Yaskawa Network Comms-Interbus-s Manual
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VS-616G5
Option Instruction Manual
InterBus-S Control Card SI-R
!
WARNING
PRECAUTIONS
1. Read this instruction manual in its entirety before installing the InterBus-S Control Card SI-R or before operating the inverter with this card installed.
2. DO NOT connect or disconnect wiring, or perform signal checks while the electrical power is turned ON.
Failure to observe these and other precautions indicated in this manual will expose the user to high voltages, resulting in serious injury or death. Damage to equipment may also occur.
!
CAUTION
NOTE
The option card uses CMOS IC chips. Therefore, the card could become damaged when physically handled if static electricity is present. The person handling the card should wear a discharge strap to eliminate the possibility of static charge (if present) affecting the card.
Failure to observe this precaution may result in equipment damage.
NOTICE
Printed June 1998. The information contained within this document is the proprietary property of
Yaskawa Electric America, Inc., and may not be copied, reproduced or transmitted to other parties without the expressed written authorization of Yaskawa Electric America, Inc.
No patent liability is assumed with respect to the uses of the information contained herein. Moreover, because Yaskawa is constantly improving its high quality product, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this document. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.
Page 2 VS-616G5 Option Instruction Manual: InterBus-S Control Card SI-R
INTRODUCTION
The InterBus-S Control Card SI-R is used to connect the VS-616G5 inverter to an InterBus-S network. It can communicate with either 4-word fast cycle data or 3 objects in PCP (Peripheral Communications Protocol). These objects are: Accel Time 1, Decel Time 1, and Modbus commands. The communication rate is fixed at 500 kbps with RS-422 electrical interface.
Name
InterBus-S
Control Card
SI-R
Table 1: InterBus-S Control Card SI-R Overview
YEA Code Number Functions
YAG5-IBS
• Connects inverter to, and communicates with, an InterBus-S communication network .
• Option card plugs into 2CN connector on the control board.
• Option card is a 4-word InterBus-S remote bus slave unit. PCP is supported.
• The card requires VS-616G5 Flash # VSG101042 or higher.
BUS IN connector
(JP1)
BUS OUT connector
(JP2)
Grounding lead wire
(connect to terminal #12 of inverter control board)
Ver 1.1
3225B
YAG5-IBS T20143
Fig. 1 InterBus-S Control Card SI-R
Indication LEDs
(Qty: 6)
VS-616G5 Option Instruction Manual: InterBus-S Control Card SI-R Page 3
INSTALLATION
1.
Before attempting to install or use the InterBus-S Control Card SI-R, please read these instructions.
2.
After unpacking the card, verify that the code number is correct and that no damage has occurred during shipping. Contact your YASKAWA representative if you require any assistance.
3.
Turn OFF the main electrical power to the inverter.
4.
Remove the inverter’s digital operator. Then remove the inverter’s front cover. Refer to the VS-
616G5 User’s Manual for specific removal instructions for your particular inverter size.
5.
Verify that the indicator CHARGE lamp is OFF (power OFF indication).
6.
Plug the 2CN connector of the InterBus-S Control Card SI-R into the 2CN connector (60 pins) on the control board of the inverter as illustrated in Fig. 2 below. Gently push the SI-R card until the stand-off posts engage the two holes on the option card. Secure the SI-R card. (See part A of the side view below).
7.
Attach the green grounding load wire (PE-Protected Earth) cable to terminal 12 of the VS-
616G5 control board.
8.
Replace the inverter cover. Refer to Figs. 3 and 4 for correct wiring of the InterBus-S Control
Card and the Control Board. Note: The cable colors indicated meet the InterBus-S standard.
Option A
4CN Option A connector
7CN
Top
Mounting base of inverter
2CN Option C connector
3CN Option D connector
A
Option C
SI-R
Control board
6CN connector
Option D
Connector terminal
Grounding terminal 12
Bottom
Front View Side View
Fig. 2 Installation of the InterBus-S Control Card SI-R
Page 4 VS-616G5 Option Instruction Manual: InterBus-S Control Card SI-R
!
