Yaskawa Network Comms-DeviceNet Manual

DeviceNet™ Option (CM05x)

Technical Manual

Models: CIMR-F7*, CIMR-G7*, CIMR-P7* Document Number TM.AFD.14

Technical References:

Refer to the following publications for further information about the Drive and DeviceNet Option Board.

•

Drive User Manual

Publication: TM.F7.01, TM.G7.01, TM.P7.01

•

DeviceNet Option Board Installation Guide

Publication: TM.AFD.14

•

ODVA DeviceNet Specification

Volume I and Volume II

Technical Support

Technical Support Center-

Provide telephone assistance related to installation, start-up, programming, and troubleshooting drives and communication products. For technical phone support call

1 – 800 – YASKAWA.

Contents

Chapter 1 ....................................................................................................................... 1

Introducing the DeviceNet™ Network ...................................................................1

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

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

Overview ....................................................................................................4

The DeviceNet Network .............................................................................4

DeviceNet Option Board ............................................................................6

Message Types on DeviceNet ...................................................................7

Chapter 2 ....................................................................................................................... 1

DeviceNet Option Board........................................................................................1

Start-up Procedure ................................................................................................1

Chapter 3 ....................................................................................................................... 1

Setup and Installation ............................................................................................1

Option Board Hardware Components........................................................2

Option Board Setup ...................................................................................3

Option Board Installation ...........................................................................6

Chapter 4 ....................................................................................................................... 1

DeviceNet Network Wiring.....................................................................................1

DeviceNet Network Topology ....................................................................2

Cable Specifications ..................................................................................4

Terminating Resistor Specifications ..........................................................5

DeviceNet Connector.................................................................................5

Chapter 5 ....................................................................................................................... 1

DeviceNet EDS Files .............................................................................................1

EDS Files in General .................................................................................2

EDS Files for the Drive ..............................................................................2

Chapter 6 ....................................................................................................................... 1

Configuration of DeviceNet....................................................................................1

and Drive Parameters............................................................................................1

Polled Configuration ..................................................................................2

Motor Nameplate Configuration .................................................................5

Drive Application Parameters Configuration ..............................................5

Chapter 7 ....................................................................................................................... 1

Drive Operation on DeviceNet ...............................................................................1

Data Storage of the DeviceNet Option Board ............................................2

ACCEPT Command...................................................................................4

ENTER Command .....................................................................................5

Run/Stop Selection ....................................................................................6

Frequency Reference Selection ................................................................8

Run/Stop Control .....................................................................................10

Frequency Reference Control..................................................................11

Torque Reference Control .......................................................................11

Acceleration and Deceleration Times ......................................................13

EF0 Fault Parameters..............................................................................13

Reset the Drive to Power-Up Conditions .................................................14

Reset the Drive to Factory Conditions .....................................................14

Chapter 8 ....................................................................................................................... 1

DeviceNet Profiles .................................................................................................1

DeviceNet Device Profiles .........................................................................2

AC Drive Profile .........................................................................................3

Chapter 9 ....................................................................................................................... 1

Diagnostics and Troubleshooting ..........................................................................1

Network and Module Status LEDs at Power-Up ........................................2

Network Status LED ..................................................................................2

Module Status LED....................................................................................3

DeviceNet Error Codes ..............................................................................4

Drive Fault Codes ......................................................................................5

Appendix A .................................................................................................................... 1

DeviceNet Object Paths ........................................................................................1

Identity Class .............................................................................................2

DeviceNet Class ........................................................................................3

Assembly Class .........................................................................................4

Connection Class.......................................................................................5

Motor Class................................................................................................7

Control Supervisor Class ...........................................................................8

AC Drive Class ........................................................................................10

Yaskawa Command Class.......................................................................12

Yaskawa Drive Status Class....................................................................14

Yaskawa DRIVE U Parameter Class .......................................................15

Appendix B .................................................................................................................... 1

Drive Assemblies...................................................................................................1

Output Assemblies – Polled Consuming Assembly ...................................2

Input Assemblies – Polled Producing Assembly........................................5

Appendix C .................................................................................................................... 1

DeviceNet Object Services....................................................................................1

Identity Class .............................................................................................2

DeviceNet Class ........................................................................................2

Assembly Class .........................................................................................2

Connection Class.......................................................................................3

Motor Class................................................................................................3

Control Supervisor Class ...........................................................................3

AC Drive Class ..........................................................................................4

Yaskawa Drive Command Class ...............................................................4

Yaskawa Drive Status Class......................................................................5

Yaskawa Drive Monitor Class ....................................................................5

Yaskawa Drive Parameter Class ...............................................................5

Appendix D .................................................................................................................... 1

Product Specifications ...........................................................................................1

Appendix E .................................................................................................................... 1

Spare Parts List .....................................................................................................1

Appendix F .................................................................................................................... 1

Drive Monitor and Parameter Object Paths ...........................................................1

Yaskawa Drive Monitor Object Paths ........................................................2

Yaskawa Drive Parameter Object Paths ...................................................5

Chapter 1

Introducing the DeviceNet™ Network

Warnings and Cautions

Introduction

Overview

The DeviceNet Network

The Drive on DeviceNet

Message Types on DeviceNet

Introducing the DeviceNet Network 1-1

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 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.

•

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 Drive rated voltage matches voltage of 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.


Introduction

This manual explains the specifications and handling of the Yaskawa DeviceNet™ CM05x Option for the

Yaskawa model F7, G7 and P7 Drives. Check the EPROM label to verify that the DeviceNet™ Option (CM05x) card is the correct card for the drive.

Drive Kit # Option Board #

F7U CM056 46S03318-002#

EPROM Label Designation

VST80003#

G7U CM057 46S03318-003# VST80004#

P7U CM058 46S03318-004# VST80005#

DeviceNet™ Option (CM05x) Installation Guide (IG.AFD.14.DeviceNet)

Qty.

1

1

1

1

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 accompanied 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

.

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) or TM.G7.02 (G7 Programming Manual)

P7 document reference TM.P7.01 (P7 User Manual) or TM.P7.02 (P7 Programming Manual)

F7 MODBUS Technical Manual document reference TM.F7.11

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.


Overview

This manual describes the set-up and programming of the Yaskawa DeviceNet Option Board. The DeviceNet option board will allow communication between the DeviceNet Communication Network and the Yaskawa Drive.

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

•

DeviceNet Option Board

Part Number: CM056, CM057, or CM058

•

DeviceNet Technical Manual

Publication: TM.AFD.14

•

DeviceNet EDS Files for the Drive model from www.drives.com

or Yaskawa Electronic Library CD-

ROM: CD.AFD7.01

•

Drive User Manual

Publication: TM.F7.01, TM.G7.01, or TM.P7.01

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 1.1 shows an example DeviceNet network.

R

Terminating

Resistor

Trunkline

Droplines

R

Terminating

Resistor

RS-232

Interface

Module

Master

PLC/Scanner

24Vdc

P7 F7 G7

Figure 1.1 DeviceNet Network Example

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 with 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 and Peer-to-Peer capabilities (Peer-to-Peer capability is not supported by Yaskawa’s

DeviceNet)


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

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 125 KBaud, 250 KBaud, and 500 KBaud

•

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 high-speed digital control for optimum performance. These benefits make DeviceNet especially suitable for the industrial automation environment.



Yaskawa’s DeviceNet Option Board appears as one node on the network. The Option Board must be installed into each Drive that will be communicating on the DeviceNet network. The Option Board is powered from both the

+24Vdc DeviceNet network power and the Drive.

When connected to the DeviceNet network, the Drive communicates on the network using a Master/Slave relationship. The Master is a device that gathers and distributes I/O data for the process controller. Slaves are devices from which the Master gathers I/O data and to which the Master distributes I/O data.

On a DeviceNet network, a Master device is said to “own” a Slave device. A Slave device can be “owned” by only one Master. A Slave device cannot initiate communication transactions unless it has been told to do so by its Master. A Master scans its Slave devices based on a scan list that it contains.

The Option Board acts as a DeviceNet Slave device. With respect to the network, the Option Board is considered to be a Group 2 Only Server.

By definition, a Group 2 Only Server device is UCMM incapable. A Group 2 Only Server uses DeviceNet’s

Predefined Master/Slave Connection Set to establish communications. A Group 2 Only Server can transmit and receive only those messages defined by the Predefined Master/Slave Connection Set. (Volume I of the

DeviceNet Specification fully defines Group 2 Server Devices). Since the Drive acts a DeviceNet Slave device, it will respond to message commands issued by a DeviceNet Master device. With respect to the network, the

Master is a Group 2 Client or a Group 2 Only Client.


Message Types on DeviceNet

The table below shows the message types that are defined by DeviceNet’s Predefined Master/Slave Connection

Set, as well as which message types are supported by the

Option Board. A definition of each message type follows the table.

Message

Type

DeviceNet

Option Board

Bit-Strobe NO

Change-of-State/Cyclic NO

Polled YES

Explicit YES

The Bit-Strobe Command message is an I/O message that is transmitted by the Master. One Bit-Strobe

Command message can be received by and acted upon by all Slave devices on the network. A Bit-Strobe

Command message provides 1-bit of data to each Slave on the network. Bit-Strobe Command messages are transmitted by the Master at a set time interval.

The Bit-Strobe Response message is an I/O message that a Slave transmits back to the Master after receiving a

Bit-Strobe Command message. A Bit-Strobe Response message can provide up to 8 bytes of data from a Slave device to a Master device.

The Option Board does not support Bit-Strobe messaging.

The Change-of-State/Cyclic message is transmitted by either the Master or the Slave. A Change-of-State/Cyclic message is directed towards a single, specific node. An Acknowledge message may be returned in response to this message.

The Option Board does not support Change-of-State/Cyclic messaging.

The Polled Command message is an I/O message that is transmitted by the Master. A Polled Command message is directed towards a single, specific Slave device. A Master must transmit a separate Polled

Command Message for each Slave device that is to be polled. The Polled Command message can provide up to

256-bytes of data to a single Slave device. Polled Command messages are transmitted by the Master at a set time interval.

The Polled Response message is an I/O message that a Slave transmits back to the Master after receiving a

Polled Command message. A Polled Response message can provide up to 256-bytes of data from a Slave device to a Master device.

The Option Board uses Polled messaging to receive Run/Stop and Speed commands from the Master and to send Status and Output information to the Master.

The Explicit Request message is a message that is transmitted by the Master. An Explicit Request message is directed towards a single, specific Slave device. Explicit Command messages are used to perform services such as reading data from the Slave device, writing data to the Slave device, and resetting the Slave device.

Explicit Request messages are transmitted by the Master whenever the desired service is required.

The Explicit Response message is a message that a Slave transmits back to the Master after receiving an Explicit

Request message. Explicit Response messages are used to return the results of the Explicit Request message service.

The Option Board uses Explicit messaging to read Drive data (Drive parameters, Drive runtime status), to write data (Drive parameters, Drive control commands), to save data (the ENTER command), and to reset the Drive

(power-up reset, out-of-box reset).


Notes:

DeviceNet Option Board Startup Procedure 2-1

Chapter 2


Start-up Procedure

The following procedure outlines the steps that should be taken to start up the Drive with the DeviceNet Option

Board.

1. Complete the Drive Start Up procedure detailed in the Drive User Manual. This includes connecting power to the Drive, running the Drive from the operator keypad, and verifying that the Drive functions properly.

2. 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.

3. Remove the operator keypad and the Drive cover(s).

4. Install the DeviceNet Option Board on the Drive. See Chapter 3 for details.

5. Set the network Baud Rate and MAC ID. See Chapter 3 for details.

6. Connect the Option Board to the DeviceNet Network. See Chapter 4 for details.

7. If using a DeviceNet Configuration Tool that supports EDS files, install the Drive EDS files that are provided with the DeviceNet Option Board. See Chapter 5 for general information on EDS files. The EDS file installation procedure will depend on the Configuration Tool being used.

8. Configure the Drive parameters. These parameters include: polled network configuration, motor nameplate data, and drive application constants. See Chapter 6 for details.


Notes:


Chapter 3

Setup and Installation

Option Board Hardware Components

Option Board Setup

Option Board Installation

Setup and Installation 3-1

Option Board Hardware Components

CAUTION

The DeviceNet Option Board is an electrostatic sensitive device. Personnel must follow approved methods for handling this type of equipment.

WARNING

Hazardous voltage may cause severe injury or death. Ensure all power sources feeding the Drive are locked in the “OFF” position before installing this option board.

Figure 3.1 shows the DeviceNet Option Board. J1 connector (on back of board) is used for connection to the

2CN connector on the Drive. DIP switches are used to set up the DeviceNet network Baud Rate and the

DeviceNet MAC ID. The DeviceNet terminal is used for connection of the DeviceNet network wiring. Ground wire is the ground connection to the Drive terminal board. NS is the Network Status LED and MS is the Module

Status LED.

Ground wire

DIP switches

MS LED

NS LED

Figure 3.1 DeviceNet Option Board

DeviceNet

Terminal


Option Board Setup

The DeviceNet Option Board requires setup prior to operation. DIP switches must be set prior to the application of input AC power to the Drive. The states of these DIP switches are read only on power-up.

Option Board DIP Switch Settings

The DIP switches are used to setup DeviceNet network characteristics. The DIP switch functions are defined in the following table:

DIP Switch Number Function

1

2

3

Baud Rate, Bit 1

Baud Rate, Bit 0

Node Number, MSB

8 Node Number, LSB

10 Master Idle Operation

DIP switches 1 and 2 are used to select the baud rate of the DeviceNet network. The baud rate setting of the

Option Board must match the baud rate setting of the rest of the devices on the DeviceNet network. The available baud rates are defined in the following table. The cable distance between any two points in the cable system must not exceed the Maximum Cable Distance allowed for the baud rate selected. See Chapter 4 for information on calculating the Maximum Cable Distance.

