. If the LED status does not change, replace the PROFIBUS-DP Option
• Check the node address setting in the drive
(parameter F6-10)
• Check the network settings in the master
• Make sure the master device is operating normally
• Check the terminal resistance settings on the data line
• Look for any problems with the data line, or if the connector
• Check that the data lines are properly connected to the drive
{ × ×
Data is incorrect or
PROFIBUS-DP Option timed out waiting for data
The communication procedure in the master is set incorrectly
• Check the communication procedure settings in the master
{ × { × Sending or receiving data – –
{ : On / : Flashing / × : Off
Setting Node Address
Set drive parameter F6-30 to a unique node address (Range 0 to 125) on the network.
YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual 11
5 Installation Procedure
5 Installation Procedure
Section Safety
DANGER
Electrical Shock Hazard
Do not connect or disconnect wiring while the power is on.
Failure to comply will result in death or serious injury.
Disconnect all power to the drive, wait at least five minutes after all indicators are off, measure the DC bus voltage to confirm safe level, and check for unsafe voltages before servicing to prevent electric shock. The internal capacitor remains charged even after the power supply is turned off. The charge indicator LED will extinguish when the DC bus voltage is below 50 Vdc.
W ARNING
Electrical Shock Hazard
Do not remove option board cover while the power is on.
Failure to comply could result in death or serious injury.
The diagrams in this section may include option units and drives without covers or safety shields to show details. Be sure to reinstall covers or shields before operating any devices. The option board should be used according to the instructions described in this manual.
Do not allow unqualified personnel to use equipment.
Failure to comply could result in death or serious injury.
Maintenance, inspection, and replacement of parts must be performed only by authorized personnel familiar with installation, adjustment, and maintenance of this product.
Do not use damaged wires, place excessive stress on wiring, or damage the wire insulation.
Failure to comply could result in death or serious injury.
NOTICE
Damage to Equipment
Observe proper electrostatic discharge procedures (ESD) when handling the option unit, drive, and circuit boards.
Failure to comply may result in ESD damage to circuitry.
Never shut the power off while the drive is outputting voltage.
Failure to comply may cause the application to operate incorrectly or damage the drive.
Do not operate damaged equipment.
Failure to comply may cause further damage to the equipment.
Do not connect or operate any equipment with visible damage or missing parts.
Do not use unshielded cable for control wiring.
Failure to comply may cause electrical interference resulting in poor system performance.
Use shielded twisted-pair wires and ground the shield to the ground terminal of the drive.
12 YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual
5 Installation Procedure
NOTICE
Properly connect all pins and connectors.
Failure to comply may prevent proper operation and possibly damage equipment.
Check wiring to ensure that all connections are correct after installing the option unit and connecting any other devices.
Failure to comply may result in damage to the option unit.
Connection Diagram
To PROFIBUS-DP
Master
PROFIBUS Cable
(Red)
(Green)
To the next slave
(Red)
(Green)
1B
1A
2B
2A
(Shell)
V1000
PROFIBUS Cable Connector
390 Ω 220 Ω 390 Ω
B-line
A-line
RTS
VP
DGND
CN5
3
8
4
6
SI-P3/V
5
(Shell)
FE
<1>
9-pin D-SUB Connector
For the last node on the bus, turn on the termination resistor switch.
<1> The FE terminal on the PROFIBUS-DP Option is fitted with a ground cable that should be connected to the ground terminal on the drive.
Figure 5 Connection Diagram
PROFIBUS-DP Termination
Because the option card does not have a termination resistor, a termination resistance must be set using a switch on the 9 pin D-sub connector. Make sure that only the D-sub connector for the last or end drive in the network has a terminating resistor. If any other drive on the network has a terminating resistor, communication problems may occur.
Most 9 pin D-sub connectors have a function for disconnecting the output side of the cable. Use only the input side cable entry when connecting both ends of the network. If the connector is reversed, then communication will not be possible between devices. Most connectors have arrows indicating the input and output sides.
Terminating resistors are shown in
Figure 6 can only be used. for baud rates below 1.5 Mbps. 1.5 Mbps and higher baud
rates require termination with resistors as shown in
Figure 5
9-pin D-sub Connector
Bus termination
Switch
O
O ON
O
OFF
Incoming Cable Outgoing Cable
Figure 6 PROFIBUS Cable Connection with Termination Resistors
Bus termination ON = incoming and outgoing cables not connected.
Bus termination OFF = incoming and outgoing cables connected.
YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual 13
5 Installation Procedure
Figure 6
VP (pin 6)
390 Ω
B - Data line
RxD/TxD-P (pin 3)
A - Data line
RxD/TxD-N (pin 8)
220 Ω
390 Ω
DGND (pin 5)
Figure 7 Cable Termination of the PROFIBUS-DP Option Cable to EN50170
(pin numbers for a 9-pin D-sub connector)
Prior to Installing the Option Unit
Prior to installing the PROFIBUS-DP Option, wire the drive and make necessary connections to the drive terminals.
Refer to the YASKAWA AC Drive Quick Start Guide for information on wiring and connecting the drive. Verify that the drive operates normally without the option installed.
Installing the Option Unit
Remove the front cover of the drive before installing the PROFIBUS-DP Option. Follow the directions below for proper installation.
1. Switch off the power supply to the drive.
DANGER!
Electrical Shock Hazard - Do not connect or disconnect wiring while the power is on. Failure to comply will result in death or serious injury. Before installing the PROFIBUS-DP Option, disconnect all power to the drive. The internal capacitor remains charged even after the power supply is turned off. The charge indicator LED will extinguish when the DC bus voltage is below 50 Vdc. To prevent electric shock, wait at least five minutes after all indicators are off and measure the DC bus voltage level to confirm safe level.
2. Remove the front cover. The original drive front cover may be discarded because it will be replaced by the
PROFIBUS-DP Option cover in step 7.
Figure 7
Figure 8 Remove Front Cover
3. Remove the bottom cover and connect the PROFIBUS-DP Option ground cable to the ground terminal.
Figure 8
Ground terminal
Ground cable
Bottom cover
Figure 9 Connect Ground Cable
Note: The four different ground cables packaged with the PROFIBUS-DP Option connect to different models. Select the proper ground cable from the PROFIBUS-DP Option kit depending on drive size.
14 YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual
5 Installation Procedure
Figure 9
B
A
A – Option unit connection: screw size = M3
B – Drive-side connection: screw size = M3.5 to M6
Figure 10 Ground Cable
Figure 10
Note: Cover removal for certain larger models with a Terminal Cover:
-Single-Phase 200 V Class: CIMR-V BA0006 to BA0018
-Three-Phase 200 V Class: CIMR-V 2A0008 to 2A0069
-Three-Phase 400 V Class: All models
Remove the terminal cover before removing the bottom cover to install the PROFIBUS-DP Option. Replace the terminal cover after wiring the PROFIBUS-DP Option.
Figure 11 Models with Terminal Cover
4. Reattach the bottom cover.
5. Connect the PROFIBUS-DP Option to the drive. Properly secure the tabs on the left and right sides of the PROFIBUS-
DP Option to the drive case.
Figure 11
Tabs should line up
Tabs should line up
Figure 12 Attach PROFIBUS-DP Option
6. Connect the ground cable from the drive ground terminal to the PROFIBUS-DP Option ground. When wiring the
PROFIBUS-DP Option, pass the ground cable through the inside of the drive bottom cover, then pass the ground cable into the through-hole at the front of the PROFIBUS-DP Option.
