Yaskawa V1000 AC Drive Modbus TCP/IP Option Technical Manual

1 Preface and Safety

Yaskawa products are components in various industrial systems. The selection, application, and safe operation of Yaskawa products are the responsibility of the equipment manufacturer or end user. Yaskawa provides an express warranty only for product quality conforming to published standards and specifications. No other warranty, express or implied, is offered. Yaskawa assumes no liability for personal injury, property damage, losses, or claims arising from misapplication.

Safety Conventions:

• DANGER: Indicates a hazardous situation which, if not avoided, will result in death or serious injury.
• WARNING: Indicates a hazardous situation which, if not avoided, could result in death or serious injury.
• CAUTION: Indicates a hazardous situation which, if not avoided, could result in minor or moderate injury.
• NOTICE: Indicates an equipment damage message.

General Precautions: Always reinstall covers or shields before operating. Use products according to manual instructions. Product and manual content may change without notice.

Option Unit Warning Labels: Display warnings such as 'Risk of electric shock.' Read manual before installing. Wait 5 minutes for capacitor discharge after disconnecting power. For 400V class, ensure supply neutral is grounded.

Applicable Documentation:

• Yaskawa AC Drive-V1000 Option SI-EM3/V Modbus TCP/IP Installation Manual (TOEP C730600 59)
• Yaskawa AC Drive-V1000 Option SI-EM3/V Modbus TCP/IP Technical Manual (SIEP C730600 59A - This document)
• Yaskawa AC Drive-V1000 Quick Start Guide
• Yaskawa AC Drive-V1000 Technical Manual

Trademarks: Modbus TCP/IP is a trademark of Modbus-IDA. All other trademarks are property of their respective owners.

2 Product Overview

About This Product

This option provides a Modbus TCP/IP network communications connection for the Yaskawa V1000 AC Drive. It facilitates data exchange, allowing a master device to operate the drive, monitor its status, and change parameter settings. It offers a simple, cost-effective networking solution for factory automation.

Applicable Models

The option is compatible with the Yaskawa V1000 AC Drive (CIMR-VA series) with software version 1012 or greater.

3 Receiving

Upon receipt, inspect the option for damage. Contact the shipper immediately if damaged. Verify the correct model number against the nameplate. Contact your supplier if the wrong model was received or if the option does not function properly.

Option Package Contents

• Option Unit (1)
• Ground Wire (4)
• Warning Labels (1)
• Installation Manual (1)

Tools Required for Installation

A Phillips screwdriver (M3, M3.5 to M6 metric or #1, #2 U.S. standard) is required. Tools for preparing option cables are not listed.

4 Option Components

SI-EM3/V Option

The SI-EM3/V option unit features:

• LEDs: MS (Module Status, red/green), NS (Network Status, red/green), LINK/ACT (Link Status/Activity, red/green), 10/100 (Network Speed, green).
• Connectors: Communication connector CN1 (RJ45), Option connector (N), Functional Earth cable connection (FE).
• Other: Option cover, Modbus TCP/IP PCB, Mounting tabs, Screw holes for cover, Nameplate, Pass-through hole for wire.

Note: LEDs 10/100 and LINK/ACT are typically located on the PCB and require removing the option cover to view.

Dimensions

The installed option adds 27 mm (1.06 in.) to the total depth of the drive.

Communication Connector CN1

The communication connector is an RJ45 female connector. It is the connection point for a customer-supplied male Modbus network communication cable.

Pinout for Male Ethernet 8-Way Modular Connector (Customer Supplied)

Note: Pins 4, 5, 7, 8 are not used for 10 Mbps and 100 Mbps networks.

Option LED Display

The option has four LEDs indicating status:

• MS (Module Status): Bi-color (Red/Green) indicating power, normal operation, initialization, or fatal/non-fatal errors.
• NS (Network Status): Bi-color (Red/Green) indicating offline, online communications established, control connection active, or communications error (e.g., duplicate IP address).
• 10/100: Green LED indicating 10 Mbps or 100 Mbps network speed.
• LINK/ACT: Red/Green LED indicating link status and network activity.

Note: LEDs 10/100 and LINK/ACT require removing the option unit cover.

5 Installation Procedure

Safety Precautions

DANGER: Electrical Shock Hazard. Do not connect or disconnect wiring while power is on. Wait at least five minutes after power off for capacitor discharge. Measure DC bus voltage before servicing.

