YASKAWA VS mini V7 OPTION UNIT MECHATROLINK COMMUNICATIONS INTERFACE UNIT USER'S MANUAL Model: SI-T/V7 YASKAWA MANUAL NO.
Copyright © 2005 YASKAWA ELECTRIC CORPORATION All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein.
Introduction Thank you for purchasing a Vector-control General-purpose VS-606V7 Inverter and a SI-T/ V7 MECHATROLINK-I/MECHATROLINK-II Communications Interface Unit (called “SIT/V7 Unit”). This manual describes the operation and specifications of the SI-T/V7 Unit, which connects to the MECHATROLINK-I/MECHATROLINK-II open field network for exchanging data. Be sure that you have read and understood this manual before attempting to operate the SIT/V7 Unit.
Safety Precautions Carefully read this manual and all other documentation provided with the product before attempting to install, operate, inspect, or perform maintenance on the product. Within this manual, safety-related precautions are classified a “warnings” and “cautions.” WARNING CAUTION Indicates precautions that, if not heeded, could possibly result in loss of life or serious injury.
Confirmations upon Delivery CAUTION • Never use an Option Unit that is damaged or missing components. Doing so can result in injury. Installation and Wiring WARNING • Never touch the inside of the Inverter with your hands. Doing so can result in electric shock. • Before installing or removing the Option Unit, or performing wiring operations, always turn OFF the power to the Inverter and wait until the specified period of time has elapsed after all the Inverter indicators have turned OFF.
Warranty Information Free Warranty Period and Scope Warranty Period This product is warranted for twelve months after being delivered to Yaskawa's customer or if applicable eighteen months from the date of shipment from Yaskawa's factory, whichever comes first. Scope of Warranty Inspections Periodic inspections must be conducted by the customer. However, upon request, Yaskawa or one of Yaskawa's Service Centers can inspect the product for a fee.
Restrictions • The SI-T Card was not designed or manufactured for use in devices or systems that may directly affect or threaten human lives or health. • Customers who intend to use the product described in this manual for devices or systems relating to transportation, health care, space aviation, atomic or electric power, or underwater use must contact their Yaskawa representatives or the nearest Yaskawa sales office beforehand. • This product has been manufactured under strict quality-control guidelines.
CONTENTS 1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9 2 Checking the Product - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10 2.1 Nameplate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10 2.2 Parts List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10 3 Component Names and Settings - - - - - - - - - - - - - - - - - - - - 11 3.
1 Overview 1 Overview The SI-T/V7 Interface Unit is an interface unit that connects to the high-speed MECHATROLINK-I or MECHATROLINK-II high-speed field network for communicating with the host controller. By installing the SI-T/V7 Unit to a VS-606V7-series Inverter, various applications are enabled; monitoring of the run/stop status and the operating conditions as well as the changing and the referencing of the settings for the Inverter constants from the host controller.
2 Checking the Product Check the following items as soon as the product is delivered. Item Method Is there any discrepancy between the shipment and what was ordered? Check the information printed on the Unit. Refer to 2.1 Nameplate. Has the product been damaged in any way? Inspect the entire exterior of the Unit for any damage that may have occurred during shipping. Are the contents of the package correct? Check the contents. Refer to 2.2 Parts List.
3 Component Names and Settings 3 Component Names and Settings 3.1 Component Names The following diagram shows the SI-T/V7 Unit external appearance and component names. Modular plug (CN10) LED Optional connector (CN1) 5.5 mm Communications connector (CN2) DIP switch Ground terminal Communications connector (CN2) Rotary switch Front of the SI-T/V7 Unit 3.
3.3 LED Indicators The LED indicators indicate the status of the communications of the MECHATROLINK-I or MECHATROLINK-II and the SI-T/V7 Unit. However, these indicates are for maintenance checks at Yaskawa. Use the Digital Operator to check the status.