CAUTION
WIRING NOTES
1. Separate the control signal wires (on the option card terminal block) from the main circuit wires and other power cables.
2. Use twisted shielded wire. Prepare the wire as shown in Fig. 3 to prevent noise interference.
Shield Sheath B
Armor
A
C
Fig. 3 Shielded Wire
A. NEVER connect the shield to ground.
B. WRAP insulating tape around shielded areas and wires where termination occurs.
C. CONNECT the shielded wire end to the Grounding Terminal on the inverter control board.
3. Care must be taken when selecting twisted shielded wire in lengths exceeding 50 feet. The impedance of the wire should be low enough to ensure sufficient signal amplitude for proper operation of all communication equipment connected to the InterBus-S Control Card SI-R. In general, as the length of wire is increased, the cross section or gauge must also increase.
4. Please observe National Electrical Code (NEC) and any other governing regional or local codes when wiring electrical devices.
Wiring Connection Notes:
1. To prevent noise, use shielded wire as specified in Fig. 3. Separate from the power circuits
(100VAC or greater).
2. Terminate shielded wire correctly. (Refer to Fig. 3.)
3. Applicable wire sizes for the terminal block are listed in Table 2 below.
Table 2: Applicable Wire Sizes for Terminal Blocks JP1 and JP2
Wire / Installation Type Cross-sectional Area [mm
2
]
Thin twisted wire
Solid wire
UL
CSA
CSA
1
1.5
—
—
—
AWG
16
16
22-16
26-16
26-16
I [A]
12
12
10
10
10
VAC [V]
125
125
300
300
150
VS-616G5 Option Instruction Manual: InterBus-S Control Card SI-R Page 5
WIRING
InterBus-S Terminal Blocks
The InterBus-S network cables are connected to the option board on the left side of the module, using the two terminal blocks (Phoenix contact MKDS1-6 and MKDS1-7). There is one terminal block (JP1) for the remote bus IN (i.e., from the previous InterBus-S unit), and one terminal block
(JP2) for the remote bus OUT (i.e., to the next InterBus-S unit). The pin layout of the connectors follows the InterBus-S standard. (Refer to Table 3 below.)
Table 3: InterBus-S Pin Layout
4
5
6
—
Pin
1
2
3
Bus IN (JP1)
Function
DO1
/DO1
DI1
/DI1
GND BUS
SHIELD
—
4
5
2
3
Pin
1
Bus OUT (JP2)
Function
DO2
6
7
/DO2
DI2
/DI2
GND
RBST
PE
Page 6
Male
2
7
5
6
3
9
From previous unit
1 DO
/DO
GND
DI
/DI
DB9
Connector
Yellow
Green
Brown
Grey
Pink
*
3
4
2
5
BUS IN (JP1)
1 DO
/DO
GND
DI
/DI
3
4
6
2
5
7
BUS OUT (JP2)
1 DO
/DO
GND
DI
/DI
RBST
PE
Yellow
Green
Brown
Grey
Pink
Fig. 4 Wiring of the InterBus-S Control Card SI-R
*
2
7
6
3
To next unit
1 DO
/DO
GND
DI
/DI
DB9
Connector
Female
Note: If the InterBus-S option card is the last unit on the bus, the RBST signal must be connected to
GND as illustrated below.
Male
From previous unit
1
6
DO
/DO
GND
DI
/DI
5
9
3
2
7
Yellow
Green
Brown
Grey
Pink
*
5
3
4
1
2
BUS IN (JP1)
DO
/DO
GND
DI
/DI
5
3
4
6
7
BUS OUT (JP2)
1
2
DO
/DO
GND
DI
/DI
RBST
PE
Fig. 5 Installation of the RBST signal
* Standard color coding of InterBus-S communications cable
VS-616G5 Option Instruction Manual: InterBus-S Control Card SI-R
Option Card LEDs
The option card is equipped with six LED indicators, as illustrated in Fig. 6 below.