WARNING: Electrical Shock Hazard. Do not remove option board cover while power is on. Reinstall covers before operating. Only qualified personnel should perform maintenance.

NOTICE: Observe Electrostatic Discharge (ESD) procedures. Do not shut off power while the drive is outputting voltage. Do not operate damaged equipment.

NOTICE: Use shielded twisted-pair wires for control wiring. Properly connect all pins and connectors. Failure to comply may prevent proper operation and possibly damage equipment.

Prior to Installing the Option

Wire the drive, make necessary connections, and verify normal drive function without the option installed.

Installing the Option

1. Shut off power to the drive. Wait at least five minutes and confirm DC bus voltage is safe. Remove the drive's front cover.
2. Installation steps vary by drive enclosure type (IP20/Open-Chassis or IP20/NEMA Type 1).
3. For IP20/Open-Chassis models (CIMR-VAB): Remove the bottom cover. For specific models (e.g., BA0006B to BA0018B), also remove the terminal cover.
4. Connect the drive-side of the ground wire to the drive ground terminal. Select the correct ground wire based on drive model and size (refer to Table 6 for selection).
5. For IP20/NEMA Type 1 enclosure models (CIMR-VAF): Remove the NEMA Type 1 terminal cover. For specific models (e.g., BA0006F to BA0018F), also remove the plastic terminal cover.
6. For certain NEMA Type 1 models (e.g., BA0001F to BA0003F), remove the NEMA Type 1 conduit bracket. Reattach the bracket, connecting the ground wire to the drive ground terminal.
7. Reattach bottom and terminal covers, ensuring ground wire is routed correctly through any provided notches.
8. Remove the option cover. Pass the ground wire through the drive bottom cover and into the option's through-hole for the ground wire.
9. Attach the option to the drive by seating the mounting tabs on the sides.
10. Connect the ground wire to the option's ground terminal, tightening the screw to 0.5 to 0.6 Nm (4.4 to 5.3 in-lbs) with an M3 Phillips screwdriver.
11. Firmly connect an RJ45 8-pin Shielded Twisted Pair Cat 5e cable into the communication connector (CN1). Note: Do not connect/disconnect while powered or operating to prevent static discharge damage.
12. Attach the option cover by aligning tabs and tightening the front screw. Ensure no cables are pinched.
13. Set drive parameters as specified in Table 7 for proper option performance.

Communication Cable Specifications: Use CAT5e or equivalent Shielded Twisted Pair (STP) cable. Using unrecommended cables may cause malfunction.

Wiring Diagram: A diagram illustrates connections between the V1000 drive, SI-EM3/V option, Ethernet/IP Master, Ethernet/IP Cable, and Motor. The ground wire must be connected.

6 Related Drive Parameters

Key parameters for setting up the option include:

• Frequency Reference Selection (b1-01): Set to 3 for Option to control frequency reference via communication.
• Run Command Selection (b1-02): Set to 3 for Option to control run commands via communication.
• Communication Error Handling (F6-01, F6-02, F6-03): Define drive response to communication errors (e.g., Ramp to Stop, Coast to Stop).
• Network Settings (F7-01 to F7-12): Configure static IP Address, Subnet Mask, and Gateway Address.
• Address Startup Mode (F7-13): Selects how the option address is set (Static, BOOTP, DHCP).
• Duplex Mode Selection (F7-14): Sets duplex mode (Half, Auto-negotiate, Full).
• Communication Speed Selection (F7-15): Sets communication speed (10 Mbps or 100 Mbps).
• Communication Loss Time-out (F7-16): Sets timeout for communication loss detection. A value of 0 disables the timeout.
• Communications ENTER Function Selection (H5-11): Configures how parameter settings are activated, important for compatibility with older Yaskawa drive models (G7, F7, V7).

Option Monitors (U6-80 to U6-99): Provide status information such as Online IP Address, Subnet, Gateway, Speed, Duplex, First Fault, and Current Fault.

7 Modbus TCP/IP Messaging

Modbus TCP/IP Overview

The SI-EM3/V option acts as a Modbus TCP/IP slave, enabling communication between a master controller (e.g., PLC) and the Yaskawa V1000 drive. The master sends commands, and the slave (option) performs functions and sends responses.

Supported Modbus TCP/IP Commands

• Read Multiple Registers (03H)
• Write Single Register (06H)
• Write Multiple Registers (10H)
• Read/Write Multiple Registers (17H)

Commands supporting multiple registers have a maximum read/write size of 16 registers.