Figure 12
Ground cable
Through-hole for ground cable Ground cable
Drive ground
terminal
Pass the ground cable through the bottom cover of the drive.
Figure 13 Ground Cable Connection
YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual 15
5 Installation Procedure
7. Attach the PROFIBUS-DP Option cover to the front of the PROFIBUS-DP Option.
Figure 13
Tabs should line up
Figure 14 Attach Cover
Note: When using the drive in an area that may require displaying warning information in Japanese or Chinese, a label is provided with the Profibus-DP Option. This label can be placed over the English and French warnings on the front of the Profibus-DP Option.
Communication Cable Specifications
To ensure proper performance, Yaskawa recommends using PROFIBUS-DP-dedicated cables that fulfill the
. For more information on cables, refer to the PROFIBUS-DP website at http:// www.profibus.com.
Cable Requirements
Table 6 Communication Cable Requirements
Condition
Impedance
Capacity
Loop Resistance
Core Cross-Section
Core Diameter
Specifications
135 to 165 Ω at a frequency of (3 to 20 MHz)
30 pF/m maximum
110 Ω /km maximum
0.34 mm 2 minimum
0.64 mm minimum
Cable Length
cables.
Table 7 Cable Length
Communication speed
(kbps)
9.6
19.2
45.45
93.75
187.5
Distance per segment (m) Communication speed (kbps)
1200 500
1200
1200
1500
3000
1200
1000
6000
12000
Distance per segment (m)
400
200
100
100
100
GSD Files
For easy network implementation of drives equipped with an SI-P3/V, a GSD file can be obtained from:
U.S.: http://www.yaskawa.com
Europe: http://www.yaskawa.eu.com
Japan: http://www.e-mechatronics.com
Other areas: Contact a Yaskawa representative.
16 YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual
6 PROFIBUS-DP Option Drive Parameters
6 PROFIBUS-DP Option Drive Parameters
Confirm the proper setting of all parameters in Table 8 before starting network parameters.
No.
b1-01
b1-02
F6-01
F6-02
F6-03
F6-07
F6-08
Table 8 Parameter Settings
Name
Frequency Reference Selection
Run Command Selection
Operation Selection after
Communications Error
External Fault Detection Conditions (EF0)
Stopping Method for External Fault from
Communication Option Board
NetRef/ComRef Selection Function
Reset Communication Related Parameters
Description
Selects the frequency reference input source
0: Operator - Digital preset speed d1-01 to d1-17
1: Terminals - Analog input terminal A1 or A2
2: MEMOBUS/Modbus communications
3: Option PCB
4: Pulse Input (Terminal RP)
Selects the run command input source
0: Digital Operator - RUN and STOP keys
1: Digital input terminals S1 to S7
2: MEMOBUS/Modbus communications
3: Option PCB
Determines drive response when a bUS error is detected during communications with the PROFIBUS-DP Option
0: Ramp to Stop
1: Coast to Stop
2: Fast-Stop
Sets the condition for external fault detection (EF0)
0: Always detected
1: Detected only during operation
Determines drive response for external fault input (EF0) detection during PROFIBUS communication
0: Ramp to Stop
1: Coast to Stop
2: Fast-Stop
0: Multi-step speed reference disabled (F7 mode)
1: Multi-step speed reference allowed (V7 mode)
Determines which communication-related parameters are set back to their original default values when the drive is initialized
0: Do not reset F6 and F7 parameters when the drive is initialized using parameter A1-03
1: Rest F6 and F7 parameters when the drive is initialized using parameter A1-03
Setting this parameter does not affect communication-related parameters
Default
1
1
1
0
1
1
0
F6-30
F6-31
F6-32
Node Address
Clear Mode Selection
PROFIBUS Map Selection
0 to 125
Selects the action to take when a "Clear Mode" command is received
0: Resets back to 0
1: Maintains the previous value
0: PPO Type
1: Conventional
0
0
0
<1> To start and stop the drive through the PROFIBUS-DP network, set b1-02 to “3”. To control the frequency reference of the drive via the
PROFIBUS-DP network, set b1-01 to “3”.
<2> If F6-03 is set to 3, then the drive will continue to operate when an EF0 fault is detected. Take proper safety measures, such as installing an emergency stop switch.
<3> Software versions 1012 and later have F6-07 and F6-08 both set to 1.
<4> All node addresses must be unique. Node addresses 0, 1, and 2 are typically reserved for control, maintenance, and diagnostic equipment. The
ERR light will illuminate when 0 or greater than 125 is entered.
<5> Power must be cycled in order for any setting changes to take affect.
<6> CIMR-VC drives do not have the terminal S7 (Multi-function digital input command 7).
YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual 17
7 Conventional Formats
7 Conventional Formats
Conventional Formats
The configuration tool of PROFIBUS-DP master sets the input and output data length of SI-P3/V from Extended Data 1
(32 bytes), Extended Data 2 (12 bytes), and Basic Data (6 bytes).
Conventional formats have two message types: High-speed I/O Data and MEMOBUS/Modbus message.
Set parameter F6-32 to “1” to use conventional formats.
High-Speed I/O Data
High-speed I/O data is directly transferred to or from the drive and can control the drive. For example, when the drive is set for PROFIBUS-DP communications, the drive Run/Stop and Frequency Reference commands are typically transferred to the drive within 2 ms after being received by the option.
MEMOBUS/Modbus Message
MEMOBUS/Modbus message data is transferred to the drive using MEMOBUS/Modbus messages. All drive parameters and data can be accessed through MEMOBUS/Modbus. Because the data in this message type is transferred to the drive after the SI-P3/V receives and edits it, more time is required to return the data to the master. The master must synchronize the timing of sending and receiving the data by handshaking.
Memory Maps
The following memory maps show the I/O data bytes.
Basic and Extended Register Maps
High-speed I/O Data
MEMOBUS/Modbus Data
Byte
0
1
2
3
Basic Data
(6 bytes)
Bytes 0 to 5
–
Extended Data 1
(32 bytes)
Bytes 0 to 15
Bytes 16 to 31
Extended Data 2
(12 bytes)
Bytes 0 to 3
Bytes 4 to 11
Byte
0
1
2
3
4
5
Output (Master Device to Drive)
Description
Operation Command (High Byte)
Operation Command (Low Byte)
Frequency Reference (High Byte)
Frequency Reference (Low Byte)
Reserved
Table 9 Basic Data Register Map Detail
Byte
0
1
2
3
4
5
Input (Drive to Master Device)
Description
Drive Status (High Byte)
Drive Status (Low Byte)
Motor Speed (High Byte)
Output Current (High Byte)
<1> Unit depends on the setting of o1-03 (Digital Operator Display Scaling). When the drive is operating in the V/f Control mode, the drive's output frequency becomes the input data.
<2> Data is displayed in units of either 0.01 A for drives 7.5 kW and smaller, or in units of 0.1 A for drives 11 kW and larger. This is the same regardless of whether the drive is set for Normal Duty or Heavy Duty operation.