DeviceNet

Baud Rate

(KBaud)

DIP Switch Position

Switch 1 Switch 2

500

On Off

On On


DIP switches 3 through 8 are used to setup the DeviceNet node number of the Option Board. A DeviceNet network can have up to 64 nodes. The DeviceNet node number settings are defined in the following table.

Node Number Switch 3 Switch 4

0 Off Off

1 Off Off

2 Off Off

3 Off Off

4 Off Off

5 Off Off

6 Off Off

7 Off Off

8 Off Off

9 Off Off

10 Off Off

11 Off Off

12 Off Off

13 Off Off

14 Off Off

15 Off Off

16 Off On

17 Off On

18 Off On

19 Off On

20 Off On

21 Off On

22 Off On

23 Off On

24 Off On

25 Off On

26 Off On

27 Off On

28 Off On

29 Off On

30 Off On

31 Off On

33

35

37

39

41

43

45

47

49

51

53

55

57

59

61

63

On

On

On

On

On

On

On

On

On

On

On

On

On

On

On

On

Off

Off

Off

Off

Off

Off

Off

Off

On

On

On

On

On

On

On

On

Switch 6

Off

On

On

On

On

On

Off

Off

Off

Off

On

On

On

On

Off

Off

Off

Off

On

On

On

On

Off

Off

Off

Off

On

On

On

On

Off

Off

Off

Off

Off

Off

Off

On

On

On

On

On

On

On

Off

Off

Off

Off

On

On

On

On

Off

Off

Off

Off

On

On

On

On

Off

Off

Off

Off

Switch 5

Off

On

On

On

On

On

On

On

On

Off

Off

Off

Off

On

Off

Off

Off

Off

On

On

On

On

On

On

On

Off

Off

Off

Off

On

Off

Off

Off

On

On

On

On

On

On

On

Off

Off

Off

Off

Off

Off

Off

Off

On

On

On

On

On

On

On

On

Off

Off

Off

Off

Off

Off

Off

Off

Switch 7

On

Off

Off

On

On

On

Off

Off

On

On

Off

Off

On

On

Off

Off

On

On

Off

Off

On

On

Off

Off

On

On

Off

Off

On

On

Off

Off

On

Off

Off

On

On

Off

Off

On

Off

Off

On

On

Off

Off

On

On

Off

Off

On

On

Off

Off

On

On

Off

Off

On

On

Off

Off

On

On

Switch 8

On

Off

On

Off

On

Off

On

Off

On

On

Off

On

Off

On

Off

On

Off

On

Off

On

Off

On

Off

On

Off

On

Off

On

Off

On

Off

On

Off

Off

On

Off

On

Off

On

Off

Off

On

Off

On

Off

On

Off

On

Off

On

Off

On

Off

On

Off

On

Off

On

Off

On

Off

On

Off

On


Some master devices can be placed in idle mode. During idle mode, some masters do not send or receive polled messages. DIP switch 10, allows the drive to continue to operate as normal or generate an “EF0” fault to indicate that no polled messages are being received from the master.

Master Idle DIP Switch Position

Operation Switch 10

“EF0” disabled

“EF0” enabled

Off

On

With DIP switch 10 in the “Off” position, the “EF0” fault is disabled. When the master is placed in idle mode, the drive will continue to operate as normal based on the last polled message that was received from the master.

With DIP switch 10 in the “On” position, the “EF0” fault is enabled. When the master is placed in idle mode, the drive will generate an “EF0” fault. The drive returns to normal operation after the master is no longer in idle mode, the run command is removed, and the RESET command is issued via DeviceNet, control terminals, or the

Drive Digital Operator.


Option Board Installation

The DeviceNet Option Board installs directly on the Drive control board 2CN port.

4CN

Option Card A

2CN

Option Card C

Option Clip

3CN

Option Card D

(Not available when

CM056/57/58 is used)

Grounding Terminal

Figure 3.2 DeviceNet Option Board Installation


1. Remove power from the Drive and wait for the charge lamp to be completely extinguished. Wait at least five additional minutes for the Drive to be completely discharged. Measure the DC BUS voltage and verify that it is at a safe level.

2. Remove the Drive’s operator keypad by depressing the tab on the right side of the keypad and then pulling it out.

3. Remove the Drive’s front cover(s) until the entire control card is exposed. The number of cover(s) and the removal procedure varies by drive series and capacity. Consult the Drive’s technical manual for details.

Remove the operator keypad by depressing the tab on the right side of the keypad and then pulling it out.

4. Remove the option board hold-down clip on the left side of the Drive case by carefully compressing the top and bottom until it becomes free of its holder and then pulling it out.

5. Align the J1 connector on the back of the DeviceNet Option Board with its mating 2CN connector on the front of the Drive control card. Align the three standoffs on the front of the Drive control board with the three holes on the right side of the DeviceNet Option. Press the DeviceNet option firmly onto the Drive

2CN connector and standoffs until the 2CN connector is fully seated and the Drive standoffs have locked into their appropriate holes.

6. Connect the option ground wire to ground terminal on the F7, G7, or P7 Drive terminal boards.

7. Connect the DeviceNet cable to the DeviceNet terminal on the Option Board according to the wire name on the DeviceNet Option Board .

8. The DIP switches (S1) located on the front of the DeviceNet Option Board should be properly configured.

See “Option Board Setup” earlier in this chapter.

9. Replace the Drive front cover and Digital Operator.

10. Apply power to the Drive and verify that the diagnostic LEDs on the front of the DeviceNet Option Board perform the following LED check and are in their correct state.

MS LED ON Green for 0.25 seconds.

MS LED ON Red for 0.25 seconds.

MS LED ON Green for 0.25 seconds.

NS LED ON Green for 0.25 seconds.

NS LED ON Red for 0.25 seconds.

PWR

Solid

Green

LED Display

MS NS

Solid

Green

Solid

Green

WD

Flashing

Green

Content Cause


Notes:


Chapter 4

DeviceNet Network Wiring

DeviceNet Network Topology

Maximum Cable Distance

Cable Specifications

Terminating Resistor Specifications

DeviceNet Connector

DeviceNet Network Wiring 4-1

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. Figure 4.1 shows an example DeviceNet network.

The thick lines in Figure 4.1 indicate a trunkline. The thin lines in Figure 4.1 indicate a dropline.

Terminating

Resistor

Node

Node

Node

Multiple Node

Branching

Dropline

Multi-Port

Tap

Node

Tap

Tap

Multi-Port

Tap

Tap

Node

Node

Node

Terminating

Resistor

Multiple Node

Daisy Chain

Dropline

Zero Length

Dropline

Node

Node

Node

Node

Figure 4.1 DeviceNet Topology

Maximum Cable Distance

The total amount of trunkline allowable on the network depends upon the baud 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 baud 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

Maximum Cable Distance for

100% Thick Cable

500 meters (1640 feet)



Maximum Cable Distance for

100% Thin Cable



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 Figure 4-2.

Length of

Thin Cable

(meters)

100

80

60

40

20

0

500

KBaud

250

KBaud

125

KBaud

0 100 300 400

Length of Thick Cable (meters)

500

At 125 KBaud:

At 250 KBaud:

L

thick

+ 5.0 x L

thin

= 500

L

thick

+ 2.5 x L

thin

= 250

At 500 KBaud:

L

thick

+ L

thin

= 100

(where

L

thick is the length of thick cable and

L

thin is the length of thin cable – in meters.)

Figure 4.2 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 baud rate.

Refer to the following dropline budget when determining the number and length of droplines.

Baud Rate

125 KBaud

250 KBaud

500 KBaud

Maximum

6 meters (20 ft)

Drop Length

Cumulative





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

Belden Wire & Cable Company

Pair

Data

AWG Insulation Outer Jacket

18 Datalene Lt. Gray PVC

15

Data 24 Datalene Lt. Gray PVC

22

15

22

Part #

210051

210144

Pair

Data

Data

Berk-Tek

AWG Insulation Outer Jacket

18 FPE/HDPE Lt. Gray PVC

15

24 FPE/HDPE Lt. Gray PVC

22


Terminating Resistor Specifications

DeviceNet requires a terminating resistor to be installed at each end of the trunk. The resistor requirements are:

•

121 ohm

•

1% Metal Film

•

1/4 Watt

IMPORTANT: Terminating resistors should not be installed at the end of a dropline, only at the two ends of the trunkline.

DeviceNet Connector

The DeviceNet Option Board uses an open style, pluggable, screw connector that conforms with the DeviceNet specification. The male connector is resident on the Option Board. One mating female connector is supplied with each DeviceNet Option Board. Figure 4.3 shows the pinout, orientation, and placement of the male connector on the DeviceNet Option Board.

V - C L SH C H V +

Figure 4.3 DeviceNet Connector

The following table illustrates the pinouts and wire insulation colors for the DeviceNet Option Board.

Pin Label Definition Wire Color

2 CL CAN Data Signal Low

Black

Blue

4 CH CAN Data Signal High White

Red


Notes:


Chapter 5

DeviceNet EDS Files

EDS Files in General

EDS Files for the Drive

DeviceNet EDS Files 5-1

EDS Files in General

A CD-ROM (CD.AFD7.01) containing Electronic Data Sheet (EDS) files for the Drive is included with each

DeviceNet Option Board. Alternatively, the EDS files can be downloaded from www.drives.com

. The EDS files are used together with a DeviceNet Network Configuration tool, i.e. Rockwell Software RSNetWorx™.

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:

4. Revision

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.

Note: References to EDS parameter numbers and respective functions could change with Drive firmware changes.

EDS Files for the Drive

All DeviceNet Option Boards will have a Vendor ID equal to 37. All AC Drive products will have a Device Type equal to 2. The Drive Product Codes depend on the Drive model. The Product Codes for the Drive are given in the following table. The Revision can be found on the Option Board processor label of the EPROM, component

U7.


Input

Voltage

3-Phase

CIMR-F7U,

CIMR-G7U,

Or

CIMR-P7U

20P4

20P7

21P5

22P2

23P7

25P5

27P5

2011

2015

2018

2022

2030

2037

2045

2055

2075

2090

2110

4015

4018

4022

4030

4037

4045

4055

4075

4090

4110

40P4

40P7

41P5

42P2

43P7

44P0

45P5

47P5

4011

4132

4160

4185

4220

4300

Product Code

F7 / CM056

28084 (0x6DB4)

28087 (0x6DB7)

28185 (0x6E19)

28282 (0x6E7a)

28387 (0x6EE3)

28585 (0x6FA9)

28785 (0x7071)

28011 (0x6D6B)

28015 (0x6D6F)

28018 (0x6D72)

28022 (0x6D76)

28030 (0x6D7E)

28037 (0x6D85)

28045 (0x6D8D)

28055 (0x6D97)

28075 (0x6DAB)

28090 (0x6DBA)

28110 (0x6DCE)

30084 (0x7584)

30087 (0x7587)

30185 (0x75E9)

30282 (0x764A)

30387 (0x76B3)

30480 (0x7710)

30585 (0x7779)

30785 (0x7841)

30011 (0x753B)

30015 (0x753F)

30018 (0x7542)

30022 (0x7546)

30030 (0x754E)

30037 (0x7555)

30045 (0x755D)

30055 (0x7567)

30075 (0x7576)

30090 (0x758A)

30110 (0x759E)

30132 (0x75B4)

30160 (0x75D0)

30185 (0x75E9)

30220 (0x760C)

30300 (0x765C)

Product Code

G7 / CM057

Product Code

P7 / CM058

34084 (0x8524) 40084 (0x9C94)

34087 (0x8527) 40087 (0x9C97)

34185 (0x8589) 40185 (0x9CF9)

34282 (0x85EA) 40282 (0x9D5A)

34387 (0x8653) 40387 (0x9DC3)

34585 (0x8719) 40585 (0x9E89)

34785 (0x87E1) 40785 (0x9F51)

34011 (0x84DB) 40011 (0x9C46)

34015 (0x84DF) 40015 (0x9C4F)

34018 (0x84E2) 40018 (0x9C52)

34022 (0x84E6) 40022 (0x9C56)

34030 (0x84EE) 40030 (0x9C5E)

34037 (0x84F5) 40037 (0x9C65)

34045 (0x84FD) 40045 (0x9C6D)

34055 (0x8507) 40055 (0x9C77)

34075 (0x851B) 40075 (0x9C86)

34090 (0x852A) 40090 (0x9C9A)

34110 (0x853E) 40110 (0x9CAE)

36084 (0x8CF4) 42084 (0xA464)

36087 (0x8CF7) 42087 (0xA467)

36185 (0x8D59) 42185 (0xA4C9)

36282 (0x8DBA) 42282 (0xA52A)

36387 (0x8E23) 42387 (0xA593)

36480 (0x8E80) 42480 (0xA5F0)

36485 (0x8E85) 42585 (0xA659)

36785 (0x8FB1) 42785 (0xA721)

36011 (0x8CAB) 42011 (0xA41B)

36015 (0x8CAF) 42015 (0xA41F)

36018 (0x8CB2) 42018 (0xA422)

36022 (0x8CB6) 42022 (0xA426)

36030 (0x8CBE) 42030 (0xA42E)

36037 (0x8CC5) 42037 (0xA435)

36045 (0x8CCD) 42045 (0xA43D)

36055 (0x8CD7) 42055 (0xA447)

36075 (0x8CEB) 42075 (0xA45B)

36090 (0x8CFA) 42090 (0xA46A)

36110 (0x8D0E) 42110 (0xA47E)

36132 (0x8D24) 42132 (0xA494)

36160 (0x8D40) 42160 (0xA4B0)

36185 (0x8D59) 42185 (0xA4C9)

36220 (0x8D7C) 42220 (0xA4EC)

38300 (0x959C) 42300 (0xA53C)


The EDS files provided with the Drive DeviceNet Option Board allow the DeviceNet configuration tool to access various groups of parameters within the Drive. The following parameter groups are defined in the Drive

DeviceNet EDS files:

•

DN: Motor Data

•

DN: Control Data

•

DN: AC Drive Data

•

DN: Polled Config

•

A Parameters

•

B Parameters

•

C Parameters

•

D Parameters

•

E Parameters

•

F Parameters

•

H Parameters

•

L Parameters

•

N Parameters

•

O Parameters

•

T Parameters

•

U1 Parameters

•

U2 Parameters

•

U3 Parameters

•

Status

•

ACCEPT/ENTER

•

Serial Number

The DN: Motor Data parameter group is used to configure the Drive for the motor that will be used with it. The parameters in this group include motor type, motor rated current, motor rated voltage, motor rated frequency, motor maximum speed, and motor base speed. These parameters must be set to the values shown on the motor nameplate. A list of DN: Motor Data can be found in Appendix A. See Chapter 6 for more information on how to configure this data.