TR
PWR
WD
BA
RC
ERR
Fig. 6 LED Indicators
LED
PWR
WD
TR
BA
RC
ERR
Table 4: InterBus-S Module Status - LED Indicators
Color
Green
Bi-color
Red/Green
Green
Green
Green
Red
Indication/Function
Lit when the +5V supply is OK on the board
Indicates module status as follows:
Turned off: Option board CPU not running
Lit Green:
Flashing green:
Option board initialization
Normal operation
Lit red:
Flashing red:
Other unspecified:
Internal option board error
G5 error detected
Option board error
TR
Flashes when a new PCP frame has been received.
( The flash rate is high; consequently the user may not be able to see this.)
Bus Active
Lit only when the InterBus-S is running.
Remote bus check
Lit only when the input cable is connected.
ERROR indication
Lit when an InterBus-S error has been detected. When the InterBus-S is restarted, the LED is turned off.
VS-616G5 Option Instruction Manual: InterBus-S Control Card SI-R Page 7
INTERBUS-S FUNCTION
InterBus-S System Description
The following contains a brief technical and functional description of the InterBus-S standard. For a more detailed description, please consult the InterBus-S specification.
Host
(Master) Control Cabinet
Local Bus
Out
BK module for local bus
IN OUT
Local I/O Local I/O Local I/O
Remote bus segment 1
Remote bus segment 2
Installation remote bus
BK module for installation bus
IN OUT
Segment A
Installation bus
I/O
Segment B
Installation bus
I/O
Segment C
Installation bus
I/O
Remote bus segment 3
Remote bus device
IN OUT
Remote bus device
IN OUT
Remote bus segment 4
Remote bus segment 5
Fig. 7 InterBus-S Topology
Remote bus device
IN OUT
Notes:
Each segment (1, 2, 3, 4, or 5) length
≤
400m
Total segment (1 + 2 + 3 + 4 + 5)
≤
2Km
Maximum 256 segments with total length < 12.8Km
InterBus-S Remote Bus Data
The remote bus bridges large distances within the system. The entire remote bus can be up to 12.8 km in length (from the host to the last connected remote bus module).
This is achieved by dividing the entire remote bus into individual segments.
A remote bus segment consists of the transmission line (remote bus cable), and the bus module connected to it; a remote bus segment can bridge up to 400 m. The complete remote bus can thus be subdivided into 256 remote bus segments.
Page 8 VS-616G5 Option Instruction Manual: InterBus-S Control Card SI-R
The local bus is for use inside the control cabinets. The local bus carries signals, power, and control to the local bus I/O modules.
The installation remote bus is used mainly in IP65 or IP67 environments and is a remote bus with 24VDC power for remote installation I/O modules.
Table 5: Basic Remote Bus Specifications
Maximum length of remote bus segment
Maximum bus cable length between:
Host and first remote bus module
Two remote bus modules
Host and last remote bus module
Transmission rate
Transmission medium
400m
—
400m
400m
12.8 km
500kbits/s
RS-422
The scan time of the InterBus-S system depends on the various factors and increases linearly with an increasing number of I/O points. However, due to the efficiency of the
InterBus-S protocol, the scan time is predominantly determined by the number of I/O points.
The SI-R option card for the VS-616G5 is a remote bus device only.