Table 10 Extended Data 1 Register Map
Output (Master Device to Drive)
Description
Operation Command (High Byte)
Operation Command (Low Byte)
Frequency Reference (High Byte)
Frequency Reference (Low Byte)
Byte
0
1
2
3
Input (Drive to Master Device)
Description
Drive Status (High Byte)
Drive Status (Low Byte)
Motor Speed (High Byte)
Motor Speed (Low Byte)
18 YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual
7 Conventional Formats
13
14
15
16
9
10
11
12
Byte
4
7
8
5
6
17
18
23
24
25
26
19
20
21
22
27
28
29
30
31
Output (Master Device to Drive)
Reserved
Description
Analog Output Channel 1 (High Byte)
Analog Output Channel 1 (Low Byte)
Reserved
13
14
15
MEMOBUS/Modbus Function Code 16
9
10
11
12
MEMOBUS/Modbus Starting Register Address
(High Byte)
MEMOBUS/Modbus Starting Register Address
(Low Byte)
17
18
Byte
4
7
8
5
6
MEMOBUS/Modbus Number of Data
MEMOBUS/Modbus Data 1 (High Byte)
MEMOBUS/Modbus Data 1 (Low Byte)
MEMOBUS/Modbus Data 2 (High Byte)
MEMOBUS/Modbus Data 2 (Low Byte)
MEMOBUS/Modbus Data 3 (High Byte)
MEMOBUS/Modbus Data 3 (Low Byte)
MEMOBUS/Modbus Data 4 (High Byte)
MEMOBUS/Modbus Data 4 (Low Byte)
Reserved
Handshaking Register
23
24
25
26
19
20
21
22
27
28
29
30
31
Input (Drive to Master Device)
Description
Torque Reference Monitor (High Byte)
Torque Reference Monitor (Low Byte)
Reserved
Frequency Reference (High Byte)
Frequency Reference (Low Byte)
Output Frequency (High Byte)
Output Frequency (Low Byte)
Output Current (High Byte)
Analog Input Channel 1 (High Byte)
Analog Input Channel 1 (Low Byte)
MEMOBUS/Modbus Starting Register Address
(High Byte)
MEMOBUS/Modbus Starting Register Address
(Low Byte)
MEMOBUS/Modbus Number of Data
MEMOBUS/Modbus Data 1 (High Byte)
MEMOBUS/Modbus Data 1 (Low Byte)
MEMOBUS/Modbus Data 2 (High Byte)
MEMOBUS/Modbus Data 2 (Low Byte)
MEMOBUS/Modbus Data 3 (High Byte)
MEMOBUS/Modbus Data 3 (Low Byte)
MEMOBUS/Modbus Data 4 (High Byte)
MEMOBUS/Modbus Data 4 (Low Byte)
Reserved
Handshaking Register
<1> To select drive analog output channel for communications, set H4-01 (Multi-Function Analog Output Terminal AM) to 000 (through-mode).
<2> Drive digital output ON/OFF during communications, set H2-01 (Terminal MA, MB and MC Function Selection (relay)), H2-02 (Terminal P1
Function Selection (open-collector)), and H2-03 (Terminal P2 Function Selection (open-collector)) to F (through-mode).
<3> Unit depends on the setting of o1-03 (Digital Operator Display Scaling). Input data is 0 when the drive is set for V/f Control.
<4> Cannot be used when setting A1-02 (Control Method Selection) to 0 (V/f Control without PG).
<5> Data is displayed in units of either 0.01 A for drives 7.5 kW and smaller, or in units of 0.1 A for drives 11 kW and larger. This is the same regardless of whether the drive is set for Normal Duty or Heavy Duty operation.
Table 11 Operation Command
Command Signal Description
0
1
8
9
6
7
4
5
2
3
C
D
A
B
H5-12 = 0: Forward Run/Stop, 1: FRUN
H5-12 = 1: Run/Stop, 1: RUN
H5-12 = 0: Reverse Run/Stop, 1: RRUN
H5-12 = 1: Forward/Reverse, 1: REV
Multi-function digital input command 3
Multi-function digital input command 4
Multi-function digital input command 5
Multi-function digital input command 6
Multi-function digital input command 7
Reserved
External Fault, 1: Fault (EF0)
Fault Reset, 1: Fault Reset
Reserved
YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual 19
7 Conventional Formats
Command Signal
E
F
Description
Fault Trace and Fault History Reset
1: Fault information is reset by raising edge of this bit
Baseblock command
1: External Baseblock
<1> CIMR-VC drives do not have Multi-function digital input command 7.
Table 12 Drive Status: U1-12
Drive Status
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
1: During run
1: During zero speed
1: During reverse run
1: During fault reset signal input
1: During speed agree
1: Drive ready
1: Alarm
1: Fault
1: During operation error (oPE )
1: During momentary power loss
1: NetCtrl status
1: MA-MB relay closed
1: Photocoupler output 1 closed
1: Photocoupler output 2 closed
1: Motor 2 selected
Reserved
Description
7
8
9
10
11
Byte
0
1
2
3
4
5
6
Table 13 Extended Data 2 Register Map
Output (Master Device – Drive)
Description
Operation Command (High Byte)
Operation Command (Low Byte)
Frequency Reference (High Byte)
Frequency Reference (Low Byte)
MEMOBUS/Modbus Function Code
MEMOBUS/Modbus Starting Register Address (High Byte)
MEMOBUS/Modbus Starting Register Address (Low Byte)
MEMOBUS/Modbus Data Length
MEMOBUS/Modbus Data 1 (High Byte)
MEMOBUS/Modbus Data 1 (Low Byte)
Reserved
Handshaking Register
10
11
7
8
9
Byte
0
1
2
3
4
5
6
Input (Drive – Master Device)
Description
Drive Status (High Byte)
Drive Status (Low Byte)
MEMOBUS/Modbus Function Code
MEMOBUS/Modbus Starting Register Address (High Byte)
MEMOBUS/Modbus Starting Register Address (Low Byte)
MEMOBUS/Modbus Data Length
MEMOBUS/Modbus Data 1 (High Byte)
MEMOBUS/Modbus Data 1 (Low Byte)
Reserved
Handshaking Register
<1> Unit depends on the setting of o1-03 (Digital Operator Display Scaling). When the drive is operating in the V/f Control mode, the drive's output frequency becomes the input data.
MEMOBUS/Modbus Message Area
In this area, a MEMOBUS/Modbus message is transferred to the SI-P3/V unit, and the parameters in the drive can be set, read, and monitored. Up to four data items can be written or read at one time.
Because the SI-P3/V unit edits the MEMOBUS/Modbus message internally and transfers it to the drive after receiving the message, more time is required to return the message. Use the handshaking register to synchronize sending or receiving of the data between the PROFIBUS-DP master and the SI-P3/V unit. For details on the handshaking register, refer to
Handshaking Register on page 23
.
• Execute an Enter command to write a parameter to the drive. Execution of the Enter command validates the written data. For the details of the Enter command. Refer to the Enter Command in Appendix C of the V1000 Technical
Manual.
20 YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual
7 Conventional Formats
24
25
26
27
28
29
30
31
20
21
22
23
17
18
19
• Refer to the MEMOBUS/Modbus Data Table in Appendix C of the V1000 Technical Manual for a list of monitor data using the MEMOBUS/Modbus message area.
Configuration of MEMOBUS/Modbus Command Message
Byte
16 Function code
Starting Resistor No.