3 Component Names and Settings Switch Setting DIP Switch The following table shows the SI-T/V7 Unit DIP switch settings. 1 2 3 4 OFF Name Baud rate Data length Station address Label Status S1-1 OFF 4 Mbps (MECHATROLINK-I)*1 ON 10 Mbps (MECHATROLINK-II) OFF 17-byte data transmission (MECHATROLINK-I/ MECHATROLINK-II) ON 32-byte data transmission (MECHATROLINK-II)*1 OFF Set the10’s digit of the station number to 2.
Station-number Setting A station number is set by both the S1-3 DIP switch and the S2 rotary switch. Station numbers from 21 to 3E are valid. Although 20 or 3F can be set as a station number, do not use these settings because they will be faulty. S1-3: Set the 10’s digit of the station number. OFF = 2 (2X) ON = 3 (3X) S2: Set the 1’s digit of the station number.
4 Installation and Wiring 4 Installation and Wiring WARNING • Before installing or performing wiring, always turn OFF the power to the Inverter and wait until the specified period of time has elapsed after all the Inverter indicators have turned OFF. (The time is shown on the Inverter’s front cover.) Failure to observe this warning may result in electric shock. IMPORTANT 4.1 Route the MECHATROLINK communications cables separately from the main circuit wiring and other power lines.
D Connector for SI-T/V7 Unit (CN2) A Modular plug (CN10) Modular plug (CN1) B CN1 C CN2 5.5 mm Mounting fixture Ground terminal 5.5 mm - - Grounding cable (blue) To Inverter ground terminals Fig. 1 Front of the Inverter Fig.
4 Installation and Wiring 4.2 MECHATROLINK Communications Cables Wiring Wire the MECHATROLINK communications cables to the communications connector (CN2). IMPORTANT • For communications cables, use special shielded twisted-pair cables for MECHATROLINK communications. Recommended cable: JEPMC-W603- * * is the length (m). With USB male connector • Install MECHATROLINK communications cables apart from main-circuit wiring and other electrical and power lines. • Connect the terminator (model No.
5 Transmission Interface 5.1 MECHATROLINK-II Cyclic Transmissions As a MECHATROLINK-I/MECHATROLINK-II slave, the SI-T/V7 exchanges control data and I/O data with a control device, such as a controller. Communications with the controller are executed by sending response data timed to the reception of command data for the local station address from the controller in each transmission cycle. The formats for the command and response data follow the specifications for the MECHATROLINK Inverter commands.
5 Transmission Interface 5.2 Basic Format of Data Transfer The basic format for transferring data is as follows. The size of the header for a data link layer is fixed at two bytes. By setting pin 2 on DIP switch S1, either 17 bytes (17-byte mode) or 32 bytes (32-byte mode) can be selected as the data size for the data link layer. If 32-byte mode is selected, only the first 29 bytes are used as application data. * The first 30 bytes are used only when the INV_I/O sub-command is used.
5.3 Communications Phases The SI-T/V7 changes status as described here when a command code or fault is received from the master. For details on MECHATROLINK communications phases, refer to the High-speed Field Network MECHATROLINK System User’s Manual (SIE-S800-26.1).
5 Transmission Interface 5.4 Application Layer Specifications The data format for the application layer conforms to the MECHATROLINK-II link command specifications. The SI-T/V7 has the following main commands and sub-commands. Table 1 Main Commands Name Function NOP No Operation PRM_RD Reads Parameters. PRM_WR Writes Parameters. ID_RD Reads ID numbers. CONFIG RAM Write ENTER_CODE and EEPROM Write ENTER_CODE ALM_RD Reads fault and alarm. ALM_CLR Clears fault and alarm.
6 Initial Setup Before starting communications between the Inverter and the MECHATROLINK master, set the following constants as required. Constant No.
7 MECHATROLINK-II Commands 7 MECHATROLINK-II Commands 7.1 Main Commands The format of the main commands are as follows. No Operation (NOP) Byte 1 Command Response NOP NOP 2 ALARM 3 STATUS 4 5 6 7 8 9 10 11 12 13 14 15 16 WDT RWDT Only the ALARM and STATUS fields of the response data can be monitored. This command can be used in all phases.