Controlling the Inverter Via InterBus-S
The option board is a 4 word InterBus-S remote bus slave unit with a 1 word PCP channel. This means that the board can exchange data in two ways:
1. Through the InterBus-S fast cyclic data (3 words) of 16 bit data
2. Through PCP (Peripheral Communication Protocol)
Cyclic data
The board supports 3 words of fast cyclic data. The data exchanged supports the following functions and parameters:
Input data
(IBS master
⇒
VS-616G5)
Word 0
Fast data w0
Not used
Word 1
Fast data w1
Run Operation Signals
(See Table 6)
Word 2
Fast data w2
Speed command
(1hex = 0.01Hz)*
Word 3
PCP
Used by PCP protocol
* 1770 hex = 60.00Hz
VS-616G5 Option Instruction Manual: InterBus-S Control Card SI-R Page 9
A
B
C
D
E
F
7
8
9
5
6
3
4
Bit No
0
1
2
Description
Forward run
Reverse run
Terminal 3 function
Terminal 4 function
Terminal 5 function
Terminal 6 function
Terminal 7 function
Terminal 8 function
External fault
Fault Reset
Not used
Not used
Not used
Not used
Not used
Not used
Table 6: Input Data: Run Operation Signals
Remarks
Effective when the setting is B1-02 = 3
Effective when the setting is B1-02 = 3
Dependent on H1-01 setting
Dependent on H1-02 setting
Dependent on H1-03 setting
Dependent on H1-04 setting
Dependent on H1-05 setting
Dependent on H1-06 setting
—
—
—
—
—
—
—
—
Output data
(VS-616G5
⇒
IBS master)
Word 0
Fast data w0
Not used
Word 1
Fast data w1
Inverter status
(See Table 7)
Word 2
Fast data w2
Word 3
PCP
Output frequency
(1 hex = 0.01Hz)*
Used by PCP protocol
* 1770 hex = 60.00Hz
Page 10 VS-616G5 Option Instruction Manual: InterBus-S Control Card SI-R
Table 7: Output Data: Inverter Status
Bit No.
E
F
C
D
9
A
7
8
B
4
5
6
2
3
0
1
Description
Running
Zero speed
Reverse running
Reset command receiving
Speed agree
Inverter ready
Minor fault
Major fault
OPE error
During momentary power ridethrough
Local/Remote
Terminal 9-10 output
Terminal 25 output
Terminal 26 output
Motor selection
Zero servo completion (FV control mode only)
Peripheral Communications Protocol (PCP)
The PCP channel supports three objects:
ID
6800 (HEX)
6801 (HEX)
6802 (HEX)
Name
ACCELERATION
Data type
16 bit integer
DECELERATION 16 bit integer
MODBUS COMMAND ARRAY (3 x 16 bit integer)
Access
R/W
R/W
R/W
The SI-R board uses one-word PCP channel communications. The board supports only up to four cycles per PCP communication. In other words, the PCP communication message can only be up to four words long.
Object 6800 (Acceleration Time 1)
Using this parameter the IBS master can read and write ACCELERATION TIME
1 in the inverter. The object is accessed with PCP service read or write parameter.
Object 6801 (Deceleration Time 1)
Using this parameter the IBS master can read and write DECELERATION TIME
1 in the inverter. The object is accessed with PCP service read or write parameter.
VS-616G5 Option Instruction Manual: InterBus-S Control Card SI-R Page 11
Page 12
Object 6802 (MODBUS Commands)
Using this parameter the IBS master can access the inverter parameters by sending MODBUS commands. A MODBUS command is sent to the G5 option card with PCP service write parameter and the result is accessed with PCP service read parameter.
The MODBUS command is entered in an array of integers. The command has the following structure:
Word
1
2
3
Name
MODBUS command
Address
Data
Word1
Description
= 0003 (HEX) = Read command
0010 (HEX) = Write command
Other commands will result in an error response.
Word2
Word3
= Inverter internal address (HEX)
= Command data
The MODBUS response has the following structure:
Word
1
2
3
Name
MODBUS response
Word1
Description
= 0000 (HEX) = Waiting for response from inverter
0003 (HEX) = Data contains read response
0010 (HEX) = Write complete
0083 (HEX) = Read command error
0090 (HEX) = Write command error
= Inverter address
= Response data or ERROR code
Address
Data
Word2
Word3
If a fault occurs, the option card indicates an ERROR response by setting the
MSB bit in the MODBUS Response code to one (1). The data word then contains the ERROR code.
