Applicable products: F7U, G7U, P7U, G5M (Spec F), and G5M (600V) drives. For G5U (HHP) drives, refer to IG.G5HHP.16.
1. Unpack the DeviceNet Option Kit CM012 and verify that all components are present and undamaged.
DeviceNet Option Kit CM012 Parts
DeviceNet Option Card (UTC000180)
Installation Guide (IG.AFD.16)
Qty.
1
1
DeviceNet™ With ADR Option Kit
CM012
2. Connect power to the Yaskawa AC drive and verify that the drive functions correctly.
This includes running the drive from the operator keypad. Refer to the appropriate drive technical manual for information on connecting and operating the drive.
3. Remove power from the drive and wait for the charge lamp to be completely extinguished.
Wait at least five additional minutes for the drive to be completely discharged. Measure the DC bus voltage and verify that it is at a safe level.
4. Remove the operator keypad and drive cover.
a. Remove the operator keypad. b. Remove the terminal and control covers.
c. Remove the option card hold-down plug by carefully compressing the top and bottom until it becomes free of its holder. Lift it out.
5. Mount the DeviceNet Option Card.
a. Remove the DeviceNet connector and attach the DeviceNet network cable as shown below. b. Reconnect the DeviceNet connector to the Option Card.
c. Align the J2 connector on the back of the DeviceNet Option Card to its mating 2CN connector on the front of the drive control board.
d. Align the two stand-offs on the front of the drive control board with the two holes on the right side of the DeviceNet Option Card.
e. Press the DeviceNet Option Card firmly onto the drive 2CN connector and stand-offs until the J2 connector is fully seated on 2CN and the drive stand-offs have locked into their appropriate holes.
f.
Route the DeviceNet network cable along the left inside of the drive enclosure.
g. Replace the Option Card hold-down plug.
Note: Do not ground the DeviceNet Option Card (UTC000180).
WARNING
Dangerous voltages in excess of 400VDC (230V drives) or 800VDC
(460V drives) are present at the DC bus terminals of the drive.
Option card hold-down plug
Yaskawa Electric America, Inc. – www.yaskawa.com
IG.AFD.16, Page 1 of 7
Date: 06/15/2007 Rev: 07-06
DeviceNet™ With ADR Option Kit
CM012
6. DeviceNet Network Connection
Connect the DeviceNet cable to the connector as shown. If the drive is the last device on a network segment, make sure to install the terminating resistor (120 Ω,
1%, metal film, 1/4W) between the CAN terminals 2 (blue) and 4 (white).
Terminal
1
2
3
4
5
Color
Black
Blue
Name
V-
CAN_L
Wire
Color
Black
Blue
Description
Network Common
CAN Data Low
Green Shield Green Cable Shield
White CAN_H White CAN Data High
Red V+ Red +24VDC
7. Set the DeviceNet Option Card Baud Rate
Set the drive baud rate by selecting the appropriate Baud Rate SW setting.
Settings of 3 through 8 will load the previously stored baud rate. A setting of 9 will enable Auto Sense. The factory default setting is 3.
Setting
0
1
2
3 ~ 8
9
Description
125 kbps
250 kbps
500 kbps
NVRAM (last stored baud rate) (3 = default setting)
Auto Sense
8. Set the DeviceNet Option Card MAC ID
Set the drive MAC address by selecting the appropriate settings of the address
MSD and LSD switches. The MSD switch sets the MAC address tens digit while the LSD switch sets the ones digit. Valid MAC addresses are 0 through 63 although addresses of 0, 1, 62, and 63 are typically reserved.
• Settings of 0 ~ 63: The MAC address will be selected from the MSD &
LSD switch settings.
• Settings of 64 ~ 99: The MAC address will be set to the last saved MAC address. The CM012 kit comes from the factory with the MAC address switches set to 63 and the MAC address last saved to 63 (for use with some vendor's faulted or automatic device recovery features).
• For use with ADR-enabled controllers/scanners, power off the drive and set the MAC ID rotary switches to 63. Power cycle the drive ON and OFF. Change the MAC ID rotary switch setting to 64. Power the drive ON. The MAC ID will be set at 63 and will be resettable through the DeviceNet network.
Note: The drive's power must be cycled to accept new switch settings.
9. EDS Files
EDS files can be obtained from the CD that was included with the drive or downloaded from www.yaskawa.com
. Select Downloads, By Inverter Drives,
By Product, and Network Comms-DeviceNet. Then select the appropriate EDS file based on the option kit and drive series and the latest version from those listed. EDS files for individual drive models are compressed into a single Zip file and need to be unzipped into a temporary directory in order to be installed. It is recommended that the EDS file be downloaded from www.yaskawa.com
to be sure that the latest version is used. Install the EDS file into the DeviceNet configuration tool (i.e., RSNetworx for DeviceNet). There is a separate EDS file for each drive model. Verify that the correct EDS file has been installed for the drive model configured. Refer to the documentation that came with the
DeviceNet master configuration tool for information on installing EDS files and configuring a DeviceNet node.