Number of Data Items
Data 1
Data 2
Data 3
Data 4
Table 14 MEMOBUS/Modbus Command Message
Name Function
MEMOBUS/Modbus command code:
03H: Read command (reading Drive internal data)
08H: Loop back
10H: Write command (writing data into the drive)
Other codes: Not supported
Starting resistor No.
High Byte
Low Byte
Sets the number of bytes to read or write (only 2, 4, 6, or 8 allowed)
Data word 1
High Byte
Low Byte
Data word 2
Data word 3
Data word 4
High Byte
Low Byte
High Byte
Low Byte
High Byte
Low Byte
Reserved
Handshaking Register
Reserved
Refer to
Handshaking Register on page 23 .
<1> Setting is needed only for the write command. Select 00H for the read command.
Configuration of MEMOBUS/Modbus Response Messages
24
25
26
27
20
21
22
23
28
29
30
31
Byte
16
17
18
19
Function code
Starting resistor No.
Number of data items
Data 1
Data 2
Data 3
Data 4
Table 15 MEMOBUS/Modbus Response Messages
Name Function
MEMOBUS/Modbus response codes
00H: Waiting for response from drive
03H: Response to read operation
10H: Response to write operation
83H: Read command error
90H: Write command error
Other codes: Not supported.
Starting resistor No.
High Byte
Low Byte
Write: Set double number of written data items
Read: Set double number of read data items
Data word 1
Data word 2
Data word 3
Data word 4
High Byte
Low Byte
High Byte
Low Byte
High Byte
Low Byte
High Byte
Low Byte
Reserved
Handshaking register Refer to
Handshaking Register on page 23
.
<1> Data is returned only for the read command.
YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual 21
7 Conventional Formats
If an error occurs, the SI-P3/V unit sets the MSB (Most Significant Bit) in the MEMOBUS/Modbus response code to 1 and returns the error response. The number of data items is set to 02H and one of the following error codes is written into the Low Byte of Data 1. Refer to the Communication Errors in Appendix C of the V1000 Technical Manual for the details of the MEMOBUS/Modbus Error Codes.
Parameter Settings Using MEMOBUS/Modbus Commands
The written or read data of each parameter is transferred in a hexadecimal value.
Negative values are expressed as a two complement.
Example 1:The frequency reference is 30Hz.
30 Hz/0.01 Hz = 3000 → BB8H
Example 2:–5% is assigned as the bias for terminal FM of multi-function analog output 1.
5/0.1 = 50 → 32H
Converted into a two complement → FFCEH
Example 3:60.00 Hz is assigned for d1-01 (register No.: 0280H).
60.00Hz/0.01Hz = 6000 → 1770H
Table 16 Parameter Settings Using MEMOBUS/Modbus Commands
Byte
19
20
21
16
17
18
22
23
24
25
26
27
28
29
30
31
Function code
Starting Register No.
Number of Data Items
Data 1
Data 2
Data 3
Data 4
Reserved
Name
High Byte
Low Byte
High Byte
Low Byte
High Byte
Low Byte
High Byte
Low Byte
High Byte
Low Byte
Command
Message
10H
02H
80H
02H
17H
70H
00H
00H
00H
00H
80H
00H
00H
00H
00H
00H
00H
00H
00H
00H
80H
00H
00H
00H
00H
00H
Data
Response
Message
10H
02H
80H
02H
00H
00H
Response Message (at
90H
00H
00H
02H
00H
02H
00H
00H
00H
00H
80H
00H
00H
00H
00H
00H
<1> Depends on the status of the previous data.
<2> Depends on the status of the fault.
22 YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual
7 Conventional Formats
Handshaking Register
Handshaking is used to synchronize the timing of the sending or receiving of MEMOBUS/Modbus message data between the SI-P3/V unit and the PROFIBUS-DP master.
When the master toggles bit 7 of the handshaking register in the output data, the SI-P3/V starts to process the data in the
MEMOBUS/Modbus registers. Ensure that the data in the MEMOBUS/Modbus registers is valid before toggling bit 7.
When the SI-P3/V toggles bit 7 of the handshaking register in the input data to the same value as the handshaking register bit 7 in the output data, the content of the input data MEMOBUS/Modbus registers is valid.
Handshaking Output Register
PROFIBUS-DP Master to SI-P3/V Unit
Bit 7
HS
Bit
7
1 to 6
0
6
–
5
–
Name
HS
–
INIT
4
–
3
–
2
–
1
–
0
INIT
Function
• Handshaking bit. Synchronizes send and receive timing. Changes status when sending new command messages
• This bit is reset to 0 at power up or by setting the handshaking output register bit INIT to 1
Reserved
Clears the handshaking bit to 0
Handshaking Input Register
SI-P3/V Unit to PROFIBUS-DP Master
Bit 7
HS
6 5
STATUS
4 3
WD
2 1 0
–
Bit
7
5 to 6
Name
HS
1 to 4
0
–
<1> STATUS and WD are for reference.
Function
• Handshaking bit. Synchronizes send and receive timing. Changes status when sending new command messages.
• This bit is reset to 0 at power up or by initializing the handshaking output register bit INIT back to 0.
Status of the data exchange between the PROFIBUS-DP master and the drive.
00H: Idle
01H: SI-P3/V sends a MEMOBUS/Modbus command to the drives.
10H: SI-P3/V waits for a MEMOBUS/Modbus response from the drives.
11H: SI-P3/V receives a MEMOBUS/Modbus response from the drives.
Counter increases every 64 ms
Reserved
YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual 23
7 Conventional Formats
Example of Handshaking
Clear the handshaking register HS bit (bit 7) to 0 for the PLC program after turning on the power supply or after re-
or the SI-P3/V unit has the control for the protocol.
Figure 14
Synchronize Command Bits to Start the Message Process
PROFIBUS-DP Master
Handshaking Output Register
0
⇓
Create
Command
0
⇓
Signal New
Message Waiting
1
⇒
0
0
0
SI-P3/V Unit
Handshaking Input Register
Synchronize command bits to start the message process
New MEMOBUS/Modbus
Command to SI-P3/V Unit
⇓
1 0 Command Executed
⇓
1 1 Response Valid
⇓
Create
Command
1 1
⇓
Signal New
Message Waiting
0
⇒
1
New MEMOBUS/Modbus
Command to SI-P3/V Unit
⇓
0 1 Command Executed
⇓
0 0 Response Valid
⇓
Create
Command
0 0
⇓
Signal New
Message Waiting
1 ⇒ 0
New MEMOBUS/Modbus
Command to SI-P3/V Unit
⇓ etc.
Figure 15 Example of Handshaking
24 YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual
Flow Chart
illustrates the handshaking function when using a MEMOBUS/Modbus message.
Figure 15
PROFIBUS-DP Master
Power ON or re-initialization
START
SI-P3/V Unit
START Initialization
7 Conventional Formats
Clears the handshaking register HS bit to "0"
Clears handshaking register HS bit to "0".
NO
Sends a new message
YES
Creates a command message.
<1> “Toggle” means changing
the HS bit status from
0 to 1 or from 1 to 0.