The DN: Control Data parameter group provides control information (running forward, running reverse, Drive fault, network run/stop enable) from the Drive. A list of DN: Control Data can be found in Appendix A.

The DN: AC Drive Data parameter group provides Drive configuration and status parameters related to Drive mode, actual speed, actual current, current limit, input voltage, acceleration time, deceleration time, and network frequency enable. A list of DN: AC Drive Data can be found in Appendix A.

The DN: Polled Config parameter group is used to configure the DeviceNet Polled Connection. The parameters in this group determine the content of the information that is passed to and from the Drive during polled operation.

The information that is passed to the Drive from the Master device is setup with the Polled Consuming Assembly parameter. The information that is passed from the Drive to the Master device is setup with the Polled Producing

Assembly parameter. A list of DeviceNet Polled Config data can be found in Appendix A. More information on setting up the DeviceNet Polled Connection can be found in Chapter 6.


The A, B, C, D, E, F, H, L, N, O, and T, Parameter groups are used to access the Drive Application parameters.

The Drive Application parameters are used to setup the programmable features of the Drive. These programmable features include initialization, sequencing, braking, speed search, PID control, acceleration/deceleration, torque control, V/F pattern, motor setup, digital and analog I/O, motor and drive protective features, etc. For a complete description of each of the Drive application parameters, see the Drive

User Manual and Drive Programming Manual.

The U1, U2, and U3 Monitor groups and the Status parameter group can be used to evaluate the runtime status of the DRIVE. The diagnostic data available includes Run/Stop status, Frequency Output, Current Output, Fault status, etc. All parameters in these groups are read-only. A list of Drive status parameters can be found in

Appendix A.

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, the Drive will save the current values of the all Drive parameters (A1-00 through o2-14) 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, the Drive will save the current values of the all Drive parameters (A1-00 through o2-14) into EEPROM memory on the Drive. Values saved in EEPROM memory will be retained in case of power loss to the Drive. See Chapter 7 for more information on Drive memory and the

ACCEPT and ENTER commands.

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, and are automatically stored in EEPROM memory. The life of the EEPROM on the DeviceNet Option Board 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 Board to be replaced.

The Serial Number parameter group is provided for information purposes only. Serial Number is read-only.


Notes:


Chapter 6

Configuration of DeviceNet and Drive Parameters

Polled Configuration

Motor Nameplate Configuration

Drive Application Parameters Configuration

Configuration of Drive DeviceNet Parameters 6-1

Polled Configuration

The Drive DeviceNet Polled connection must be configured before receiving commands from a Master device.

The two parameters that must be configured are:

•

Polled Consuming Assembly

•

Polled Producing Assembly

The PCA and PPA parameters can be accessed in various ways. If your configuration tool uses the EDS files for configuration, the PCA and PPA parameters can be accessed from the “DN: Polled Config” parameter group. If your configuration tool uses an alternate form of configuration, a DeviceNet path may be required. The following table shows both the EDS locations and the DeviceNet path for the PCA and PPA. Please refer to Appendix A for further details on DeviceNet path information.

Polled

Parameter

EDS

Param #

DeviceNet

Path



28

29

Class5 / Instance2 / Attribute101


The PCA and PPA values may be changed at any time, whether the Drive is running or stopped. However, it is not recommended that these values be changed while the Drive is running.

CAUTION

The Drive should be stopped before changing PCA and PPA values.

Cycle the power to the Drive after changing the PCA and PPA values.


The Polled Consuming Assembly (PCA) parameter determines the format of the data that is transmitted from the

Master device to the Drive. The PCA data is transmitted from the Master device to a Drive with a Poll Command message. The PCA data is used to control the operation of the Drive. One of the assemblies from the following table must be selected. See Appendix B for details of the assemblies.

Assembly

Number

20 *

1

Assembly

Definition

Basic Speed Command

This assembly provides: run forward, fault reset, and speed reference in RPM.

# of Data

Bytes

Execution

Time

21

22

23

Extended Speed Command

This assembly provides: run forward, run reverse, fault reset, network control enable, network reference enable, and speed reference in RPM.

Basic Speed/Torque Command

This assembly provides: run forward, fault reset, speed reference in RPM, and torque reference in N-m.

Extended Speed/Torque Command

This assembly provides: run forward, run reverse, fault reset, network control enable, network reference enable, speed reference in RPM, and torque reference in N-m.

120

*

2

121 *

122 *

123 *

124 *

125 *

126 *

2

2

2

2

2

2

Speed Command 1

Assembly provides: run forward, run reverse, multi-function inputs, external fault, fault reset, and speed reference in Hz.

Torque Command 1

This assembly provides: run forward, run reverse, multifunction inputs, external fault, fault reset, and torque reference in % of rated torque.

Speed Command 2

This assembly provides: run forward, run reverse, multifunction inputs, external fault, fault reset, speed reference in

Hz, network reference selection, and network control selection.

Torque Command 2

This assembly provides: run forward, run reverse, multifunction inputs, external fault, fault reset, torque reference in

% of rated torque, network reference selection, and network control selection.

Speed Command 3

This assembly provides: run forward, run reverse, multifunction inputs, speed reference in Hz, and access to Drive parameters.

Torque Command 3

This assembly provides: run forward, run reverse, multifunction inputs, and torque reference in % of rated torque, and access to Drive parameters.

Speed and Torque Command

This assembly provides: run forward, run reverse, multifunction inputs, speed reference in Hz, torque reference in % of rated torque, and torque compensation in % of rated torque.

*

1

Assembly 20 is the default Polled Consuming Assembly.

*

2

Yaskawa specific Polled Consuming Assembly.


The Polled Producing Assembly (PPA) parameter determines the format of the data that is transmitted from the

Drive to the Master device. The PPA data is transmitted from the Drive to the Master device with a Polled

Response message. The PPA data is used to return the status of the Drive to the Master device. One of the assemblies from the following table must be selected. See Appendix B details of the assemblies.

Assembly

Number

70*

1

Assembly

Definition

Basic Speed Status

This assembly provides: Drive fault, running forward, and output speed in RPM.

# of Data

Bytes

Execution

Time

71

72

73

Extended Speed Status

This assembly provides: Drive fault, Drive warning, running forward, running reverse, Drive ready, network control enabled, network reference enabled, at reference, Drive state, and output speed in RPM.

Basic Speed/Torque Status

This assembly provides: Drive fault, running forward, output speed in

RPM, and output torque in N-m.

Extended Speed/Torque Status

This assembly provides: Drive fault, Drive warning, running forward, running reverse, Drive ready, network control enabled, network reference enabled, at reference, Drive state, output speed in RPM, and output torque in N-m.

130 *

131 *

132 *

134 *

135 *

136 *

2

2

2

2

2

2

Speed Status 1

This assembly provides: running, at zero speed, Drive reversing, fault reset, at speed, Drive ready, Drive alarm, Drive fault, during ride-thru, local/remote, motor selection, zero servo complete, and output speed in

Hz.

Current Status 1

This assembly provides: running, at zero speed, Drive reversing, fault reset, at speed, Drive ready, Drive alarm, Drive fault, during ride-thru, local/remote, motor selection, zero servo complete, and output current in Amps.

Current & Speed Status

This assembly provides: running, at zero speed, Drive reversing, fault reset, at speed, Drive ready, Drive alarm, Drive fault, during ride-thru, local/remote, motor selection, zero servo complete, output current in

Amps, and output speed in Hz.

Speed Status 2

This assembly provides: running, at zero speed, Drive reversing, fault reset, at speed, Drive ready, Drive alarm, Drive fault, motor speed in

Hz, and access to Drive parameters.

Torque Status 2

Assembly provides: running, at zero speed, Drive reversing, fault reset, at speed, Drive ready, Drive alarm, Drive fault, output torque in % of rated torque, and access to Drive parameters.

Speed and Torque Status

This assembly provides: running, at zero speed, Drive reversing, fault reset, at speed, Drive ready, Drive alarm, Drive fault, output torque in % of rated torque, motor speed in Hz, and frequency reference in Hz.

*

1

Assembly 70 is the default Polled Producing Assembly.

*

2

Yaskawa specific Polled Producing Assembly.


Motor Nameplate Configuration

The Drive Motor Data must be configured before receiving commands from a Master device. The Drive uses the

Motor parameters to scale the speed commands from the Master device for the motor that is being used. The

Motor parameters are in the EDS parameter group “DN: Motor Data”. The Motor parameters that must be configured are shown in the following table along with their respective EDS location and DeviceNet path.

Motor

Parameter

Motor Type

EDS

Param #

1

DeviceNet

Path


Motor Rated Current

Motor Rated Voltage

Motor Rated Frequency

2

3

4




Motor Maximum Speed

Motor Base Speed

5

6



Usually, the required motor data can be found on the motor nameplate.

Drive Application Parameters Configuration

The specific application of the Drive will determine whether any of the remaining Drive application parameters

(other than those mentioned in this chapter) need to be configured. These Drive parameters can be accessed via DeviceNet through the DeviceNet configuration tool, i.e. Rockwell Software RSNetWorx™, with the Drive’s

EDS file. Details on the Drive EDS can be found in Chapter 5. See the Drive User Manual for details of Drive parameters.


Notes:


Chapter 7

Drive Operation on DeviceNet

This chapter will explain some additional requirements of the Drive on DeviceNet. This chapter will also provide information on the various methods that can be used to control the operation and speed of the Drive on

DeviceNet.

Data Storage of the DeviceNet Option Board

ACCEPT Command

ENTER Command

Run/Stop Selection

Frequency Reference Selection

Run/Stop Control

Frequency Reference Control

Torque Reference Control

Acceleration and Deceleration Times

EF0 Fault Parameters

Reset the Drive to Power-Up Conditions

Reset the Drive to Factory Conditions

Drive Operation on DeviceNet 7-1

Data Storage of the DeviceNet Option Board

The Drive with a DeviceNet Option Board 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 Board

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 the memory locations used for the data available over the DeviceNet network.

Data Type

Drive Runtime Commands

Run/Stop

Frequency Reference

Drive Runtime Status and Diagnostics

Run/Stop Status

Frequency Output

Current Output

Fault Diagnostics

Memory Type

Drive RAM

Drive RAM

Drive Application Parameters

A1-00 through o3-02

DeviceNet Network Parameters



Motor Nameplate Data

Drive EEPROM

& Drive RAM

Option Board

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 Drive Inactive

RAM

Drive Runtime

Commands

RAM

Drive Runtime

Status/Diagnostics

Drive Application

Parameters

ENTER

Power-Up

Drive Application

Parameters

ENTER

ACCEPT

Drive Application

Parameters

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 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.


ACCEPT Command

The ACCEPT Command needs to be issued to activate the new data. The ACCEPT Command can be accomplished in either of the following ways:

1. Perform a SET service on Accept Command

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

CM056 (F7 Drive) – EDS Parameter 468

CM057 (G7 Drive) – EDS Parameter 452

CM058 (P7 Drive) – EDS Parameter 313

2. Perform a SET service on Yaskawa Class 100, Instance 1, Attribute 254


The Basic Device Configuration mode can be used to perform an ACCEPT service with the following Yaskawa

Drive Classes.

1. Perform an ACCEPT service (32h) with the Yaskawa Class 100, Instance 1











ENTER Command

The ENTER Command needs to be issued to save the new data to the EEPROM. The ENTER Command can be accomplished in either of the following ways:

1. Perform a SET service on Enter Command


CM056 (F7 Drive) – EDS Parameter 469

CM057 (G7 Drive) – EDS Parameter 453

CM058 (P7 Drive) – EDS Parameter 314

2. Perform a SET service on Yaskawa Class 64 hex, Instance 1 hex, Attribute 255 hex

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

The Basic Device Configuration mode can be used to perform an ENTER service with the following Yaskawa

Drive Classes.

1. Perform an ENTER service (32h) with the Yaskawa Class 100, Instance 1










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, and are automatically stored in EEPROM memory. The life of the EEPROM on the DeviceNet Interface 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 Board to be replaced.


Run/Stop Selection

The Drive can be configured to receive operation signals (Run, Stop, Forward, Reverse, and Multi-Function

Inputs) from the DeviceNet network, the external Drive terminals, or the Digital Operator.