Yaskawa Electric America, Inc. – www.yaskawa.com
IG.AFD.16, Page 2 of 7
Date: 06/15/2007 Rev: 07-06
DeviceNet™ With ADR Option Kit
CM012
10. LED Status
LED
MOD
NET
State
Off
On Green
Flash Green
Flash Red
On Red
Flash Red-Green
Off
Flash Green
On Green
Flash Red
On Red
Flash Red &
Green
Indication
No Power
Device Operational
Device in Standby
Minor Fault
Unrecoverable Fault
Device Self-Test
Not Powered/Not On-line
On-Line/Not Connected
Link OK/On-Line and Connected
Connection Time-Out
Critical Link Failure
Communication Faulted
11. Set Drive Parameters
Set drive parameters b1-01 and b1-02 to their appropriate values. Refer to the table to the right for available b1-01 and b1-02 values.
Parameter Function Data
0
1 b1-01
Reference
Source
2
0
1
3
4 b1-02
Run
Command
Source
2
3
Description
Digital Operator
Terminal Strip
Built-in Modbus RTU RS-485
Terminals
Option Kit (DeviceNet Option)
Pulse Input (F7 and G7 Only)
Digital Operator
Terminal Strip
Built-in Modbus RTU RS-485
Terminals
Option Kit (DeviceNet Option)
Default
1
1
12. Supported Input Instances
Instance
20 (14h)
Basic Speed
Control
4 Bytes
Byte
0
1
2
3
Instance
21 (15h)
Extended
Speed
Control
4 Bytes
Note:
Instance
22 (16h)
Basic Speed and Torque
Control
6 Bytes
3
4
5
Byte
0
1
2
Bit 7
–
1
Byte
0
Bit 7
–
1
2
3
Not available for G5
Bit 7
–
Bit 6
–
Bit 5
–
Bit 4
–
Reserved
Bit 3
–
Bit 2
Fault Reset
Speed Reference (Scaled by Parameter o1-03) (U1-01)
Bit 6
Network
Reference 1
Bit 5
Network Run
Command 1
Bit 4
–
Bit 3
–
Bit 2
Fault Reset
Reserved
Speed Reference (Scaled by Parameter o1-03) (U1-01)
Bit 1
–
Bit 0
Run Forward
Bit 1 Bit 0
Run Reverse Run Forward
Bit 6
–
Bit 5
–
Bit 4
–
Reserved
Bit 3
–
Bit 2
Fault Reset
Speed Reference (Scaled by Parameter o1-03) (U1-01)
Torque Reference (0.1%) (FVC Mode Only, A1-02 = 3) (U1-09)
Bit 1
–
Bit 0
Run Forward
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IG.AFD.16, Page 3 of 7
Date: 06/15/2007 Rev: 07-06
DeviceNet™ With ADR Option Kit
CM012
Instance
23 (17h)
Extended
Speed and
Torque
Control
6 Bytes
Byte
0
Bit 7
–
1
3
4
1
2
5
Not available for G5
Bit 6
Network
Reference
1
Bit 5
Network
Run
Command
1
Bit 4
–
Bit 3
–
Bit 2
Fault Reset
Reserved
Speed Reference (Scaled by Parameter o1-03) (U1-01)
Torque Reference (0.1%) (FVC Mode Only, A1-02 = 3) (U1-09)
Bit 1 Bit 0
Run Reverse Run Forward
Note:
13. Yaskawa Supported Input Instances
Instance
100 (64h)
Modbus
Message
5 Bytes
Note:
Byte
0
1
2
Bit 7 Bit 6 Bit 5 Bit 4
Data
Bit 3
Register Number
Bit 2 Bit 1
Function Code (Only Modbus functions register read (03h) and register write (10h) are supported)
3
4
Refer to output assembly instance 150 (96h) for response.