Toggles handshaking register HS bit <1>
Sends to slave Receives for the master
Command message
Normal
Command executed
Creates a response message
Abnormal
Command not executed
Creates a response
NO
INDATA HS =
YES
Handles the response
Toggles handshaking register HS bit <1>
Sends to master
Figure 16 MEMOBUS/Modbus Message Flow Chart
YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual 25
8 Parameter Process Data Object Formats
8 Parameter Process Data Object Formats
Supported Parameter Process Data Object (PPO) Type Formats
Set drive parameter F6-32 = “0” to use PPO type formats. The PPO is defined for cyclic data transfer, allowing the master and the slave to exchange process data (PZD) and parameters. Refer to the PROFIBUS specification for more information on PPO types 1~5.
SI-P3/V supports five possible PPO type formats:
PPO type 1 (8 octets PKW + 4 octets PZD)
PPO type 2 (8 octets PKW + 12 octets PZD)
PPO type 3 (4 octets PZD)
PPO type 4 (12 octets PZD)
PPO type 5 (8 octets PKW + 20 octets PZD)
All PPO Types have the registers STW, ZSW, HSW, and HIW. These registers are not mapped directly to drive registers.
PKE IND
PKW
PWE
PPO TYPE 1: Octet-String 12
PZD
PZD1
STW
ZSW
PZD2
HSW
HIW
PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10
PPO TYPE 2: Octet-String 20
PPO TYPE 3: Octet-String 4
PPO TYPE 4: Octet-String 12
PPO TYPE 5: Octet-String 28
PKW: Parameter ID/value
PZD: Process Data, cyclically transferred
PKE: Parameter ID (1st and 2nd octet)
IND: Sub-index (3rd octet), 4th octet is reserved
PWE: Parameter value (5th until 8th octet)
STW: Control word
HSW: Main setpoint
ZSW: Status word
HIW: Main actual value
Configuration of Registers
PKE
10
11
12
13
8
9
6
7
14
15
4
5
2
3
Bit
0
1
PPO Write
PNU number (
Refer to Supported PNU on page 30 )
SPM always 0
See Task ID
PPO Read
SPM always 0
See Response ID
When Response ID is 7, see PWE error code
26 YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual
8 Parameter Process Data Object Formats
IND
11
12
13
14
15
7
8
9
10
5
6
3
4
Bit
0
1
2
PPO Write
Sub-Index for parameter number
Reserved
PPO Read
Sub-Index for parameter number
Reserved
PWE
Bit
0 to 31
PPO Write
Setting Data
PPO Read
Error code when Response ID is 7
0: Incorrect PNU number
1: Write mode error
2: Lower or upper limit violated
3: Disabled IND is set
17: Write mode error during Uv condition or Write mode error during parameter processing
STW/ZSW
Bit
0
1
2
3
4
5
6
7
8
9
PPO Write
OFF1: reserved
OFF2: reserved
OFF3: reserved
Enable to RUN
0: Baseblock + Stop
1: Not Baseblock
0: STOP
1: RUN
Ramp function generation enable: reserved
Enable ramp function generator set-point: reserved
1: Fault Reset
0: Stop
1: JOG RUN forward (Fmax/10 speed)
0: Stop
1: JOG RUN reverse (Fmax/10 speed)
0: Local control
1: Control from PROFIBUS
Ready to switch on: always 1
Ready: always 1
0: Not ready
1: Drive ready
0: No fault condition
1: Fault condition
Always 1
Always 1
PPO Read
Switch-on inhibit: always 0
0: No alarm condition
1: Alarm condition
0: No speed agree
1: Speed agree condition
0: Local control
1: Control from PROFIBUS
10
11
12
13
14
15
Reserved
Always 0
<1> This is the setting value for d1-17 in drives running software version 2102 and later. The software version appears on the drive nameplate, indicated by "PRG".
YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual 27
8 Parameter Process Data Object Formats
HSW/HIW
Bit
0 to 15
Task ID
3
6
7
8
9
1
2
ID
0
Response ID
2
4
5
6
7
ID
0
1
PPO Write
Setting Frequency ( ± 10000/100%)
PPO Read
Output Frequency or Motor speed (with PG) ( ± 10000/100%)
Description
No action
Request parameter value
Change parameter value (word)
Change parameter value (double word)
Request parameter value from array
Change parameter value in array (word)
Change parameter value in array (double word)
Request number of array elements
Description
No action
Transfer parameter value (word)
Transfer parameter value (double word)
Transfer parameter value (array word)
Transfer parameter value (array double word)
Transfer number of array element
Task cannot be executed (with error number)
SI-P3/V Device Data
Parameter
GSD_Revision
Setting Value
3
Note
GSD file revision 3.0.
Model_Name
Ident_Number
FMS_supp
"PROFIBUS-DP INTERFACE CARD SI-P3"
0x0ACF
0
Protocol_Ident 0
Station_Type 0
Slave_Family 3
Revision
Hardware_Release
"V1.0"
"V1.0"
Software_Release
Implementation_type
"V1.0"
"DPC31"
Redundancy 0
Repeater_Ctrl_Sig 2
24V_Pins
Set_Slave_Add_supp = 1
Auto_Baud_supp
9.6_supp
0
1
1
1
19.2_supp
45.45_supp
93.75_supp
187.5_supp
500_supp
1.5M_supp
3M_supp
6M_supp
12M_supp
1
1
1
1
1
1
1
1
1
PROFIBUS-FMS not supported
DP-Slave.
Device revision 1.0
Hardware revision 1.0
Software revision 1.0
DP protocol
Redundancy NOT supported
Supported, TTL level
No external 24 Volt input
Station address is set remotely
Automatic baud rate select
9600 Baud
19.2 kBaud
45.45 kBaud
93.75 kBaud
187.5 kBaud
500 kBaud
1.5 MBaud
3 MBaud
6 MBaud
12 MBaud
28 YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual
8 Parameter Process Data Object Formats
MaxTsdr_9.6
MaxTsdr_19.2
MaxTsdr_45.45
MaxTsdr_93.75
Parameter Setting Value
60
60
MaxTsdr_187.5
MaxTsdr_500
MaxTsdr_1.5M
MaxTsdr_3M
MaxTsdr_6M
MaxTsdr_12M
Min_Slave_Interval 5
Freeze_Mode_supp 1
150
250
450
800
60
60
60
100
Sync_Mode_supp 1
Fail_Safe 1
DPV1_Slave 1
DPV1_Data_Types 1
C1_Read_Write_supp 0
C2_Read_Write_supp
C2_Max_Data_Len
C2_Response_Timeout
1
240
100
60 Tbit = 6.25 msec
Note
60 Tbit = 3.125 msec
60 Tbit = 1.32 msec
60 Tbit = 640 usec
60 Tbit = 320 usec
100 Tbit = 200 usec
150 Tbit = 100 usec
250 Tbit = 83 usec
450 Tbit = 75 usec
800 Tbit = 67 usec
Minimum slave interval=0.5 ms
Fail safe supported
C2_Read_Write_required
C2_Max_Count_Channels
Max_Initiate_PDU_Length
Modular_Station
Max_Module
Max_Input_Len
Max_Output_Len
Max_Data_Len
0
1
52
1
1
32
32
64
Modular station.