There are two settings that determine the method of Run/Stop Control:

•

Drive Parameter b1-02 setting

•

Network Run/Stop Control setting

•

Default Network Control

Drive Parameter b1-02 Setting

The Drive Parameter b1-02 setting can be accessed in various ways:

If this attribute equals ‘0’, run/stop control is from the Digital Operator

If this attribute equals ‘1’, run/stop control is from the external terminals

If this attribute equals ‘2’, run/stop control is from serial communications

If this attribute equals ‘3’, run/stop control is from an option PC board (DeviceNet)

2. Yaskawa Class 104, Instance 1, Attribute 2

If this attribute equals ‘0’, run/stop control is from the Digital Operator

If this attribute equals ‘1’, run/stop control is from the external terminals

If this attribute equals ‘2’, run/stop control is from serial communications

If this attribute equals ‘3’, run/stop control is from an option PC board (DeviceNet)

Network Run/Stop Control Setting

The Network Control setting can be ‘Enabled’ or ‘Disabled’. The power-up setting is determined by the setting of parameter b1-02. The setting can be changed any time after power-up via the DeviceNet network.

When Network Control is set to ‘1’, Drive parameter b1-02 is set to ‘3’ (option PC board) followed by an ACCEPT command, and run/stop control is from the DeviceNet network. If Network Control is set to ‘0’, Drive parameter b1-02 is set to the contents of the Default Control setting, EDS Parameter 13, followed by an ACCEPT command.

While the Drive is running, if an attempt is made to change from network control, DeviceNet will give a “Dnet

Error: Privilege Violation” error and will not allow write access to memory. The same happens if an attempt is made to change from non-network control to network control. The Drive must be stopped before control may be changed to or from network control.


The Network Control setting can be accessed in various ways:

1. Assembly Class 4, Instance 21, Attribute 3, Bit 5.

If Bit 5 is a ‘1’, Network Run/Stop Control is enabled.

If Bit 5 is a ‘0’, Network Run/Stop Control is disabled.




3. Assembly Class 4, Instance 122, Byte 5

If byte 5 is a ‘0’, run/stop control is from the Digital Operator.

If byte 5 is a ‘1’, run/stop control is from the external terminals.

If byte 5 is a ‘2’, run/stop control is from serial communications.

If byte 5 is a ‘3’, run/stop control is from an option PC board (DeviceNet).


If byte 5 is a “0’, run/stop control is from the Digital Operator.

If byte 5 is a ‘1‘, run/stop control is from the external terminals.

If byte 5 is a ‘2’, run/stop control is from serial communications.

If byte 5 is a ‘3’, run/stop control is from an option PC board (DeviceNet).

5. Control Supervisor Class 41, Instance 1, Attribute 5

If this attribute equals ‘1’, Network Run/Stop Control is enabled.

If this attribute equals ‘0’, Network Run/Stop Control is disabled.


Frequency Reference Selection

The Drive can be configured to receive frequency reference commands from the DeviceNet network, the external

Drive terminals, or the Digital Operator.

There are two settings that determine the method of Frequency Reference Control:

•

Drive Parameter b1-01 setting

•

Network Frequency Reference setting

•

Default Network Reference

Drive Parameter b1-01 Setting

The Drive Parameter b1-01 setting can be accessed in various ways:

If this attribute equals ‘0’, frequency reference control is from the Digital Operator

If this attribute equals ‘1’, frequency reference control is from the external terminals

If this attribute equals ‘2’, frequency reference control is from serial communications

If this attribute equals ‘3’, frequency reference control is from an option PC board (DeviceNet)


If this attribute equals ‘0’, frequency reference control is from the Digital Operator

If this attribute equals ‘1’, frequency reference control is from the external terminals

If this attribute equals ‘2’, frequency reference control is from serial communications

If this attribute equals ‘3’, frequency reference control is from an option PC board (DeviceNet)

Network Frequency Reference Setting

The Network Reference setting can be ‘Enabled’ or ‘Disabled’. The power-up setting is determined by the setting of parameter b1-01. The setting can be changed any time after power-up via the DeviceNet network.

When Network Reference is set to ‘1’, Drive parameter b1-01 is set to ‘3’ (option PC board) followed by an

ACCEPT command, and run/stop control is from the DeviceNet network. If Network Reference is set to ‘0’, Drive parameter b1-01 is set to the contents of the Default Reference setting, EDS Parameter 26, followed by an

ACCEPT command.

While the Drive is running, if an attempt is made to change from network reference, DeviceNet will give a “Dnet

Error: Privilege Violation” error and will not allow write access to memory. The same happens if an attempt is made to change from non-network reference to network reference. The Drive must be stopped before control may be changed to or from network reference.


The Network Reference setting can be accessed in various ways:








If byte 4 equals ‘0’, frequency reference control is from the Digital Operator.

If byte 4 equals ‘1’, frequency reference control is from the external terminals.

If byte 4 equals ‘2’, frequency reference control is from serial communications.

If byte 4 equals ‘3’, frequency reference control is from an option PC board.


If byte 4 equals ‘0’, frequency reference control is from the Digital Operator.

If byte 4 equals ‘1’, frequency reference control is from the external terminals.

If byte 4 equals ‘2’, frequency reference control is from serial communications.

If byte 4 equals ‘3’, frequency reference control is from an option PC board.

5. AC Drive Class 42, Instance 1, Attribute 4

If this attribute equals ‘1’, Network Frequency Control is enabled.

If this attribute equals ‘0’, Network Frequency Control is disabled.


Run/Stop Control

When controlling the operation of the Drive from the DeviceNet network, operational commands (Run, Stop,

Forward, Reverse, and Multi-Function Inputs) can be accessed in various ways:

1. Assembly 20 (Class 4, Instance 20, Attribute 3)

Byte 0 of this assembly provides Run Forward and Fault Reset control. See Appendix B.


Byte 0 of this assembly provides Run Forward, Run Reverse, and Fault Reset control. See

Appendix B.


Byte 0 of this assembly provides Run Forward and Fault Reset control. See Appendix B.


Byte 0 of this assembly provides Run Forward, Run Reverse, and Fault Reset control. See

Appendix B.


Byte 0 of this assembly provides Run Forward, Run Reverse, and Multi-function Input control. See

Appendix B.



Appendix B.


Byte 0 of this assembly provides Run Forward, Run Reverse, and Multi-function Input control. Byte

1 of this assembly provides External Fault and Fault Reset control. See Appendix B.


Byte 0 of this assembly provides Run Forward, Run Reverse, and Multi-function Input control. Byte

1 of this assembly provides External Fault and Fault Reset control. See Appendix B.



Appendix B.



Appendix B.



Appendix B.


This attribute provides Run Forward control. See Appendix A.


This attribute provides Run Reverse control. See Appendix A.


This attribute provides Fault Reset control. See Appendix A.

15. Yaskawa Command Class 100, Instance 1, Attribute 1

This attribute provides Run Forward, Run Reverse, Multi-Function Input control, External Fault and

Fault Reset control. See Appendix A.

If the Drive operation is being controlled with Polled I/O messages, then Assembly 20, 21, 22, 23, 121, 122, 123,

124, 125 or 126 are the only methods available from the list above.

Methods 1, 2, 3, 4, 11, 12 and 13 conform to the DeviceNet AC Drive Device Profile. See Chapter 8 for more information.


Frequency Reference Control

When controlling the speed of the Drive from the DeviceNet network, frequency reference can be accessed in various ways:


Bytes 2 and 3 of this assembly provide speed control in RPM. See Appendix B.








Bytes 2 and 3 of this assembly provide speed control in Hz. See Appendix B.








This attribute provides speed control in RPM. See Appendix A.


This attribute provides speed control in Hz. See Appendix A.

If the Drive speed is being controlled with Polled I/O messages, then Assembly 20, 21, 22, 23, 120, 122, 124 or

126 are the only methods available from the list above.

Methods 1, 2, 3, 4 and 8 conform to the DeviceNet AC Drive Device Profile. See Chapter 8 for more information.

Torque Reference Control

In the F7 and G7 Drive, Flux Vector Control mode (A1-02=3) allows the Drive to be in Torque Control. When the reference source is controlled from the DeviceNet Option Board (b1-01=3), the torque reference to the Drive may be set via DeviceNet. When controlling the torque of the Drive from the DeviceNet network, torque reference can be accessed in various ways:


Bytes 4 and 5 of this assembly provide torque control in N-m*(2 torque_scale

). See Appendix B.


Bytes 4 and 5 of this assembly provide torque control in N-m*(2 torque_scale

). See Appendix B.


Bytes 2 and 3 of this assembly provide torque control in % of rated. See Appendix B.








This attribute provides torque control in N-m*(2 torque_scale

). See Appendix A.


This attribute provides torque control in % of rated. See Appendix A.


The default torque_scale value is 0, which means the units are in N-m*(2

0

) or N-m. If Torque Reference or

Actual Torque values are scaled too small to obtain an accurate reading, adjust the torque_scale to obtain a readable value.

The torque_scale can be accessed in various ways:

1. EDS Parameter 25

The range is -9 to 0. The value is a unit less integer.


The range is -9 to 0. The value is a unit less integer, but must be entered as a one byte hex number.

Example: -9 must be entered as F7h

If the Drive speed is being controlled with Polled I/O messages, then Assembly 22, 23, 121, 122, 124, or 126 are the only methods available from the list above.

Methods 1, 2, and 6 conform to the DeviceNet AC Drive Device Profile. See Chapter 8 for more information.


Speed Control Versus Torque Control

In the F7 and G7 Drives, Flux Vector Control Mode (A1-02 = 3) allows parameter d5-01 to determine whether the

Drive is controlled by speed or by torque. In this case, some attributes take on a dual purpose.

The Drive Parameter d5-01 setting can be accessed in various ways:

If this attribute equals ‘0’, the Drive is speed controlled by:

Yaskawa Command Class 100, Instance 1, Attribute 2 provides Speed Reference. Yaskawa

Command Class 100, Instance 1, Attribute 3 provides Torque Limit.

If this attribute equals ‘1’, the Drive is torque controlled by:

Yaskawa Command Class 100, Instance 1, Attribute 2 provides Speed Limit.

Yaskawa Command Class 100, Instance 1, Attribute 3 provides Torque Reference.


If this attribute equals ‘0’, the Drive is speed controlled by:

Yaskawa Command Class 100, Instance 1, Attribute 2 provides Speed Reference. Yaskawa

Command Class 100, Instance 1, Attribute 3 provides Torque Limit.

If this attribute equals ‘1’, the Drive is torque controlled by:

Yaskawa Command Class 100, Instance 1, Attribute 2 provides Speed Limit.

Yaskawa Command Class 100, Instance 1, Attribute 3 provides Torque Reference.

If reoccurring Overspeed (OS), PG Open (PGO), and Speed Deviation (DEV) faults are experienced, re-adjust speed and torque command settings to ensure these values are appropriate for the application and within Drive parameter limits. Refer to Drive User Manual for detailed instruction on operating the Drive in torque control mode.

Acceleration and Deceleration Times

The Drive Acceleration Time 1 (C1-01) and Deceleration Time 1 (C1-02) parameters and can be accessed in various ways:

1. Parameters C1-01 and C1-02

The units for entry are seconds.

2. EDS Parameters 23 and 24

The units for entry are msec/16 ( 625 msec/16 = 10.0 seconds )

3. AC Drive Class 42, Instance 1, Attributes 18 and 19

The units for entry are msec/16 ( 625 msec/16 = 10.0 seconds )

4. Yaskawa Class 105, Instance 1, Attributes 1 and 2

The units for entry are seconds.

Methods 2 and 3 conform to the DeviceNet AC Drive Device Profile. See Chapter 8 for more information.

EF0 Fault Parameters

An “EF0” fault enunciates DeviceNet network communication failures (see Chapter 9 for an explanation of these failures). The following parameters are used to determine conditions necessary to generate an “EF0” and the

Drive action upon occurrence of an “EF0” fault. For “EF0” to be enabled, Drive parameter b1-02 must be set to option PC board control, setting ‘3’.

The “EF0” Detection Selection, parameter F6-02, determines the Drive state in which detection will occur and can be accessed in various ways:


Parameters F6-02

If this attribute equals ‘0’, an “EF0” is always detected

If this attribute equals ‘1’, an “EF0” is detected while the Drive is running

The “EF0” Fault Action, parameter F9-03, determines the Drive action upon occurrence of the fault and can be accessed in various ways:

Parameters F6-03

If this attribute equals ‘0’, the Drive ramps to a stop when an “EF0” is detected

If this attribute equals ‘1’, the Drive coasts to a stop when an “EF0” is detected

If this attribute equals ‘2’, the Drive performs a fast-stop when an “EF0” is detected

If this attribute equals ‘3’, the Drive alarms when an “EF0” is detected

Reset the Drive to Power-Up Conditions

The Drive can be reset to power-up conditions over the DeviceNet network. A power-up reset will reset the Drive and the DeviceNet interface to power-up conditions. A Drive Power-Up Reset can be performed in any of the following ways:

1. Perform a RESET service (05h) with the Control Supervisor Class 41, Instance 1. This RESET service does not require any additional argument data.

2. Perform a RESET service (05h) with the Identity Class 1, Instance 1.

This RESET service requires an additional 1-byte argument. This argument should be set to a value of ‘0’ for a power-up reset.

With the DeviceNet Manager software, the Basic Device Configuration mode can be used to perform a RESET service.

CAUTION

The Drive should be stopped before performing the Power-Up RESET service.

Reset the Drive to Factory Conditions

The Drive can be reset to factory conditions over the DeviceNet network. A factory reset will perform a 2-wire reset on the Drive and return the DeviceNet Network parameters to their default values. A Drive Factory Reset can be performed in the following way:

•

Perform a RESET service (05h) with the Identity Class 1, Instance 1

This RESET service requires an additional 1-byte argument. This argument should be set to a value of ‘1’ for a factory reset.

With the DeviceNet Manager software, the Basic Device Configuration mode can be used to perform a RESET service.

CAUTION

The Drive should be stopped before performing the Factory RESET service.