Instance
101 (65h)
Standard
Control
8 Bytes
Note:
Instance
105 (69h)
Enhanced
Control/
Modbus
Message
8 Bytes
Notes:
1
Byte
0
1
Bit 7
Terminal S8
1
Terminal
M5-M6
4
5
2
3
6
7
G5, F7, and G7 Only
Bit 6
Terminal S7
Terminal
M3-M4
Bit 5
Terminal S6
Terminal
M1-M2
Bit 4
Terminal S5
–
Bit 3
Terminal S4
–
Bit 2
Terminal S3
–
Speed Reference (Scaled by Parameter o1-03) (U1-01)
Torque Reference (0.1%) (FVC Mode Only, A1-02 = 3) (U1-09)
Torque Compensation (0.1%) (FVC Mode Only, A1-02 = 3)
0
1
Bit 4
Terminal S5
Bit 3
Terminal S4
Bit 2
Terminal S3
4
5
2
3
Speed Reference (Scaled by Parameter o1-03) (U1-01)
6
7
Refer to output assembly instance 155 (9Bh) for response.
1
G5, F7, and G7 Only
Register Number
Data
2
Byte
Bit 1
0
0
1
1
Bit 7
Terminal S8
1
Terminal
M5-M6
Bit 2
0
1
0
1
Bit 6
Terminal S7
Terminal
M3-M4
Function Description
No Function
Read Register
Write Register
No Function
Bit 5
Terminal S6
Terminal
M1-M2
– Function Bit 2
2
Function Bit 1
2
Bit 1
Terminal S2
Bit 0
Terminal S1
Fault Reset External Fault
Bit 1
Terminal S2
Bit 0
Bit 0
Terminal S1
Fault Reset External Fault
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IG.AFD.16, Page 4 of 7
Date: 06/15/2007 Rev: 07-06
DeviceNet™ With ADR Option Kit
CM012
Instance
107 (6Bh)
Standard DI/
DO Control
8 Bytes
Notes:
1
2
Byte
0
1
2
Bit 7
Terminal S8
1
–
Terminal
P4-C4
2
5
6
3
4
7
G5, F7, and G7 Only
G7 only
Bit 6
Terminal S7
–
Terminal
P3-C3
Bit 5
Terminal S6
Terminal S12
2
Terminal
M5-M6
Bit 4
Terminal S5
Terminal S11
2
Bit 3
Terminal S4
Terminal S10
2
Terminal
M3-M4
Reserved
Terminal
M1-M2
Bit 2
Terminal S3
Terminal S9
2
–
Bit 1
Terminal S2
Fault Reset
–
Analog Output Terminal FM (Terminal 21 on G5) (-726 ~ +726 (-11VDC ~ +11VDC))
Bit 0
Terminal S1
External Fault
–
Speed Reference (Scaled by Parameter o1-03) (U1-01)
14. Supported Output Instances
Instance Byte
70 (46h)
Basic Speed
Control
4 Bytes
0
1
2
3
Instance
71 (47h)
Extended
Speed
Control
4 Bytes
Note:
Instance
72 (48h)
Basic Speed and Torque
Control
6 Bytes
Byte
0
3
4
1
2
5
Bit 7
–
1
Byte
0
1
2
3
Bit 7
Speed Agree
Bit 6
Network
Reference 1
Bit 5
Network
Run
Command 1
Bit 4
Drive Ready
Bit 3
Running in
Reverse
Reserved
Bit 2
Running
Forward
Bit 1
Alarm
Motor Speed (Scaled by Parameter o1-03) (Not Available in V/F Control Mode, A1-02 = 0) (U1-05)
Not available for G5
Bit 7
–
Bit 6
–
Reserved
Motor Speed (Scaled by Parameter o1-03) (Not Available in V/F Control Mode, A1-02 = 0) (U1-05)
Bit 6
–
Bit 5
–
Bit 5
–
Bit 4
–
Bit 4
–
Bit 3
–
Bit 3
–
Bit 2
Running
Forward
Bit 2
Running
Forward
Torque Reference (0.1%) (FVC Mode Only, A1-02 = 3) (U1-09)
Bit 1
–
Bit 1
–
Reserved
Motor Speed (Scaled by Parameter o1-03) (Not Available in V/F Control Mode, A1-02 = 0) (U1-05)
Instance
73 (49h)
Extended
Speed and
Torque
Control
6 Bytes
Note:
1
Byte
0
1
2
3
4
5
Bit 7
Speed Agree
Bit 6
Network
Reference 1
Bit 5
Network
Run
Command 1
Bit 4
Drive Ready
Bit 3
Running in
Reverse
Reserved
Bit 2
Running
Forward
Bit 1
Alarm
Motor Speed (Scaled by Parameter o1-03) (Not Available in V/F Control Mode, A1-02 = 0) (U1-05)
Not available for G5
Torque Reference (0.1%) (FVC Mode Only, A1-02 = 3) (U1-09)
Bit 0
Fault
Bit 0
Fault
Bit 0
Fault
Bit 0
Fault
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IG.AFD.16, Page 5 of 7
Date: 06/15/2007 Rev: 07-06
DeviceNet™ With ADR Option Kit
CM012
Instance
150 (96h)
Modbus
Message
5 Bytes
Notes:
Instance
151 (97h)
Standard
Control
8 Bytes
Note:
Instance
155 (9Bh)
Enhanced
Control/
Modbus
Message
8 Bytes
Notes:
Instance
157 (9Dh)
Standard
DI/DO
Control
8 Bytes
Notes:
Byte
0
1
2
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3
Function Code
1
Register Number
3
4
Data
Refer to input assembly instance 100 (64h) for command.