Maximum # of modules: 1
Maximum # of input bytes
Maximum # of output bytes
Maximum # of data bytes
Max_User_Prm_Data_Len 4
Ext_User_Prm_Data_Const(0) 0x40,0x01,0x00,0x01
Ext_User_Prm_Data_Ref(0) 1
Ext_User_Prm_Data_Ref(0)
Max_Diag_Data_Len
Unit_Diag_Bit(0024)
Unit_Diag_Bit(0025)
Unit_Diag_Bit(0026)
Unit_Diag_Bit(0027)
2
11
"Undervoltage Condition"
"Inverter Communications Error"
"PNU915: Illegal PNU configured"
"PNU916: Illegal PNU configured"
Maximum diagnostic length
Module = "Basic data" 0x72
1
EndModule
Module = "Extended Data 1" 0x5F, 0x6F
2
EndModule
Module = "Extended Data 2" 0x55, 0x65
3
EndModule
Module = "PPO Type 1" 0xF3, 0xF1
4
EndModule
Module = "PPO Type 2" 0xF3, 0xF5
5
EndModule
Module = "PPO Type 3" 0xF1
6
YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual 29
8 Parameter Process Data Object Formats
EndModule
Module = "PPO Type 4" 0xF5
7
EndModule
Module = "PPO Type 5" 0xF3, 0xF9
8
EndModule
Module = "PPO Type 1 (No Cons.)" 0x73, 0x71
9
EndModule
Module = "PPO Type 2 (No Cons.)" 0x73, 0x75
10
EndModule
Module = "PPO Type 3 (No Cons.)" 0x71
11
EndModule
Module = "PPO Type 4 (No Cons.)" 0x75
12
EndModule
Module = "PPO Type 5 (No Cons.)" 0x73, 0x79
13
EndModule
Supported PNU
Supported PNU No.
900
901
902
903
904
905
907
908
909
910
911
912
915
Data type
Octet String 12
Octet String 20
Octet String 4
Octet String 12
Unsigned 16
Octet String 28
Octet String 12
Octet String 20
Octet String 4
Octet String 12
Unsigned 16
Octet String 28
Array[10] Unsigned 16
916
918
947
948
963
964
965
967
968
971
Array[10] Unsigned 16
Unsigned 16
Array[10] Unsigned 16
Array[10] Unsigned 16
Unsigned 16
Unsigned 16
Octet String 2
V2
V2
Unsigned 16
Write
{
{
{
{
{
{
{
{
{
{
Read
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
Description
Type 1 PPO-Write
Type 2 PPO-Write
Type 3 PPO-Write (DP-V1only)
Type 4 PPO-Write (DP-V1only)
Current PPO-Write
Type 5 PPO-Write
Type 1 PPO-Read
Type 2 PPO-Read
Type 3 PPO-Read (DP-V1only)
Type 4 PPO-Read (DP-V1only)
Current PPO-Read
Type 5 PPO-Read
Assign MEMOBUS/Modbus Write Command to
PZD in PPO-Write
Assign MEMOBUS/Modbus response to PZD in
PPO-Read
Node address
Fault number
Fault time (Elapsed time between fault occurrence)
Current baud rate
Device identification (
Profile code: 0x0302
Read or Write Control word
Read Status word
Start Store in non-volatile memory (Enter code with
EEPROM)
30 YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual
8 Parameter Process Data Object Formats
Example: To Read the Drive Command (STW) using PNU900
Command Setting
PKE
IND
PWE
STW
HSW
Response
Data type Settings
6384H
–
–
5
0
Description
6: Request parameter value from Array
384H=900 dec (PNU 900)
5th Word data of PPO type 1
N/A
Up to Master command
Up to Master command
PKE
IND
PWE
ZSW
HIW
Data type Settings
4384H
5
(STW)
–
–
Description
4: Transfer parameter value (array word)
384H=900 dec (PNU 900)
5th Word data of PPO type 1
STW data
Up to drive status
Up to drive status
Example: To Read the Drive Status (ZSW) using PNU907
Command Setting
PKE
IND
PWE
STW
HSW
Response
Data type Settings
638BH
5
0
–
–
Description
6: Request parameter value from Array
38BH=907 dec (PNU 907)
5th Word data of PPO type 1
N/A
Up to Master command
Up to Master command
PKE
IND
PWE
ZSW
HIW
Data type Settings
438BH
5
(ZSW)
–
–
Description
4: Transfer parameter value (array word)
38BH=907 dec (PNU 907)
5th Word data of PPO type 1
ZSW data
Up to drive status
Up to drive status
Example: To Read the Data Type 1 PPO-Write 1st Word
Command Setting
PKE
IND
PWE
STW
HSW
Response
Data type Settings
6384H
1
0
–
–
Description
6: Request parameter value from Array
384H=900 dec (PNU 900)
First Word data of PPO type 1
N/A
Up to Master command
Up to Master command
PKE
IND
PWE
Data type Settings
4384H
1
6384H
Description
4: Transfer parameter value (array word)
384H=900 dec (PNU 900)
First Word data of PPO type 1
PPO-Write 1st Word data
YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual 31
8 Parameter Process Data Object Formats
ZSW
HIW
Data type Settings
–
–
Example: To read current PPO-Write
Command Setting
Up to drive status
Up to drive status
Description
PKE
IND
PWE
STW
HSW
Response
Data type Settings
1388H
0
0
–
–
Description
1: Request parameter value
388H=904 dec (PNU 904)
Not array type
N/A
Up to Master command
Up to Master command
PKE
IND
PWE
ZSW
HIW
Data type Settings
1388H
0
1
–
–
Description
1: Transfer parameter value
388H=904 dec (PNU 904)
Not array type
1: Type 1 PPO-Write
2: Type 2 PPO-Write
3: Type 3 PPO-Write
4: Type 4 PPO-Write
5: Type 5 PPO-Write
Up to drive status
Up to drive status
How to use PNU 915 (Assignment, PZD in PPO-Write)
PZD1
PZD2
PZD3
PZD4
PZD5
PZD6
PZD7
PZD8
PZD9
PZD10
PZD #
915
915
915
915
915
915
PNU
915
915
915
915
7
8
9
5
6
10
INDX
1
2
3
4
P0.1
P0.2
P0.6
P0.7
P0.9
P0.15
Assigned PNU
–
–
–
–
How to use PNU 916 (Assignment, PZD in PPO-Read)
PZD1
PZD2
PZD3
PZD4
PZD5
PZD6
PZD7
PZD8
PZD9
PZD10
PZD # PNU
916
916
916
916
916
916
916
916
916
916
6
7
8
4
5
INDX
1
2
3
9
10
P0.32
P0.2
P0.36
P0.38
P0.68
P0.69
P0.70
P0.72
P0.71
P0.73
Assigned PNU
Description
Operation command
Frequency Reference
PID set point
Analog Output
Digital Output
PID set point enable
–
–
–
–
Description
Drive Status
Frequency Reference
Output Frequency
Output Current
Motor Speed
Output Voltage
Bus Voltage
Torque Monitor
Output Power
Input terminal status
32 YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual
PNU963
Value
0
1
2
6
7
3
4
8
9
PNU964
Sub-Index
1
2
3
4
5
6
Manufacturer Coding
Device type
Software version
Firmware Data (year)
Firmware Data (month/day)
DO
Description
PNU Number for V1000 Parameters
DPV0 PNU
Number (Dec)
11
12
21
22
23
24
25
26
28
31
32
33
41
42
43
44
47
34
35
36
51
52
53
54
55
61
66
67
81
82
A1 Function Group
A2 Function Group b1 Function Group b2 Function Group b3 Function Group b4 Function Group b5 Function Group b6 Function Group b8 Function Group
C1 Function Group
C2 Function Group
C3 Function Group
C4 Function Group
C5 Function Group
C6 Function Group d1 Function Group d2 Function Group d3 Function Group d4 Function Group d7 Function Group
E1 Function Group
E2 Function Group
E3 Function Group
E4 Function Group
E5 Function Group
F1 Function Group