Chapter 8

DeviceNet Profiles

DeviceNet Device Profiles

AC Drive Profile

Yaskawa Drive and the AC Drive Profile

DeviceNet Profiles 8-1

DeviceNet Device Profiles

A DeviceNet Device Profile provides the specification for the way in which a particular type of device communicates on the DeviceNet network. The goal of device profiles is to provide interoperability and interchangeability of like devices from different vendors.

To provide interoperability and promote interchangeability by like devices, there must be a core standard for each device type. Like devices must:

•

Exhibit the same behavior

•

Produce and/or consume the same basic set of I/O data

•

Contain the same set of configurable parameters

•

Access the configurable parameters in the same manner from the network

A device profile contains:

•

The format of the I/O data for the device

•

Definitions of the configurable parameters for the device

•

Definitions of how configurable parameters affect the device’s behavior

•

A specification of how the network accesses configurable parameters

Device profiles are published in Volume II of the DeviceNet Specification.


AC Drive Profile

The AC Drive Profile uses assemblies to transfer I/O data. The AC Drive Profile defines the following list of

Assemblies:

Assembly

Required or

Optional

I/O Type ✹ Name

20

21

22

23

24

25

70

Required

Optional

Optional

Optional

Optional

Optional

Required

Output

(Output from the

Master/PLC)

Basic Speed Command

Extended Speed Command

Basic Speed and Torque Command

Extended Speed and Torque Command

Basic Process Control Command

Extended Process Control Command

Basic Speed Status

71

72

73

74

Optional

Optional

Optional

Optional

Input

(Input to the

Master/PLC)


Basic Speed and Torque Status

Extended Speed and Torque Status

Basic Process Control Status

75 Optional Extended Process Control Status

The data format of each of the assemblies listed above is defined in the AC Drive Profile. The drive behavior relevant to each of the assemblies is defined in the AC Drive Profile. Notice that some of the assemblies are required and some are optional.

The AC Drive Profile dictates that an AC Drive device must support the following DeviceNet Object Classes:

•

Motor Class

This class defines motor data for the motor that is connected to the drive.

Instance 1, Attributes 3, 6, and 7 are required. All other attributes are optional.

•

Control Supervisor Class

This class manages drive functions, operational states and control.

Instance 1, Attributes 3, 7, 10, and 12 are required. All other attributes are optional.

•

AC Drive Class

This class provides access to drive configuration parameters.

Instance 1, Attributes 4, 6, 7, and 8 are required. All other attributes are optional.

If an application uses only the required assemblies and attributes from the AC Drive Profile, interchangeability between devices, which comply with the AC Drive Profile is guaranteed.

The Yaskawa Drive DeviceNet Option Board conforms to the AC Drive Profile. A listing of the attributes of the

Motor Class, Control Supervisor Class, and AC Drive Class can be found in Appendix A. A listing of the

Common Services provided by each of these classes can be found in Appendix C. For a description of the behavior elicited by each of these classes, please consult the DeviceNet Specification, Volume II.


Notes:


Chapter 9

Diagnostics and Troubleshooting

Network and Module Status LEDs at Power-Up

Network Status LED

Module Status LED

DeviceNet Error Codes

Drive Fault Codes

Diagnostics and Troubleshooting 9-1

Network and Module Status LEDs at Power-Up

An LED test is performed at power-up. The following sequence should be observed:

•

Module Status LED on GREEN for 0.25 seconds.

•

Module Status LED on RED for 0.25 seconds.

•

Module Status LED on GREEN for 0.25 seconds.

•

Network Status LED on GREEN for 0.25 seconds.

•

Network Status LED on RED for 0.25 seconds.

Network Status LED

The Network Status LED is located along the left edge of the Drive DeviceNet Option Board. The Network

Status LED is labeled “NS”. This bi-color (green/red) LED indicates the status of the communication link. The following table defines the Network Status LED states.

LED state Device State Description

OFF Not powered / Not On-line Device is not on-line:

•

The device has not completed the duplicate

MAC ID (node address) check

•

The device may not be powered, look at the

Module Status LED.

Flashing

GREEN

On-line and not Connected Device is on-line, but has no connections in the established state:

•

The device has passed the duplicate MAC ID

(node address) check, but has no established connections to other nodes.

•

For a Group 2 Only device (such as the Drive), it means that this device is not allocated to a

Master device.

•

For a UCMM capable device, it means that the device has no established connections.

Solid

GREEN

On-line and Connected Device is on-line and has connections in the established state:

•

For a Group 2 Only (such as the Drive), device it means that the device is allocated to a Master

•

For a UCMM capable device, it means that the device has 1 or more established connections.

One or more of the I/O Connections are in the

Timed-Out state. In the case of the Drive

Flashing

RED

Connection Time-Out

DeviceNet Option Board, the Master device has probably stopped polling the Drive Option Board.

Failed communication device. The device has Solid

RED

Critical Link Failure detected an error that has rendered it incapable of communicating on the network:

•

A duplicate MAC ID (node address) error was detected.

•

A bus-off condition exists.

Note: The flash rate for the LED is approximately 1 flash per second. The LED is ON for approximately 0.5 seconds and OFF for approximately 0.5 seconds.


Module Status LED

The Module Status LED is located along the left edge of the Drive DeviceNet Option Board. The Module Status

LED is labeled “MS”. This bi-color (green/red) LED indicates whether or not the device has power and is operating properly. The following table defines the Module Status LED states.

LED state Device State Description

No Power There is no power applied to the device. OFF

Flashing

GREEN

Solid

GREEN

Device is in Standby

Device Operational

The device needs commissioning due to missing, incomplete, or incorrect configuration parameters.

The device is operating in a normal condition.

Flashing

RED

Solid

RED

Minor Fault

Unrecoverable Fault

The device has a recoverable fault active.

The device has an unrecoverable fault active.

Note: The flash rate for the LED is approximately 1 flash per second. The LED is ON for approximately 0.5 seconds and OFF for approximately 0.5 seconds.


DeviceNet Error Codes

The following table lists the DeviceNet Error Codes that can be transmitted across the network by any device.

Error Code

(in hex)

Error Name Description

00h - 01h Reserved

02h Resources Unavailable

03h - 07h

08h

Reserved

Service Not Supported

Reserved by DeviceNet.

Resources needed for the object to perform the requested service were unavailable.


The requested service was not implemented or was not defined for the Object/Class/Attribute.

09h

0Ah

0Bh

Invalid Attribute Value

Reserved

Already in Mode/State

0Ch

0Dh

0Eh

0Fh

10h

Object State Conflict

Reserved

Attribute Not Settable

Privilege Violation

Device State Conflict

Attribute data value was invalid or out-of-range.


The object is already in the mode / state being requested by the service.

The object cannot perform the requested service in its current mode / state.


A request to modify a non-modifiable attribute was received.

A permission / Privilege check has failed.

The device’s current mode / state prohibits the execution of the requested service.

11h Reply Data Too Large

12h

13h

14h

15h

16h

17h

18h

19h

1Ah - 1Eh

1Fh

20h

21h - CFh

D0h - FFh

Reserved

Not Enough Data

Attribute Not Supported

Too Much Data

Object Does Not Exist

Reserved

No Stored Attribute Data

Store Operation Failure

Reserved

Vendor Specific Error

Invalid Parameter

Future

Reserved

The data transmitted in the response message is larger than was expected.


The service did not supply enough data to perform the specified operation.

The attribute specified in the request is not supported.

The service supplied more data than was expected.

The object specified does not exist in the device.


The attribute data of this object was not saved prior to the requested service.

The attribute data of this object was not saved due to a failure during the attempt.


A vendor specific error has been encountered.

-illegal data value has been written to a parameter

-write to non-run operative parameter while running

-board timed out while waiting for drive response

A parameter associated with the request was invalid.




Drive Fault Codes

The Drive can have a drive failure, such as undervoltage, overload, external fault, etc. When a Drive fault occurs, it can be classified as an alarm, a minor fault, or a major fault. The Drive reacts differently with each type of failure. An alarm displays a warning indication; however, operation continues. Minor faults allow continued operation, and a contact will close only if one of the multi-function outputs is set up as a minor fault contact. The major faults cause the motor to coast-to-stop and activate the fault contact output at terminals MA, MB, MC.

The Drive monitors U2-01 (current fault), U2-02 (last fault), and U3-01 through U3-04 (four most recent faults) display a fault code representing the drive failure. The following table indicates the abbreviation displayed on the digital operator and the hexadecimal code viewed in drive parameters: U2-01, U2-02, and U3-01 when a specific drive failure occurs. The table also indicates whether the drive failure is an A=alarm, m=minor fault, or M=major fault.

Drive Failure Digital Operator Display

Code

(in hex)

Alarm, minor fault, or Major

DC Bus Fuse Open

DC Bus Undervoltage

FU

UV1

1

2

M

A

Control Power Supply Undervoltage

MC Answerback

Short Circuit

Ground Fault

UV2

UV3

SC

GF

3

4

5

6

A

A

M

M

Heatsink Overtemperature

Drive Overheat

Motor Overload

Drive Overload

Overtorque 1

Overtorque 2

Dynamic Braking Transistor

Dynamic Braking Resistor

External Fault 3

External Fault 4

External Fault 5

External Fault 6

External Fault 7

External Fault 8

Speed Deviation

PG Open (F7 and G7 only)

Input Phase Loss

Output Phase Loss

DCCT Fault

Operator Disconnected

EEPROM R/W Error

Modbus Com Error

Option Com Error

Control Fault

Zero Servo Fault (F7 and G7 only)

Option External Fault

Reserved

Baseblock Circuit Fault

EEPROM Fault

Internal A/D Fault

External A/D Fault

Option Error

Reserved

DEV

PGo

PF

LF

CF

OPR

ERR

CE

BUS

CF

SVE

EF0

-

CPF02

CPF03

CPF04

CPF05

CPF06

-

RH

EF3

EF4

EF5

EF6

EF7

EF8 oH oH1 oL1 oL2 oL3 oL4

RR

21

22

25

26

27

28 - 82

83

84

85

86

87

88 - 90

19

1A

1B

1C

1D

1E

1F

10

11

12

13

14

15

16

9

A

B

C

D

E

F

M

-

M

M

M

M

M

-

M m

M

M m

M

M

M

M m m

M

M m m m m m

M

M

M

M

M

M

M


Drive Failure Digital Operator Display

A/D Converter Fault

Option CPU Error

Option Type Error

DP-RAM Error

CPF20

CPF21

CPF22

CPF23

Note: Further detail on Drive failures can be found in Drive User Manual.

“EF0” Fault

Code

(in hex)

91

92

93

94

Alarm, minor fault, or Major

M

M

M

M

An “EF0” fault annunciates network communication failures. There are four conditions in which an “EF0” fault occurs.

The DeviceNet Option Board requires +24 Vdc network power. If the DeviceNet option board loses the +24 Vdc power connection, an “EF0” fault will be generated.

After a polled connection has been established between the master and the drive, the master transmits polled command messages at a set time interval. The DeviceNet Option Board also has a set time interval, in which to receive polled messages from the master. If the Option Board does not receive a polled message from the master within that specified time interval, a timeout will occur and an “EF0” fault will be generated.

Some master devices can be placed in idle mode. In idle mode, some masters do not send or receive polled messages. Setting S1 switch 10 to the ‘on’ position (see Chapter 3) enables Master Idle Operation. If the master is then placed in idle mode, an “EF0” will be generated.

An “EF0” will be generated if manually activated by the user in either of the following ways:


Byte 1 of this assembly provides External Fault and Fault Reset control. See Appendix B.










Appendix A

DeviceNet Object Paths

•

Identity Class

•

DeviceNet Class

•

Assembly Class

•

Connection Class

•

Motor Class

•


•

AC Drive Class

•

Drive Command Class

•

Drive Status Class

•

Drive U Parameters Class

DeviceNet Object Paths A-1

Identity Class

DeviceNet

Path

1 / 0 / 1

1 / 0 / 6

1 / 0 / 7

1 / 1 / 1

1 / 1 / 2

1 / 1 / 3

DeviceNet

Services

GET

-

-

GET

GET

GET

DeviceNet

Data Type uint uint uint uint uint uint

# of

Bytes

2

2

2

2

2

2

Description

Identity Object Revision

Max Class Attribute Number

Max Instance Attribute Number

Vendor ID Number

Device Type

Product Code

1 / 1 / 4

1 / 1 / 5

1 / 1 / 6

1 / 1 / 7

GET

GET

GET

GET structure word udint string

4

-

1

2

Vendor Product Revision

Device Status

Serial Number

Product Name

1 / 1 / 8 GET

1 / 1 / 100 GET/SET usint dword

1

4

State

Serial Number Password

The DeviceNet Path is given in the format: Class ID / Instance ID / Attribute ID.

Attributes shown in GREY are not supported by the DeviceNet Option Board.

Notes

The DeviceNet specification revision of the Identity Object.

The number of the last Class Attribute Implemented.

The number of the last Instance Attribute Implemented.

The Yaskawa (formerly Magnetek) vendor ID is 37.

The AC Drive device type is 2.

The Drive product code depends on the Drive model.

See Chapter 5 for a list of product codes by Drive model.

The Option Board software major and minor revision.

Bit 0 Owned by a master

Bit 1 Reserved

Bit 2 Configured

Bit 8 Minor/recoverable fault

Bit fault

Bit fault

Bit fault

Serial number of the Drive.

This string will consist of the Drive model number. See

Chapter 5.

0 Non-existent

1 Device Self Teseting

4 Major Recoverable Fault

5 Major Unrecoverable Fault

Access limited to Yaskawa factory use.


DeviceNet Class

DeviceNet

Path

3 / 0 / 1

3 / 1 / 5

DeviceNet

Services

GET

GET

DeviceNet

Data Type uint word

# of

Bytes

2

2

Description

DeviceNet Object Revision

Allocation Choice Byte


Attributes shown in GREY are not supported by the DeviceNet Option Board.