Drive Modbus TCP/IP Option Registers

All drive command registers, monitor registers, and parameters are accessible via the option. High-speed access registers (01H to 01FH) are available for critical control functions, offering improved network performance. Table 10 lists key drive registers mapped for high-speed access, including Status Word, Motor Speed, Torque Reference, Frequency Reference, Output Frequency, Output Current, Terminal A2 Input Level, DC Bus Voltage, and various error status bits and signals.

Enter Command Types

Two types of Enter Commands are supported for parameter writes:

• 0900H: Writes data into the EEPROM (non-volatile memory) and enables data to RAM. Parameter changes persist after power cycling. Use cautiously as EEPROM has limited write cycles.
• 0910H: Writes data to RAM only. Parameter changes are lost upon power cycle.

An Enter Command is not required for reference or broadcast data. Parameter H5-11 configures how parameter settings are enabled, especially when upgrading from older Yaskawa drive models (G7, F7, V7) to ensure compatibility.

Message Format

Modbus TCP/IP messages consist of:

• Unit Identifier: Used for intra-system routing, typically set to 00H for direct communication.
• Function Code: Identifies the command to be executed (e.g., 03H for Read Multiple Registers).
• Data: Contains command details or response information, varying in length based on the Function Code.

Modbus TCP/IP Option Function Details

Detailed descriptions and examples are provided for:

• 03H Read Multiple Registers: Reading data from a contiguous block of registers.
• 06H Write Single Register: Writing data to a single register.
• 10H Write Multiple Registers: Writing data to a contiguous block of registers.
• 17H Read/Write Multiple Registers: Performing a combination of one read and one write operation in a single transaction.

Each function includes command, response, and error response formats with examples.

Modbus TCP/IP Exception Codes

Table 37 lists Modbus TCP/IP exception codes for errors such as Function Code Error (01H), Register Number Error (02H), Data Setting Error (21H), Write Mode Error (22H), and DC Bus Undervoltage Write Error (23H).

Control Connection Timeout

The option includes a safety feature that declares a fault if communications between the master and drive is lost after the master commanded the drive to run. A controlled connection is established by writing to register 01H. If the timer (set by drive parameter F7-16) exceeds the programmed value, the option declares a BUS ERROR to the drive. A value of 0 in F7-16 disables the timeout. The drive's reaction to a BUS ERROR is programmable via drive parameter F6-01.

8 Web Interface

The option features an embedded web server accessible via a standard web browser for diagnostics and monitoring:

• Main Page (Information): Displays basic option information such as IP address, MAC address, and firmware version. It also shows the option status and provides links to other embedded web pages.
• Drive Status Page (Status, Monitor and Fault History): Shows basic I/O information and drive state information, including fault history.
• Network Monitor Page (Network Monitor): Displays the status of the option's network traffic and open I/O connections, including cumulative message counts and error statistics.

9 Troubleshooting

Drive-Side Error Codes

Drive-side error codes appear on the drive digital operator. Common errors related to the option include:

• bUS (Option Communication Error): Indicates loss of communication. Causes include master controller stoppage, communication cable issues, or noise. Solutions involve checking power to the controller, wiring integrity, and implementing noise reduction measures.
• EF0 (Option Card External Fault): An external fault signal is being sent from the upper controller (PLC). Corrective action involves removing the cause of the external fault and resetting it from the PLC.
• oFAxx (Option Card Fault): Indicates issues with option compatibility (oFA00), connectors (oFA01), hardware faults (oFA03, oFA04), or communication ID errors (oFA30-oFA43). Solutions include checking compatibility, connections, or replacing the option.

Minor Faults and Alarms

CALL (Serial Communication Transmission Error): May indicate faulty communication wiring, a short circuit, improper connection, or programming errors on the master side. Check wiring and master programming.

Option Fault Monitors (U6-98, U6-99)

Two drive monitor parameters assist in network troubleshooting:

• U6-98 (First Fault): Displays the first declared fault since the last power cycle. It is cleared only upon drive power-up.
• U6-99 (Current Fault): Displays the present option status. It is cleared upon a network-issued fault reset and upon power-up.

Fault conditions monitored include Network Link Down, Connection Time-out, and Duplicate IP Address.

10 Specifications

Table 41 Option Specifications

Revision History

First edition published March 2012.