Error
Function error
Address fault
No. of data faults
Data content fault
Error Code Description
01H Unregistered MODBUS function code.
02H Parameter address (Starting address) is greater than 600H.
Designate unused parameter address.
03H
21H
Read more than 4 words.
Write more than 4 words.
Parameter contents exceed the upper or lower limit.
VS-616G5 Option Instruction Manual: InterBus-S Control Card SI-R
Write fault
22H
23H
24H
Parameters are changed during running or undervoltage condition.
Write parameter during undervoltage.
Write parameter during calculating parameter.
Examples of using Modbus PCP on SI-R
A. Read value of inverter torque reference:
Parameter U1-09, address 28 hex
Send message: Word1 = 0003 (read)
Word2 = 0028 (U1-09 address 28h)
Word3 = 0000 (no data)
Receive message: Word1 = 0003 (read resp)
Word2 = 0028 (U1-09 data)
Word3 = 03E8 (100.0% value)
B. Actual fast cycle data of example above:
Inverter is running forward at 30.00Hz
Sending
Receiving
1st message
2nd message
3rd message
4th message
1st message
2nd message
3rd message
4th message
Word0 Word1 Word2 Word3
0000 0001 0bb8 6802
0000 0001 0bb8 0003
0000 0001 0bb8 0028
0000 0001 0bb8 0000
0000 2C31 0bb8 6802
0000 2C31 0bb8 0003
0000 2C31 0bb8 0028
0000 2C31 0bb8 03E8
For complete details on Modbus communication with the VS-616G5, please contact your nearest Yaskawa representative and ask for Document # PI95029,
Modbus Communication.
A printed example of how to use the SI-R InterBus-S communication card with the Phoenix
Contact PCPM software program is available from Yaskawa Electric America, Inc. If you require this document, please contact your local Yaskawa representative and ask for Document
# SI98001 PCPM S ft f th SI R
Page 13
Related-Parameters
Parameter
Number b1-01
Name
Frequency Reference Selection b1-02
F9-01
F9-02
F9-03
F9-04
F9-05
***
F9-06
Description
Operation Method Selection
EF0* Contact Mode Selection
EF0 Detection Mode Selection
0: Digital Operator
1: Terminal
2: Serial Communication
3: Option (Frequency Reference comes from SI-R option card.
0: Digital Operator
1: Terminal
2: Serial Communication
3: Option (Run Command comes from SI-R option card)
0: Fault at “1”
1: Fault at “0”
0: Always detected
1: Only detected while in operation
EF0 Stop Method Selection 0: Ramp to stop according to C1-02 setting
1: Coast to stop
2: Ramp to stop according to C1-09 setting (fast-stop)
3: Operation continues, alarm only
This parameter has no effect on SI-R card Trace Sample Time
Torque Reference/Limit Selection Flux Vector Control Mode Only:
0: Torque Reference/Limit from option disabled
1: Torque Reference/Limit from option enabled
BUS** Stop Method Selection 0: Ramp to stop according to C1-02 setting
1: Coast to stop
2: Ramp to stop according to C1-09 setting (fast-stop)
3: Operation continues, alarm only
Factory
Setting
1
1
0
0
1
0
1
1
Notes:
* EF0: External Fault Signal from Serial Communication Option Card (SI-R).
Operation Signal Bit 8.
** BUS: Serial Communication Error between Serial Communication Option Card (SI-R) and PLC.
***F9-05: Torque Reference/Limit Selection:
Due to Torque Reference/Limit, cannot be set via SI-R option parameter F9-05. MUST be set to “0” (Torque Reference/Limit from option disabled) when control method is set to
“Flux Vector Control” (A1-02 = 3).