F6 Function Group
F7 Function Group
H1 Function Group
H2 Function Group
Description
8 Parameter Process Data Object Formats
Baud rate (kbit/s)
9.6
19.2
93.75
187.5
500
1500
3000
6000
12000
Settings
273 dec
1
0
2007 dec
0220 dec
1
INDEX (Dec)
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual 33
8 Parameter Process Data Object Formats
215
216
218
300
301
211
212
213
214
154
171
181
201
148
151
152
153
DPV0 PNU
Number (Dec)
83
84
85
86
121
122
123
124
125
126
127
128
141
142
143
146
H3 Function Group
H4 Function Group
H5 Function Group
H6 Function Group
L1 Function Group
L2 Function Group
L3 Function Group
L4 Function Group
L5 Function Group
L6 Function Group
L7 Function Group
L8 Function Group n1 Function Group n2 Function Group n3 Function Group n6 Function Group n8 Function Group o1 Function Group o2 Function Group o3 Function Group o4 Function Group q1 Function Group r1 Function Group
T1 Function Group
U1 Function Group
U2 Function Group
U3 Function Group
U4 Function Group
U5 Function Group
U6 Function Group
U8 Function Group
RAM Enter Command
ROM Enter Command
Description
PNU Numbering for MEMOBUS/Modbus registers
DPV0 PNU
Number
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
Description
Command
0001H MEMOBUS/Modbus #
0002H MEMOBUS/Modbus #
0007H MEMOBUS/Modbus #
0009H MEMOBUS/Modbus #
000AH MEMOBUS/Modbus #
000FH MEMOBUS/Modbus #
0010H MEMOBUS/Modbus #
0011H MEMOBUS/Modbus #
Monitor
0020H MEMOBUS/Modbus #
0021H MEMOBUS/Modbus #
0022H MEMOBUS/Modbus #
0023H MEMOBUS/Modbus #
0024H MEMOBUS/Modbus #
0025H MEMOBUS/Modbus #
0026H MEMOBUS/Modbus #
0027H MEMOBUS/Modbus #
34
INDEX
9
10
15
16
17
1
2
7
35
36
37
32
33
34
38
39
YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual
INDEX (Dec)
00–99
00–99
00–99
00–99
00–99
00–99
00–99
0
0
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00-99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
00–99
8 Parameter Process Data Object Formats
0
0
0
0
0
0
0
0
0
0
DPV0 PNU
Number
0
0
0
0
0
Description
0028H MEMOBUS/Modbus #
0029H MEMOBUS/Modbus #
002AH MEMOBUS/Modbus #
002BH MEMOBUS/Modbus #
002CH MEMOBUS/Modbus #
002DH MEMOBUS/Modbus #
002EH MEMOBUS/Modbus #
002FH MEMOBUS/Modbus #
0030H MEMOBUS/Modbus #
0031H MEMOBUS/Modbus #
0032H MEMOBUS/Modbus #
0033H MEMOBUS/Modbus #
0034H MEMOBUS/Modbus # xxx
00FFH MEMOBUS/Modbus #
Note: When PNU is set to 0 and INDEX is set to MEMOBUS/Modbus register number, V1000 parameter values can be read and written instead of using PNU number.
Note: MEMOBUS/Modbus register C1-01 is 200Hex
When PNU is 0 and INDEX is 200H(512 dec), C1-01 setting value can be read and written instead of using PNU 31(dec) and
INDEX 01.
Example: Writing to C1-01
Command Setting
INDEX
51
52 xxx
255
47
48
49
50
43
44
45
46
40
41
42
PKE
IND
PWE
STW
HSW
Response
Data type Settings
701FH
–
–
1
10
Description
7: Change parameter setting value from array
1FH = 31 (C1 parameter)
C1-01
Assign 10
Up to Master command
Up to Master command
PKE
IND
PWE
STW
HSW
PKE
Data type
Example: Reading d1-17
Command Setting
Data type
Settings
401FH
1
0
–
–
Settings
6029H
Description
4: Transfer parameter value (array word)
1FH = 31 (C1 parameter)
C1-01
N/A
Up to drive status
Up to drive status
IND
PWE
STW
HSW
Response
11H
0
–
–
Description
6: Request parameter value from Array
29H = 41 (d1 parameter)
11H = 17 (d1-17)
N/A
Up to Master command
Up to Master command
PKE
Data type Settings
4029H
Description
4: Transfer parameter value (array word)
29H = 41 (d1 parameter)
YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual 35
8 Parameter Process Data Object Formats
IND
PWE
STW
HSW
Data type Settings
11H
258H
–
– d1-17 d1-17 value
Up to drive status
Up to drive status
Example: Writing to RAM with the Enter Command
Command Setting
PKE
IND
PWE
STW
HSW
Response
Data type Settings
212CH
0
0
–
–
Description
Description
2: Change parameter setting value
12CH = 300
N/A
N/A
Up to Master command
Up to Master command
PKE
IND
PWE
STW
HSW
Data type Settings
112CH
0
0
–
–
Description
1: Transfer parameter value (word)
12CH = 300
N/A
N/A
Up to drive status
Up to drive status
36 YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual
9 Troubleshooting
9 Troubleshooting
Drive-Side Error Codes
Drive-side error codes appear on the drive LED operator. Causes of the errors and corrective actions are listed in
Faults
bUS (PROFIBUS-DP Option Communication Error) and EF0 (External Fault Input from the PROFIBUS-DP Option) may appear as an alarm or a fault. When a fault occurs, the digital operator LEDs remain lit. When an alarm occurs, the digital operator LEDs flash and the “ALM” light illuminates
If communication stops while the drive is running, check the following items to resolve the fault:
• Is the PROFIBUS-DP Option properly installed?
• Is the communication line properly connected to the PROFIBUS-DP Option? Is it loose?
• Is the controller program working? Has the controller CPU stopped?
• Did a momentary power loss interrupt communications?
Table 17 Fault Display and Possible Solutions
LED Operator Display bUS
Cause
Master controller (PLC) has stopped communicating.
Communication cable is not connected properly
Fault Name
PROFIBUS-DP Option Communication Error
• After establishing initial communication, the connection was lost
• Only detected when the run command or frequency reference is assigned to the option (b1-03
= 3 or b1-02 = 3)
Possible Solution
Check for faulty wiring.
Correct any wiring problems
A data error occurred due to noise
PROFIBUS-DP Option is damaged.
• Check the various options available to minimize the effects of noise.
• Take steps to counteract noise in the control circuit wiring, main circuit lines, and ground wiring.
• If a magnetic contactor is identified as a source of noise, install a surge absorber to the contactor coil
• Use cables recommended by Yaskawa, or another type of shielded line. Ground the shield on the controller side and on the PROFIBUS-DP Option side
If there are no problems with the wiring and the error continues to occur, replace the
PROFIBUS-DP Option
LED Operator Display
EF0
Cause
An external fault is being sent from the upper controller (PLC).
Problem with the upper controller (PLC) program.