Notes

The DeviceNet specification revision of the DeviceNet Object.

This byte indicates which master/slave connections are active.

BIT 2 Bit-Strobe

BIT 3 Reserved

BIT 4 Change-of-State

BIT 5 Cyclic

BIT 6 Acknowledge Suppression

BIT 7 Reserved


Assembly Class

DeviceNet

Path

4 / 0 / 1

4 / 0 / 2

4 / 0 / 6

4 / 0 / 7

4 / 20 / 3

4 / 21 / 3

4 / 22 / 3

4 / 23 / 3

4 / 24 / 3

4 / 25 / 3

4 / 70 / 3

4 / 71 / 3

4 / 72 / 3

4 / 73 / 3

4 / 74 / 3

4 / 75 / 3

4 / 120 / 3

4 / 121 / 3

4 / 122 / 3

4 / 123 / 3

4 / 124 / 3

4 / 125 / 3

4 / 126 / 3

4 / 130 / 3

4 / 131 / 3

4 / 132 / 3

4 / 134 / 3

4 / 135 / 3

4 / 136 / 3

DeviceNet

Services

GET

GET

-

-

SET

SET

SET

SET

-

-

GET

GET

GET

GET

-

-

SET

SET

SET

SET

SET

SET

SET

GET

GET

GET

GET

GET

GET

DeviceNet

Data Type uint uint uint uint structure structure structure structure structure structure structure structure structure structure structure structure structure structure structure structure structure structure structure structure structure structure structure structure structure

# of

Bytes

2

2

2

2

4

4

6

6

6

6

4

4

6

6

6

6

4

4

6

6

8

8

8

4

4

6

8

8

8

Description Notes

Assembly Object Revision

Max Instance in this Class


The DeviceNet specification revision of the Assembly Object.

135



Basic Speed Command


See Appendix B.

Extended Speed Command See Appendix B.

Basic Speed and Torque Command (F7 and G7 only). See Appendix B.

Extended Speed and Torque

Command

(F7 and G7 only). See Appendix B.

Basic Process Control Command -

Extended Process Control Command

Basic Speed Status


Basic Speed and Torque Status

-

See Appendix B.

See Appendix B.


Extended Speed and Torque Status (F7 and G7 only). See Appendix B.

Basic Process Control Status -

Extended Process Control Status

Yaskawa Speed Command 1 See Appendix B.

-

Yaskawa Torque Command 1

Yaskawa Speed Command 2


Yaskawa Speed Command 3


Yaskawa Speed and Torque

Command 1

Yaskawa Speed Status 1

Yaskawa Current Status 1

Yaskawa Current & Speed Status 1

Yaskawa Speed Status 2

Yaskawa Current Status 2


See Appendix B.


See Appendix B.


See Appendix B.

See Appendix B.

See Appendix B.

See Appendix B.

See Appendix B.

See Appendix B.

Yaskawa Speed and Torque Status 1 (F7 and G7 only). See Appendix B.

Assemblies 20, 21, 22, 23, 24, 25, 70, 71, 72, 73, 74 and 75 are compliant with the AC Drive Profile. Assemblies 20 and 70 are required.


Attributes shown in GREY are not supported by the Drive Option Board.


Connection Class

DeviceNet

Path

5 / 0 / 1

DeviceNet

Services

GET

DeviceNet

Data Type uint

# of

Bytes

2

Description Notes

-

- usint uint array uint array uint usint usint uint uint usint uint uint uint

6

2

6

2

-

-

1

2

1

2

2

2

1

1

2

2

Connection Object Revision The DeviceNet specification revision of the Connection

Object.

0 Non-existent 5 / 1 / 1

5 / 1 / 2

5 / 1 / 3

5 / 1 / 4

5 / 1 / 5

5 / 1 / 6

5 / 1 / 7

5 / 1 / 8

5 / 1 / 9

5 / 1 / 10

5 / 1 / 11

5 / 1 / 12

5 / 1 / 13

5 / 1 / 14

5 / 1 / 15

5 / 1 / 16

5 / 1 / 17

GET

GET

GET

GET

GET

GET

GET

GET

GET/SET

-

-

GET

GET

GET

GET

GET

GET usint 1 State

Instance Type

Transport Class Trigger

Produced Connection ID

Consumed Connection ID

2 Waiting for Connection ID

0 = Explicit Message Connection.

See DeviceNet Specification.



Produced Connection Size

Consumed Connection Size

Expected Packet Rate

-

-

Timeout Action

Produced Connection Path Length




Not Defined.

Not Defined.



Produced Connection Path See DeviceNet Specification.

Consumed Connection Path Length See DeviceNet Specification.

Consumed Connection Path

Production Inhibit Time




Attributes shown in GREY are not supported by the Drive DeviceNet Option Board.


Connection Class (continued)

DeviceNet

Path

5 / 2 / 1

DeviceNet

Services

GET

DeviceNet

Data Type usint

# of

Bytes

1

Description Notes

5 / 2 / 2

5 / 2 / 3

5 / 2 / 4

5 / 2 / 5

5 / 2 / 6

5 / 2 / 7

5 / 2 / 8

5 / 2 / 9

5 / 2 / 10

5 / 2 / 11

5 / 2 / 12

5 / 2 / 13

5 / 2 / 14

5 / 2 / 15

GET

GET

GET

GET

GET

GET

GET

GET/SET

-

-

GET

GET

GET

GET

5 / 2 / 16

5 / 2 / 17

GET

GET

5 / 2 / 100 GET/SET

5 / 2 / 101 GET/SET usint usint uint uint usint uint uint uint

-

- usint uint structure uint structure uint usint usint

1

1

2

2

1

2

2

2

-

-

1

2

6

2

6

2

1

1

State

Instance Type

Transport Class Trigger

Produced Connection ID

Consumed Connection ID

0

2

Non-existent

Waiting for Connection ID

1 = Polled I/O Message Connection.




Produced Connection Size

Consumed Connection Size

Expected Packet Rate

-

-




Not Defined.

Not Defined.

Timeout Action

Produced Connection Path Length



Produced Connection Path See DeviceNet Specification.

Consumed Connection Path Length See DeviceNet Specification.


Production Inhibit Time

Produced Connection Path




20, 21, 23, 120, 121,123, 124, 125, 126

See Chapter 7 (70 default).

70, 71, 72, 73, 130,131, 132, 134, 135, 136

See Chapter 7 (20 default).




Motor Class

DeviceNet

Path

40 / 0 / 1

40 / 0 / 6

40 / 0 / 7

40 / 1 / 1

40 / 1 / 2

40 / 1 / 3

40 / 1 / 4

40 / 1 / 5

40 / 1 / 6

DeviceNet

Services

GET

-

-

GET

-

GET/SET

-

-

GET/SET

40 / 1 / 7

40 / 1 / 8

40 / 1 / 9

GET/SET

-

GET/SET

40 / 1 / 10 -

40 / 1 / 11 GET/SET

40 / 1 / 12

40 / 1 / 13

-

-

40 / 1 / 14 -

40 / 1 / 15 GET/SET

40 / 1 / 19 -

DeviceNet

Data Type uint uint uint usint array usint string string uint uint udint uint uint uint uint udint udint uint usint

# of

Bytes

2

2

2

1

-

1

-

-

2

2

4

2

2

2

2

4

4

2

1 Service Factor

Description

Motor Object Revision



Motor Rated Voltage

Motor Rated Power

Motor Rated Frequency

Motor Rated Temperature

Motor Maximum Speed

Motor Pole Count

Motor Torque Constant

Motor Rotor Inertia

Motor Base Speed

Notes

The DeviceNet specification revision of the Motor Object.



Number of Motor Attributes Supported 7

Motor Attribute List

Motor Type 0 Non-standard motor

1 PM DC Motor

2 FC DC Motor

3

4

PM Synchronous Motor

FC synchronous Motor

-

5 Switched Reluctance Motor

6 Wound Rotor Induction Motor (default)

7

8

Squirrel Cage Induction Motor

Stepper Motor

9 Sinusoidal PM BL Motor

10 Trapezoidal PM BL Motor

Motor Catalog Number

Motor Manufacturer

Motor Rated Current

Motor Manufacturer’s Catalog Number.

Motor Manufacturer’s Name.

Units: 0.1 Amps NOTE: This setting is not the same as

Drive parameter E2-01 (Path 107 / 1 / 15).

The setting of 40 / 1 / 6 does not effect Drive operation

(Drive model dependent default).

Units: Volts (230 or 460 Volts default)

Units: Watts

Units: Hz (60 Hz default)

Units: degrees C

Units: RPM (1800 RPM default)

Number of poles of the motor

Units: 0.001 X Nm/A

Units: 10

-6

X kg m

2

Units: RPM (1750 RPM default)

Units: %

The Motor Class is required for compliance with the AC Drive Profile. Instance 1, Attributes 3, 6 and 7 are required. All other attributes are

optional.






DeviceNet

Path

41 / 0 / 1

41 / 0 / 6

41 / 0 / 7

41 / 1 / 1

41 / 1 / 2

41 / 1 / 3

41 / 1 / 4

41 / 1 / 5

41 / 1 / 6

41 / 1 / 7

41 / 1 / 8

41 / 1 / 9

41/ 1 / 10

41 / 1 / 11

41 / 1 / 12 GET/SET

41 / 1 / 13

41 / 1 / 14

41 / 1 / 15

41 / 1 / 16

41 / 1 / 17

41 / 1 / 18

41 / 1 / 100 GET/SET

DeviceNet

Services

GET

-

-

GET

-

GET/SET

GET/SET

GET/SET

GET

GET

GET

GET

GET

GET

-

-

GET

-

-

-

DeviceNet

Data Type uint uint uint usint array bool bool bool usint bool bool bool bool bool bool uint uint bool usint bool bool uint

# of

Bytes

2

2

2

1

-

1

1

1

1

1

1

1

1

1

1

2

2

1

1

1

1

2

Description Notes

Control Supervisor Object Revision


The DeviceNet specification revision of this Object.


Max Instance Attribute Number The number of the last Instance Attribute Implemented.

Number of Control Attributes Supported 13

Control Supervisor Attribute List

Run 1

Run 2

Network Control Enable

-

1 Run forward command

1 Run reverse command

0 Control from Local Option Board

1 Control from DeviceNet

0 Vendor Specific State

Running 1

Running 2

Ready

Faulted

Warning

Fault Reset

Fault Code

Warning Code

Network Control Enable Status

DeviceNet Fault Mode

Forced Fault

Forced Fault Status

Default Network Control (b1-02)

1

2

3

Drive is running in the forward direction

1 Drive is running in the reverse direction

1 Drive is ready for operation

1 Drive fault is active

1 Drive warning is active

1 Fault reset command



0 Control from Local Option Board

1 Control from DeviceNet




0 Digital Operator

Modbus Serial Communication

Option Board (DeviceNet)

The Control Supervisor Class is required for compliance with the AC Drive Profile. Instance 1, Attributes 3, 7, 10 and 12 are required.




AC Drive Class

DeviceNet

Path

42 / 0 / 1

42 / 0 / 2

42 / 0 / 6

42 / 0 / 7

42 / 1 / 1

42 / 1 / 2

42 / 1 / 3

42 / 1 / 4

42 / 1 / 5

42 / 1 / 6

42 / 1 / 7

42 / 1 / 8

42 / 1 / 9

DeviceNet

Services

GET

GET

-

-

GET

-

GET

GET/SET

-

GET

GET

GET/SET

GET

42 / 1 / 10

42 / 1 / 11

GET

GET

42 / 1 / 12 GET/SET

42 / 1 / 13 -

42 / 1 / 14

42 / 1 / 15

-

GET

42 / 1 / 16 GET

DeviceNet

Data Type uint uint uint uint usint structure bool bool bool usint int int int int int int int int int int

# of

Bytes

1

1

1

-

1

1

2

2

2

2

2

2

2

2

2

2

2

2

2

2

Description

AC Drive Object Revision




# of AC Drive Attributes Supported

AC Drive Attribute List

At Reference

Network Speed Reference Enable

Network Process Reference Enable

Drive Mode

Drive Actual Speed

Drive Speed Reference

Drive Actual Current

Drive Current Limit

Drive Actual Torque

Drive Torque Reference

Drive Actual Process Control Value

Drive Process Control Setpoint

Drive Actual Power

Drive Input Voltage

Notes

The DeviceNet specification revision of the AC Drive Object.

1



23

-

Drive is at set frequency.

0 Speed Reference from Local Option Board

1 Speed Reference from DeviceNet

0 Process Reference not from DeviceNet

1 Process Reference from DeviceNet

0 Vendor Specific

1 Open Loop Speed (F7 and G7 only).

2 Closed Loop Speed (F7 and G7 only).

Units: RPM / 2

Speed _Scale

Units: RPM / 2

Speed _Scale

Units: 0.1 Amps / 2

Current_Scale

Units: 0.1 Amps / 2

Current_Scale

Units: Nm / 2

Torque_Scale

(F7 and G7 only).

Units: Nm / 2

Torque_Scale

(F7 and G7 only).

Units: % / 2

Process_Scale

Units: % / 2

Process_Scale

Units: Watts / 2

Power_Scale

For the Drive, Power_Scale is fixed at 4. Therefore, the units for power are Watts/16. To convert from Watts to

Watts/16 you must divide by 16. For example:

80.0 Watts = 5 Watts/16.

Units: Volts / 2

Voltage_Scale

The AC Drive Class is required for compliance with the AC Drive Profile. Instance 1, Attributes 4, 6, 7 and 8 are required. All other attributes are

optional.