Page 14 VS-616G5 Option Instruction Manual: InterBus-S Control Card SI-R
VS-616G5 Option Instruction Manual: InterBus-S Control Card SI-R Page 15
Page 16
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VS-616G5 Option Instruction Manual: InterBus-S Control Card SI-R
YASKAWA ELECTRIC AMERICA, INC.
Chicago-Corporate Headquarters 2942 MacArthur Blvd. Northbrook, IL 60062-2028, U.S.A.
Phone: (847) 291-2340 Fax: (847) 291-4203 Internet: http://www.yaskawa.com
Chicago-Technical Center 3160 MacArthur Blvd. Northbrook, IL 60062-1917, U.S.A.
Phone: (847) 291-0411 Fax: (847) 291-1018
MOTOMAN INC.
805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone: (937) 847-6200 Fax: (937) 847-6277
YASKAWA ELECTRIC CORPORATION
New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo, 105-0022, Japan
Phone: 81-3-5402-4511 Fax: 81-3-5402-4580 Internet: http://www.yaskawa.co.jp
YASKAWA ELETRICO DO BRASIL COMERCIO LTDA.
Avenida Fagundes Filho, 620 Bairro Saude Sao Paolo-SP, Brasil CEP: 04304-000
Phone: 55-11-5071-2552 Fax: 55-11-5581-8795 E-mail: [email protected]
YASKAWA ELECTRIC EUROPE GmbH
Am Kronberger Hang 2, 65824 Schwalbach, Germany
Phone: 49-6196-569-300 Fax: 49-6196-888-301
MOTOMAN ROBOTICS AB
Box 504 S38525, Torsas, Sweden
Phone: 46-486-48800 Fax: 46-486-41410
MOTOMAN ROBOTEC GmbH
Kammerfeldstra β e 1, 85391 Allershausen, Germany
Phone: 49-8166-900 Fax: 49-8166-9039
YASKAWA ELECTRIC UK LTD.
1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, Scotland, United Kingdom
Phone: 44-12-3673-5000 Fax: 44-12-3645-8182
YASKAWA ELECTRIC KOREA CORPORATION
Paik Nam Bldg. 901 188-3, 1-Ga Euljiro, Joong-Gu, Seoul, Korea
Phone: 82-2-776-7844 Fax: 82-2-753-2639
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
Head Office: 151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, SINGAPORE
Phone: 65-282-3003 Fax: 65-289-3003
TAIPEI OFFICE (AND YATEC ENGINEERING CORPORATION)
10F 146 Sung Chiang Road, Taipei, Taiwan
Phone: 886-2-2563-0010 Fax: 886-2-2567-4677
YASKAWA JASON (HK) COMPANY LIMITED
Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong
Phone: 852-2803-2385 Fax: 852-2547-5773
BEIJING OFFICE
Room No. 301 Office Building of Beijing International Club,
21 Jianguomanwai Avenue, Beijing 100020, China
Phone: 86-10-6532-1850 Fax: 86-10-6532-1851
SHANGHAI OFFICE
27 Hui He Road Shanghai 200437 China
Phone: 86-21-6553-6600 Fax: 86-21-6531-4242
SHANGHAI YASKAWA-TONJI M & E CO., LTD.
27 Hui He Road Shanghai 200437 China
Phone: 86-21-6533-2828 Fax: 86-21-6553-6677
BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO., LTD.
30 Xue Yuan Road,Haidian, Beijing 100083 China
Phone: 86-10-6232-9943 Fax: 86-10-6234-5002
SHOUGANG MOTOMAN ROBOT CO., LTD.
7, Yongchang-North Street, Beijing Economic & Technological Development Area,
Beijing 100076 China
Phone: 86-10-6788-0551 Fax: 86-10-6788-2878
Yaskawa Electric America, Inc., June 1998 YEA-TOA-C736-40.31 Printed In U.S.A.
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