1
A Modbus message error is returned if the function code has the MSB (bit 80h) set.
Bit 2
1
Byte
0
Bit 7
Fault
Bit 6
Alarm
Bit 5
Drive Ready
Bit 4
Speed Agree
Bit 3
Fault Reset
Bit 2
Running in
Reverse
1
Zero Servo
Complete
1
–
Terminal
M5-M6
Terminal
M3-M4
Terminal
M1-M2
Local Mode
4
5
2
3
6
7
Output Frequency (Scaled by Parameter o1-03) (U1-02)
Torque Reference (0.1%) (FVC Mode Only, A1-02 = 3) (U1-09)
Output Current (0.01A or 0.1A, Based on Drive Capacity) (U1-03)
Flux Vector Control Mode Only (A1-02 = 3)
1
Byte
0
1
Bit 7
Fault
Terminal
M5-M6
Bit 6
Alarm
Terminal
M3-M4
Bit 5
Drive Ready
Terminal
M1-M2
Bit 4
Speed Agree
Local Mode
Bit 3
Fault Reset
Function Bit
2
1
4
5
2
3
Output Frequency (Scaled by Parameter o1-03) (U1-02)
6
7
Refer to input assembly instance 105 (69h) for command.
Bit 1 Bit 2 Function Description
Register Number
Data
1
1
0
0
0
1
0
1
None
Message Accepted
Message Error
Complete
Bit 2
Running in
Reverse
Function Bit
1
1
Bit 1
Bit 1
Zero Speed
Power Loss
Ride Thru
Bit 1
Zero Speed
Undervoltage
Byte
0
1
2
3
2
3
6
7
1
4
5
Bit 7
Fault
Zero Servo
Complete
3
Terminal
S10
2
Terminal
P4-C4
2
Terminal S9
2
Terminal
P3-C3
2
G5, F7, and G7 only
G7 Only
Bit 6
Alarm
–
Bit 5
Drive Ready
Output Frequency (Scaled by Parameter o1-03) (U1-02)
Flux Vector Control Mode Only (A1-02 = 3)
Bit 4
Speed Agree
Bit 3
Fault Reset
Bit 2
Running in
Reverse
Bit 1
Zero Speed
Local Mode Undervoltage –
Terminal S8
1
Terminal
M5-M6
–
Terminal S7
Terminal
M3-M4
–
Terminal S6
Terminal
M1-M2
Terminal S5
–
Analog Input Terminal A1 Monitor (Terminal 13 on G5) (0.1%) (U1-16)
Terminal S4
Terminal S12
2
Bit 0
Bit 0
Running
Forward
OPE Error
Bit 0
Running
Forward
OPE Error
Bit 0
Running
Forward
OPE Error
Terminal S3
Terminal S11
2
Yaskawa Electric America, Inc. – www.yaskawa.com
IG.AFD.16, Page 6 of 7
Date: 06/15/2007 Rev: 07-06
DeviceNet™ With ADR Option Kit
CM012
Copies of this Installation Guide along with all technical manuals in “.pdf” format and support files may be obtained from either the CD supplied with the drive or from www.yaskawa.com
. Printed copies of any Yaskawa manual may be obtained by contacting the nearest Yaskawa office. Information on DeviceNet may be obtained from www.odva.org
.
Reference Documents:
G5U Technical Manual - TM.4515
GPD515/G5 Modbus Technical Manual - TM.4025
F7U Drive User Manual - TM.F7.01
F7U Drive Programming Manual - TM.F7.02
F7U Drive Parameter Access Technical Manual - TM.F7.11
G7U Drive Technical Manual - TM.G7.01
G7U Drive Parameter Access Technical Manual - TM.G7.11
P7U Drive User Manual - TM.P7.01
P7U Drive Programming Manual - TM.P7.02
P7U Drive Parameter Access Technical Manual - TM.P7.11
DeviceNet Option Kit CM012 Technical Manual - TM.AFD.16
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. – www.yaskawa.com
IG.AFD.16, Page 7 of 7
Date: 06/15/2007 Rev: 07-06