Attributes shown in GREY are not supported by the DRIVE DeviceNet Option Board.


AC Drive Class (continued)

DeviceNet

Path

42 / 1 / 17

42 / 1 / 18

42 / 1 / 19

42 / 1 / 20

42 / 1 / 21

DeviceNet

Services

GET

GET

GET

42 / 1 / 22

42 / 1 / 23

GET

GET

42 / 1 / 24 GET/SET

42 / 1 / 25

42 / 1 / 26

42 / 1 / 27

42 / 1 / 28

42 / 1 / 29

GET

GET

GET

GET

42 / 1 / 30

42 / 1 / 100 GET/SET

DeviceNet

Data Type int uint uint uint uint sint sint sint sint sint sint sint bool bool bool

# of

Bytes

2

2

2

2

2

1

1

1

1

1

1

1

1

1

1

Description

Drive Output Voltage

Drive Acceleration Time

Drive Deceleration Time

Drive Minimum Speed Limit

Drive Maximum Speed Limit

Speed Scale Factor

Current Scale Factor

Torque Scale Factor

Process Scale Factor

Power Scale Factor

Voltage Scale Factor

Time Scale Factor

Network Reference Enable Status

Network Process Reference Enable

Status

Reference Source (b1-01)

Notes

10.0 sec = 10000 msec = 625 msec/16

Units: RPM / 2

Speed _Scale

Units: RPM / 2

Speed _Scale

0

0

0 (F7 and G7 only).

0

4

0

4

Units: Volts / 2

Voltage_Scale

Units: msec / 2

Time_Scale

For the Drive, Time_Scale is fixed at 4. Therefore, the units for acceleration are msec/16. To convert from msec to msec/16 you must divide by 16. For example:

10.0 sec = 10000 msec = 625 msec/16

Units: msec / 2

Time_Scale

For the Drive, Time_Scale is fixed at 4. Therefore, the units for acceleration are msec/16. To convert from msec to msec/16 you must divide by 16. For example:

0

0

Speed Reference from Local Option Board

1 Speed Reference from DeviceNet

0 Process Reference not from DeviceNet

1 Process Reference from DeviceNet

Digital Operator

2

3

Modbus Serial Communication

Option Board (DeviceNet)

The AC Drive Class is required for compliance with the AC Drive Profile. Instance 1, Attributes 4, 6, 7 and 8 are required. All other attributes are

optional.




Yaskawa Command Class

DeviceNet

Path

100 / 0 / 1

DeviceNet

Services

GET

100 / 0 / 2

100 / 0 / 6

GET

100 / 0 / 7

100 / 1 / 1 GET/SET

100 / 1 / 2 GET/SET

100 / 1 / 3 GET/SET

100 / 1 / 4 GET/SET

100 / 1 / 5

100 / 1 / 6 GET/SET

100 / 1 / 7 GET/SET

100 / 1 / 8 GET/SET

DeviceNet

Data Type uint uint uint uint uint uint uint uint uint uint uint

2

2

2

2

2

2

# of

Bytes

2

2

2

2

2

Description

Yaskawa Object Revision




Operation Command

Frequency Reference

Torque Reference

Torque Compensation

Reserved for Future Use

Analog Output FM Setting

Analog Output AM Setting

Digital Output Setting

Notes

The DeviceNet specification revision of the Yaskawa Object.

1

The number of the last Class Attribute Implemented

The number of the last Instance Attribute Implemented

Bit 0 Forward Run/Stop

Bit 1 Reverse Run/Stop

Bit 2 Terminal S3 Function





Bit 7 Terminal S8 Function (F7 and G7 only)

Bit 8 External Fault

Bit 9 Fault Reset

0.01 Hz

0.1 % Flux Vector mode only (F7 and G7 only)

0.1 % Flux Vector mode only (F7 and G7 only)

Terminal FM -10V/-660 ~ +10V/+660

Terminal AM -10V/-660 ~ +10V/+660

Bit 0 Close Multi-function Output Terminal M1-M2



(F7 and G7 only)

Bit 3 Not Used

Bit 4 Not Used

Bit 5 Not Used

Bit 6 Enable Fault Contact

Bit 7 Close Fault Contact (effective only when bit 6 = 1)



Drive products may provide additional inputs and outputs than are supported through DeviceNet.

Example: G7 models have 12 digital inputs and 8 digital inputs are supported through DeviceNet.


Yaskawa Command Class (continued)

DeviceNet

Path

DeviceNet

Services

100 / 1 / 9

100 / 1 / 10

100 / 1 / 11

100 / 1 / 12

100 / 1 / 13

100 / 1 / 14

100 / 1 / 15

100 / 1 / 16

100 / 1 / 17 GET/SET

100 / 1 / 251 GET/SET

100 / 1 / 252 GET/SET

100 / 1 / 253 GET/SET

100 / 1 / 254 GET/SET

DeviceNet

Data Type uint uint uint uint uint

100 / 1 / 255 GET/SET uint

# of

Bytes

2

2

2

2

2

2

Description









Run/Stop Command

Explicit Retry Time

Explicit Modbus Timeout

Polled Modbus Timeout

ACCEPT Command

ENTER Command



Notes

Access through Modbus Block Transfer.

Writing this parameter to the Drive will save the current values of all Drive parameters (A1-00 through o3-02) to RAM memory on the Drive. Values saved in RAM memory will not be retained in case of power loss to the Drive.

Writing this parameter to the Drive will save the current values of all Drive parameters (A1-00 through o3-02) to the EEPROM memory on the Drive. Values saved in EEPROM memory will be retained in case of power loss to the Drive.


Yaskawa Drive Status Class

DeviceNet

Path

101 / 0 / 1

101 / 0 / 2

101 / 0 / 6

101 / 0 / 7

101 / 1 / 1

101 / 1 / 2

101 / 1 / 3

101 / 1 / 4

101 / 1 / 5

101 / 1 / 6

101 / 1 / 7

101 / 1 / 8

101 / 1 / 9

101 / 1 / 10

101 / 1 / 11

101 / 1 / 12

101 / 1 / 13

101 / 1 / 14

101 / 1 / 15

101 / 1 / 16

101 / 1 / 17

101 / 1 / 18

101 / 1 / 19

101 / 1 / 20

101 / 1 / 21

101 / 1 / 22

DeviceNet

Services

GET

GET

-

-

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

DeviceNet

Data Type uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

# of

Bytes

2

2

2

2

Description Notes






1



Inverter Status

Motor Speed

Torque Reference

PG Count

Monitor U1-05 (F7 and G7 only).

Monitor U1-09 (F7 and G7 only).

(F7 and G7 only).

Speed Reference

Output Frequency

Monitor U1-01.

Monitor U1-02.

Output Current Monitor U1-03.

Analog Input Terminal A2 Input Level Monitor U1-16.

DC Bus Voltage

Fault Content 1

Fault Content 2

Fault Content 3

Monitor U1-07.


DI - Input Terminal Status Monitor U1-10.


PG Count Channel 2

Operator Status

OPE#

CPF Content 1

CPF Content 2

Minor Fault Content 1

Minor Fault Content 2

(F7 and G7 only).




Yaskawa DRIVE U Parameter Class

DeviceNet

Services

GET

GET

-

-

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

DeviceNet

Path

102 / 0 / 1

102 / 0 / 2

102 / 0 / 6

102 / 0 / 7

102 / 1 / 1

102 / 1 / 2

102 / 1 / 3

102 / 1 / 4

102 / 1 / 5

102 / 1 / 6

102 / 1 / 7

102 / 1 / 8

102 / 1 / 9

102 / 1 / 10

102 / 1 / 11

102 / 1 / 12

102 / 1 / 13

102 / 1 / 14

102 / 1 / 15

102 / 1 / 16

102 / 1 / 17

102 / 1 / 18

102 / 1 / 19

102 / 1 / 20

102 / 1 / 21

102 / 1 / 22

102 / 1 / 23

102 / 1 / 24

102 / 1 / 25

102 / 1 / 26

102 / 1 / 27

102 / 1 / 28

# of

Bytes

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

DeviceNet

Data Type uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint

Description Notes






1



Frequency Reference

Output Frequency

Output Current

Control Method

Motor Speed

Output Voltage

DC Bus Voltage

Output Power

Torque Reference

Input Terminal Status

Output Terminal Status

Operation Status

Elapsed Time

Software No. (FLASH ID No.)

Control Circuit Terminal A1 Input Level



U1-01 Speed Reference in Hz X 100 (6000 = 60.0 Hz).

U1-02 See Drive Users Manual.



U1-05 See Drive Users Manual (F7 and G7 only).













Motor Secondary Current (Iq)

Motor Excitation Current (Id)



Output Frequency after Soft-start U1-20 See Drive Users Manual.

Automatic Speed Regulator (ASR) Input U1-21 See Drive Users Manual (F7 and G7 only).

Automatic Speed Regulator (ASR) Output U1-22 See Drive Users Manual (F7 and G7 only).

Speed Deviation Regulator Input U1-23 See Drive Users Manual (F7 and G7 only).

PID Feedback Amount

DI-16H2 Input Status



Output Voltage Reference Vq

Output Voltage Reference Vd

Software No. CPU







Yaskawa DRIVE U Parameter Class (continued)

DeviceNet

Path

102 / 1 / 28

102 / 1 / 29

102 / 1 / 30

102 / 1 / 31

102 / 1 / 32

102 / 1 / 33

102 / 1 / 34

102 / 1 / 35

102 / 1 / 36

102 / 1 / 37

102 / 1 / 38

102 / 1 / 39

102 / 1 / 40

102 / 1 / 41

102 / 1 / 42

102 / 1 / 43

102 / 1 / 44

102 / 1 / 45

102 / 1 / 46

102 / 1 / 47

102 / 1 / 48

102 / 1 / 49

102 / 1 / 50

102 / 1 / 51

102 / 1 / 52

102 / 1 / 53

102 / 1 / 54

DeviceNet

Services

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

DeviceNet

Data Type uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint

# of

Bytes

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

Description Notes

KWh Lower 4 Digits

KWh Upper 5 Digits

ACR(q) Output

ACR(d) Output

OPE Fault

Zero Servo Pulse Count







PID Input

PID Output



PID Setpoint U1-38 See Drive Users Manual.

Modbus Communication Error Code U1-39 See Drive Users Manual.

Heatsink Fan Operation Time

ASR Output without Filter

Feed Forward Control Output

Current Fault

Last Fault






Frequency Ref. at Fault

Output Frequency at Fault

Output Current at Fault

Motor Speed at Fault

Output Voltage at Fault

DC Bus Voltage at Fault

Output kWatts at Fault

Torque Reference at Fault

Input Terminal Status at Fault

Output Terminal Status at Fault

Drive Status at Fault

Elapsed Time at Fault








U2-10 See Drive Users Manual. (F7 and G7 only).








Yaskawa DRIVE U Parameter Class (continued)

DeviceNet

Path

102 / 1 / 55

102 / 1 / 56

102 / 1 / 57

102 / 1 / 58

102 / 1 / 59

102 / 1 / 60

102 / 1 / 61

102 / 1 / 62

102 / 1 / 63

102 / 1 / 64

102 / 1 / 65

102 / 1 / 66

102 / 1 / 67

102 / 1 / 68

102 / 1 / 69

102 / 1 / 70

102 / 1 / 71

102 / 1 / 72

102 / 1 / 73

102 / 1 / 74

DeviceNet

Services

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

GET

DeviceNet

Data Type uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint uint

# of

Bytes

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

Description

Last Fault

Fault Message 2

Fault Message 3

Fault Message 4

Elapsed Time 1

Elapsed Time 2

Elapsed Time 3

Elapsed Time 4

Fault Message 5

Fault Message 6

Fault Message 7

Fault Message 8

Fault Message 9

Fault Message 10

Elapsed Time 5

Elapsed Time 6

Elapsed Time 7

Elapsed Time 8

Elapsed Time 9

Elapsed Time 10



Notes






















Appendix B

Drive Assemblies

Output Assemblies – Polled Consuming Assembly

Input Assemblies – Polled Producing Assembly

F7/G7/P7 Assemblies B-1


Assembly # of Bytes Byte


Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2

Fault

Reset

Bit 1

-

Speed

Command

21 4

Network

0 -

Reference

Extended

Speed

Command

2

3

2

3

Speed Reference in RPM (Low Byte)

Speed Reference in RPM (High Byte)

Network

Control

Fault

- -

Reset



22 6

0

Reset

Run

Reverse

-

Speed/

Torque

2

3

Command 4



Command 4

Torque Reference in N-m*(2^torque_scale) (Low Byte) *3

5

23 6

Network

0 -

Reference

Extended

Torque Reference in N-m*(2^torque_scale) (High Byte) *3

Network

Control

Fault

- -

Reset

Run

Reverse

Speed/

Torque

2

3



Torque Reference in N-m*(2^torque_scale) (Low Byte) *3

5 Torque Reference in N-m*(2^torque_scale) (High Byte) *3

Bit 0

Run

Forward

Run

Forward

Run

Forward

Run

Forward



120 *

4

Output Assemblies – Polled Consuming Assembly (continued) bytes

0

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1

Terminal S8

Function *3

Terminal S7

Function

Terminal S6

Function

Terminal S5

Function

Terminal S4

Function

Terminal S3

Function

Run

Reverse

Fault

- - - - - -

Reset

Speed Reference in Hz X 100 (Low Byte) *2

Command 1

121 *

4

bytes

3

0

Terminal S8

Function *3

Torque 2

Terminal S7

Function

Speed Reference in Hz X 100 (High Byte) *2

Terminal S6

Function

Terminal S5

Function

Terminal S4

Function

Terminal S3

Function

Torque Reference % of rated X 10 (Low Byte) *3

Run

Reverse

Fault

- - - - - -

Reset

Command 1 3

122 *

4

bytes

0

Terminal S8

Function *3

Terminal S7

Function

Torque Reference % of rated X 10 (High Byte) *3

Terminal S6

Function

Terminal S5

Function

Terminal S4

Function

Terminal S3

Function

Run

Reverse

- - - - - -

Reset


Command 2 3

4

5

123 *

4

bytes

0

Terminal S8

Function *3

Torque 2

Terminal S7

Function


Network Reference (b1-01)