Fault Name
External Fault Input from PROFIBUS-DP Option
The alarm function for an external device has been triggered
Possible Solution
• Remove the cause of the external fault
• Reset the external fault input from the upper controller (PLC) device
Check the program used by the upper controller (PLC) and make the appropriate corrections
LED Operator Display oFA00
Fault Name
PROFIBUS-DP Option Fault (Port A)
PROFIBUS-DP Option is not properly connected
Cause Possible Solution
Non-compatible option connected to the drive.
Connect an option that is compatible with the drive
YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual 37
9 Troubleshooting
LED Operator Display oFA01
Cause
Problem with the connectors between the drive and PROFIBUS-DP Option.
Fault Name
PROFIBUS-DP Option Fault (Port A)
PROFIBUS-DP Option is not properly connected
Possible Solution
Turn the power off and check the connectors between the drive and PROFIBUS-DP Option.
LED Operator Display oFA03
Cause
PROFIBUS-DP Option hardware fault.
LED Operator Display oFA04
Cause
PROFIBUS-DP Option hardware fault.
PROFIBUS-DP Option Fault (Port A)
Fault Name
PROFIBUS-DP Option self-diagnostics error
Possible Solution
Replace the PROFIBUS-DP Option. Contact Yaskawa for assistance
PROFIBUS-DP Option Fault (Port A)
PROFIBUS-DP Option Flash write mode
Fault Name
Possible Solution
Replace the PROFIBUS-DP Option. Contact Yaskawa for assistance to
LED Operator Display oFA30 to oFA43
Cause
PROFIBUS-DP Option hardware fault
Minor Faults and Alarms
Fault Name
PROFIBUS-DP Option Fault (port A)
Communication ID error
Possible Solution
⇒ Replace the PROFIBUS-DP Option. Contact Yaskawa for assistance
LED Operator Display bb
Table 18 Alarm Display
Minor Fault Name
Baseblock
Data format and setting contents do not match
Cause Possible Solution
The drive output is disabled. "bb" will be displayed on the operator when the drive is set for control by PROFIBUS-DP and:
• a conventional data format is used and the operation command bit F is set to 1
• a PPO type data format is used the the control word (STW) bit 3 is set to 0
Set either of the bits depending on which data format is used
Minor Fault
(H2 = 10)
No output
LED Operator Display
CALL
Minor Fault Name
Serial Communication Transmission Error
Communication has not yet been established
Possible Solution Cause
Communication wiring is faulty, there is a short circuit, or something is not connected properly
Programming error on the master side
Communication circuitry is damaged
Check for wiring errors
⇒ Correct the wiring
⇒ Remove and ground shorts and reconnect loose wires
⇒ Check communications at start-up and correct programming errors
Perform a self-diagnostics check
⇒ Replace the drive if the fault continues to occur
Minor Fault
(H2 = 10)
YES
38 YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual
10 Specifications
Specifications
Model
Items
PROFIBUS-DP Data
Connector
Communications Speed
Ambient Temperature
Humidity
Storage Temperature
Area of Use
Altitude
Table 19 Option Unit Specifications
Specifications
SI-P3/V (PCB model: SI-P3)
• PROFIBUS DP-V0, V1
• PPO TYPE: 1~5 (No. 3.072, Profile for Variable Speed Drives)
• Extended data 1
High-speed I/O data (inputs: 16 bytes, outputs: 16 bytes)
MEMOBUS/Modbus message (inputs: 16 bytes, outputs: 16 bytes)
• Extended data 2
High-speed I/O data (inputs: 4 bytes, outputs: 4 bytes)
MEMOBUS/Modbus message (inputs: 8 bytes, outputs: 8 bytes)
• Basic data
High-speed I/O data (inputs: 6 bytes, outputs: 6 bytes)
9-pin D-SUB connector (#4/40 UNC thread)
9.6 kbps to 12 Mbps
–10 ° C to +50 ° C
Up to 95% RH (no condensation)
–20 ° C to +60 ° C (allowed for short-term transport of the product)
Indoor (free of corrosive gas, airborne particles, etc.)
Up to 1000 m
Revision History
The revision dates and the numbers of the revised manuals appear on the bottom of the back cover.
10 Specifications
MANUAL NO. SIEP C730600 23B
Published in Japan January 2009 07-7 2 -1
WEB revision number
Revision number
Date of original publication
Date of publication
Date of Printing
July 2007
January 2008
August 2008
January 2009
Revision
Number
−
1
WEB
Rev.
No.
−
−
2
0
1
Section Revised Content
− First Edition
Back cover Revision: Address
All Revision: Reviewed and corrected entire document
Chapter 6
Chapter 7
Chapter 8
Chapter 9
Chapter 7
Chapter 8
Addition: Parameter F6-07 and F6-08
Deletion: Monitor Data and MEMOBUS Message Area, Alarm Contents
Deletion: Enter Command and Error Codes
Addition: Fault - oFA30 to oFA43 Minor Faults and Alarms - CALL
Revision: Table for Basic Data Register Map Detail
Addition: Note for register STW/ZSW
YASKAWA ELECTRIC SIEP C730600 23B V1000 Option PROFIBUS-DP Technical Manual 39
英文 No.4-5 (A4) メカトロ製品用
YASKAWA AC Drive-V1000 Option
PROFIBUS-DP
Technical Manual
IRUMA BUSINESS CENTER (SOLUTION CENTER)
480, Kamifujisawa, Iruma, Saitama 358-8555, Japan
Phone 81-4-2962-5696 Fax 81-4-2962-6138
YASKAWA ELECTRIC AMERICA, INC.
2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone 1-847-887-7000 Fax 1-847-887-7370
YASKAWA ELETRICO DO BRASIL LTDA.
Avenida Fagundes Filho, 620 Sao Paulo-SP CEP 04304-000, Brazil
Phone 55-11-3585-1100 Fax 55-11-5581-8795
YASKAWA ELECTRIC EUROPE GmbH
Hauptstra β e 185, 65760 Eschborn, Germany
Phone 49-6196-569-300 Fax 49-6196-569-398
YASKAWA ELECTRIC UK LTD.
1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom
Phone 44-1236-735000 Fax 44-1236-458182
YASKAWA ELECTRIC KOREA CORPORATION
7F, Doore Bldg. 24, Yeoido-dong, Youngdungpo-Ku, Seoul 150-877, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
YASKAWA ELECTRIC (SHANGHAI) CO., LTD.
No.18 Xizang Zhong Road. Room 1702-1707, Harbour Ring Plaza Shanghai 200001, China
Phone 86-21-5385-2200 Fax 86-21-5385-3299
YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE
Room 1011A, Tower W3 Oriental Plaza, No.1 East Chang An Ave.,
Dong Cheng District, Beijing 100738, China
Phone 86-10-8518-4086 Fax 86-10-8518-4082
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280
YASKAWA ELECTRIC CORPORATION
YASKAWA
In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice for ongoing product modifications and improvements.
© 2007-2009 YASKAWA ELECTRIC CORPORATION. All rights reserved.
MANUAL NO. SIEP C730600 23B
Published in Japan January 2009 07-7
08-5-3
2 -1
Unduh
Tautan publik diperbarui
Tautan publik ke obrolan Anda telah diperbarui. You may view and manage your chat links after registration here.
Tautan publik dokumen
Iklan