Network Control (b1-02)

Terminal S6

Function

Terminal S5

Function

Terminal S4

Function

Terminal S3

Function

Run

Reverse

Fault

Reset

Command 2 3

4

5



Network Reference (b1-01)

Network Control (b1-02)

Bit 0

Run

Forward

External

Fault

Run

Forward

External

Fault

Run

Forward

External

Fault

Run

Forward

External

Fault


Output Assemblies – Polled Consuming Assembly (continued)

Assembly

124 *

Speed

4

Command 3

# of Bytes

bytes

Byte

0

Bit 7

Terminal S8

Function *3

1

2

3

4

5

6

7

125 *

4

Torque

Command 3

bytes

0

Terminal S8

Function *3

1

2

3

4

5

6

126 *

4

bytes

7

Terminal S8

0

Function *3

Speed and 2

Torque 3

Command 1 4

5

6

7

Bit 6

Terminal S7

Function

Terminal S7

Function

Terminal S7

Function

Bit 5

Terminal S6

Function

Bit 4 Bit 3

Terminal S5

Function

Terminal S4

Function

Service Code (Read, Write)

Class Number to Read/Write

Attribute Number to Read/Write

Data (Low Byte)

Data (High Byte)

Bit 2

Terminal S3

Function



Terminal S6

Function

Terminal S5

Function

Terminal S4

Function

Terminal S3

Function

Service Code (Read, Write)

Class Number to Read/Write

Attribute Number to Read/Write

Data (Low Byte)

Data (High Byte)



Terminal S6

Function

Terminal S5

Function

Terminal S4

Function

Terminal S3

Function





Torque Compensation % of rated X 10 (Low Byte)

Torque Compensation % of rated X 10 (High Byte)

Bit 1

Run

Reverse

Run

Reverse

Run

Reverse

Fault

Reset

Bit 0

Run

Forward

Run

Forward

Run

Forward

External

Fault





Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2

Running

- - - - -

Forward

Speed

Status

2

3

Output Speed in RPM (Low Byte)

Output Speed in RPM (High Byte)

0

At

Reference

Extended 1

Speed 2

Status 3

Reference from DNet

Control from DNet

Drive

Ready

Running

Reverse

Running

Forward



Running

- - - - -

Forward

Speed/

Torque

2

3

0

At

Reference

Extended 1

Speed/

Torque

5

2

3

5

Reference from DNet



Output Torque N-m x (2^torque_scale) (Low Byte) *3

Output Torque N-m x (2^torque_scale) (High Byte) *3

Control from DNet

Drive

Ready

Running

Reverse

Running

Forward



Output Torque N-m x (2^torque_scale) (Low Byte) *3

Output Torque N-m x (2^torque_scale) (High Byte) *3

Bit 1

-

Drive

Alarm

-

Drive

Alarm

Bit 0

Drive

Fault

Drive

Fault

Drive

Fault

Drive

Fault


Assembly

130 *

4

# of Bytes

4

Byte

0

Input Assemblies – Polled Producing Assembly (continued)

Bit 7

Drive

Fault

Zero Servo

1

Complete*3

Bit 6

Drive

Alarm

Motor

Selection*3

Bit 5

Drive

Ready

Term M5-M6

Output *3

Bit 4

At

Speed

Term M3-M4

Output

Bit 3

Fault Reset

Active

Term M1-M2

Output

Bit 2

Drive

Reversing

Local/

Remote

Speed 2 Output Speed in Hz x 100 (Low Byte) *2

Status 1 3

131 *

4

4

0

Drive

Fault

Zero Servo

1

Complete*3

Current 2

Drive

Alarm

Motor

Selection*3

Output Speed in Hz x 100 (High Byte) *2

Drive

Ready

Term M5-M6

Output *3

At

Speed

Term M3-M4

Output

Fault Reset

Active

Term M1-M2

Output

Drive

Reversing

Local/

Remote

Output Current in Amps x 100 (Low Byte) *1

Status 1 3

132 *

4

6

0

Drive

Fault

Zero Servo

1

Complete*3

Current 2

Drive

Alarm

Motor

Selection*3

Output Current in Amps x 100 (High Byte) *1

Drive

Ready

Term M5-M6

Output *3

At

Speed

Term M3-M4

Output

Fault Reset

Active

Term M1-M2

Output

Drive

Reversing

Local/

Remote



Output Speed in Hz x 100 (Low Byte) *2 Speed 4

Status 1 5

134 *

Speed

4

Status 2

8

0

Drive

Fault

1

2

3

4

5

6

7

Drive

Alarm


Drive

Ready

At

Speed

Fault Reset

Active

Service Code (Read, Written)

Drive

Reversing

Class Number to Read/Written

Attribute Number to Read/Written

Data (Low Byte)

Data (High Byte)

Output Speed in Hz x 100 (Low Byte) *2


Bit 1

At Zero

Speed

During

Ride-Thru

At Zero

Speed

During

Ride-Thru

At Zero

Speed

During

Ride-Thru

At Zero

Speed

Bit 0

Running

Running

Running

Running


Input Assemblies – Polled Producing Assembly (continued)

Assembly # of Bytes Byte Bit 7 Bit 6

135 *

4

8

0 Drive

Fault

Drive

Alarm

Current

Status 2

1

2

3

4

5

6

Bit 5

Drive

Ready

Bit 4 Bit 3 Bit 2

At

Speed

Fault Reset

Active

Service Code (Read, Written)

Class Number to Read/Written

Drive

Reversing

Attribute Number to Read/Written

Data (Low Byte)

Data (High Byte)

Bit 1

At Zero

Speed

Bit 0

Running


136 *

4

Torque and Speed

Status

7

bytes

0 Drive Drive

Fault Alarm

1 Motor

2

3

4

5

6

7

Complete*3 Selection*3


Drive

Ready

Term M5-M6

At

Speed

Term M3-M4

Output

Fault Reset

Active

Term M1-M2

Output

Output *3

Output Torque % x 10 (Low Byte)

Output Torque % x 10 (High Byte)

Drive

Reversing

Local/

Remote

Motor Speed in Hz x 100 (Low Byte)

Motor Speed in Hz x 100 (High Byte)

Speed Reference in Hz x 100 (Low Byte)

Speed Reference in Hz x 100 (High Byte)

At Zero

Speed

During

Ride-Thru

Running

Notes:

*1 Output Current is given in Amps X 100 (For example 1000 = 10.00 Amps) for models F7U/G7U/P7U -20P4 to -27P5 and -40P4 to -47P5.

Output Current is given in Amps X 10 (For example 100 = 10.0 Amps) for models F7U/G7U/P7U -2011 to -2110 and -4011 to -4300.

This value is based on the drive capacity model.

*2 Speed Reference and Output Speed are given in Hz X 100 (For example 2000 = 20.00 Hz)

*3 F7 and G7 Drives only.

*4 Yaskawa specific Polled Consuming or Polled Producing Assembly.


Notes:


Appendix C

DeviceNet Object Services

Identity Class

DeviceNet Class

Assembly Class

Connection Class

Motor Class


AC Drive Class

Yaskawa Drive Command Class


Yaskawa Drive Monitor Class

Yaskawa Drive Parameter Class

DeviceNet Object Services C-1

Identity Class

Service

Code

(in hex)

05h

0Eh

10h

DeviceNet Class

Service

Code

(in hex)

0Eh

Assembly Class

Service

Code

(in hex)

0Eh

10h

Implemented Service Name Description

Class Instance no yes yes no yes yes

Reset The Reset Service has one parameter of type

USINT. The type of Reset that is performed depends on the value of this parameter. The possible values are:

0 This type of reset will emulate cycling power to the Drive.

1 This type of reset will reset the

Drive to out-of-the-box factory conditions. The Drive will be initialized for 2-wire control.

Get Attribute Single Returns the contents of an attribute.

Set Attribute Single Modifies an attribute value.


Class Instance yes yes Get Attribute Single Returns the contents of an attribute.


Class Instance yes no yes yes




Connection Class

Service

Code

(in hex)

0Eh

10h

Motor Class

Service

Code

(in hex)

0Eh

10h

Implemented

Class Instance yes yes no yes

Implemented

Class Instance yes no yes yes


Service

Code

(in hex)

05h

Implemented

Class Instance no yes

0Eh

10h yes no yes yes

Service Name Description



Service Name



Service Name

Description

Description

Reset This type of reset will emulate cycling power to the Drive.




AC Drive Class

Service

Code

(in hex)

0Eh

10h

Implemented

Class Instance yes yes no yes

Yaskawa Drive Command Class

`Service

Code

(in hex)

0Eh

10h

32h

Implemented

Class Instance yes no no yes yes yes

33h yes yes

Service Name

Get Attribute Single Returns the contents of an attribute


Service Name

Description

Description



ENTER Command The ENTER Command service will save the current values of all Drive parameters (A1-00 through o3-02) to the EEPROM memory on the Drive. Values saved in EEPROM memory will be retained in case of power loss to the Drive.

This is a Vendor Specific service.

ACCEPT Command The ACCEPT Command service will save the current values of all Drive parameters (A1-00 through o3-02) to the Active RAM memory on the Drive. Values saved in Active RAM memory will not be retained in case of power loss to the Drive.




Service

Code

(in hex)

0Eh

Implemented

Class Instance yes yes

Yaskawa Drive Monitor Class

Service

Code

(in hex)

Implemented

Class Instance

0Eh yes yes

Yaskawa Drive Parameter Class

Service

Code

(in hex)

0Eh

10h

32h

Implemented

Class Instance yes yes no no yes yes

33h yes yes

Service Name Description


Service Name


Service Name

Description

Description



ENTER Command The ENTER Command service will save the current values of all Drive parameters (A1-00 through o3-02) to the EEPROM memory on the Drive. Values saved in EEPROM memory will be retained in case of power loss to the Drive.


ACCEPT Command The ACCEPT Command service will save the current values of all Drive parameters (A1-00 through o3-02) to the Active RAM memory on the Drive. Values saved in Active RAM memory will not be retained in case of power loss to the Drive.



Notes:


Appendix D

Product Specifications

Ambient Temperature

Storage Temperature

Relative Humidity

Vibration

Input Power


–10 to +45 degrees C (+14 to +113 degrees F)

–20 to +60 degrees C (–4 to +140 degrees F)

90% non-condensing

1G at less than 20 Hz, 0.2 G at 20-50 Hz

Voltage: 11 - 25 Vdc

Current: 40 mA maximum

Product Specifications D-1

Notes:

Product Specifications D-2

Appendix E

Spare Parts List

Description


DeviceNet Mating Connector

DeviceNet Installation Guide

DeviceNet Technical Manual

Yaskawa Electronic Library CD-ROM

Source

Yaskawa

Part Number

CM056, CM057, CM058

Yaskawa 05P00060-0474

Beau 860505

Yaskawa

Yaskawa

Yaskawa

IG.AFD.14

TM.AFD.14

CD.AFD7.01

Spare Parts List E-1

Notes:

Spare Parts List E-2

Appendix F

Drive Monitor and Parameter Object Paths

Drive Parameter Object Paths F-1

Yaskawa Drive Monitor Object Paths

The following tables list all the drive monitors and parameters that are supported by the CM056, CM057 and

CM058 DeviceNet Option Boards. Each drive has its own set of Classes (CLASS), Instances (INST), and

Attributes (ATTR) for each monitor and parameter, so be sure to reference the proper column for the drive. For further details on the drive monitor and parameter, please see the appropriate drive User Manual (TM.F7.01,

TM.P7.01, TM.G7.01).

The GET refers to GET Single and is service number 0Eh.

The SET refers to SET Single and is service number 10h.

Monitor Object Paths

Monitor Service

Data

Type

# of

Byte s

F7U P7U G7U

CLASS INST ATTR CLASS INST ATTR CLASS INST ATTR


Monitor Service

Data

Type


# of

Byte s

F7U P7U G7U



Monitor Service

Data

Type


# of

Byte s

F7U P7U G7U



Yaskawa Drive Parameter Object Paths

Parameter Service

Parameter Object Paths

Data

Type

# of F7U P7U G7U

Bytes CLASS INST ATTR CLASS INST ATTR CLASS INST ATTR




Data

Type






Data

Type






Data

Type






Data

Type






Data

Type






Data

Type






Data

Type




Notes:


DeviceNet™ Option (CM05x)

YASKAWA ELECTRIC AMERICA, INC.

Drives Division

16555 W. Ryerson Rd., New Berlin, WI 53151, U.S.A.

Phone: (800) YASKAWA (800-927-5292) Fax: (262) 782-3418

Internet: http://www.drives.com

YASKAWA ELECTRIC AMERICA, INC.

Chicago-Corporate Headquarters

2121 Norman Drive South, Waukegan, IL 60085, U.S.A.

Phone: (800) YASKAWA (800-927-5292) Fax: (847) 887-7310

Internet: http://www.yaskawa.com

YASKAWA ELECTRIC CORPORATION

New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo, 105-0022, Japan

Phone: 81-3-5402-4511 Fax: 81-3-5402-4580

Internet: http://www.yaskawa.co.jp

YASKAWA ELECTRIC EUROPE GmbH

Am Kronberger Hang 2, 65824 Schwalbach, Germany

Phone: 49-6196-569-300 Fax: 49-6196-888-301

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

No results