Read Parameter (PRM_RD) Byte 1 Command Response PRM_RD PRM_RD 2 ALARM 3 STATUS 4 5 NO NO SIZE SIZE 6 7 8 PARAMETER 9 10 11 12 13 14 15 16 WDT RWDT The PRM_RD command is used to read the Inverter's internal constants. For offline parameters, it reads the most recently updated setting values. This command can be used in all phases. Note: If the MECHATROLINK-II 32-byte mode is used, PRM_RD can be used only in a sub-command.
7 MECHATROLINK-II Commands Write Parameter (PRM_WR) Byte 1 Command Response PRM_WR PRM_WR 2 ALARM 3 STATUS 4 5 NO NO 7 SIZE SIZE 8 DATA DATA WDT RWDT 6 9 10 11 12 13 14 15 16 The PRM_WR command is used to write the Inverter's internal constants. To save the setting value in the Inverter's EEPROM, set the CONFIG_MOD in the CONFIG command to 1. For details, refer to the section describing the CONFIG command.
Read ID (ID_RD) Byte 1 Command Response ID_RD ID_RD 2 ALARM 3 STATUS 4 5 DEVICE_CODE DEVICE_CODE 6 OFFSET OFFSET 7 SIZE SIZE 8 ID 9 10 11 12 13 14 15 16 WDT RWDT The ID_RD command is used to read the ID number. The following table shows the applicable DEVICE_CODE. Because of ID area limitations, no more than eight bytes can be read, so use the OFFSET and SIZE to specify the range.
7 MECHATROLINK-II Commands Write RAM ENTER_CODE/Write EEPROM ENTER_CODE (CONFIG) Byte 1 Command Response CONFIG CONFIG 2 ALARM 3 STATUS 4 5 CONFIG_MOD CONFIG_MOD WDT RWDT 6 7 8 9 10 11 12 13 14 15 16 The CONFIG command are used to enable the data for which constants have been written. Error codes such as matching of constants cannot be checked by the responses to this command. They must be checked with the STATUS signal's OPE fault bit. This command can be used in phases 2 and 3.
Read Alarm or Warning (ALM_RD) Byte 1 Command Response ALM_RD ALM_RD 2 ALARM 3 STATUS 4 5 ALM_RD_MOD ALM_RD_MOD 6 ALM_DATA 7 8 9 10 11 12 13 14 15 16 WDT RWDT The ALM_RD command is used to read the following information about the status of faults and alarms. • Present fault and alarm status list • Fault history (Alarms are not saved in the history.) • Details of faults In the following case, a warning is generated and the command is ignored.
7 MECHATROLINK-II Commands Clear Alarm or Warning (ALM_CLR) Byte 1 Command Response ALM_CLR ALM_CLR 2 ALARM 3 STATUS 4 5 ALM_CLR_MOD ALM_CLR_MOD 6 ALM_DATA 7 8 9 10 11 12 13 14 15 16 WDT RWDT The ALM_CLR command is used to clear the alarm and warning status. This command changes the status of the slave station. It does not remove the cause of a fault. After the cause of the alarm or warning has been removed, this command is then used to clear the status of the alarm or warning.
MECHATROLINK-II Connection (CONNECT) Byte 1 Command Response CONNECT CONNECT 2 ALARM 3 STATUS 4 5 VER VER 6 COM_MOD COM_MOD 7 COM_TIM COM_TIM WDT RWDT 8 9 10 11 12 13 14 15 16 The CONNECT command is used to set the communications mode and establish a connection. After the connection is established, the phase moves to phase 2. If a transfer fault is detected after moving to phase 2 or phase 3, notification is given of the fault.
7 MECHATROLINK-II Commands • MECHATROLINK-I (VER: 10H) Set the factor of the 2 ms transmission cycle to COM_TIM (communications time). The setting range satisfies the following formulas. 2 [ms] ≤ COM_TIM ≤ 64 [ms] COM_TIM is multiplied by a factor of 2. In the following cases, a warning is generated and the command is ignored. Commands are also ignored in phase 2 (with no alarm). • If COM_MOD is set out of range: Data setting alarm (A.94) • If COM_TIM is set out of range: Data setting alarm (A.
Disconnection (DISCONNECT) Byte 1 Command Response DISCONNECT DISCONNECT 2 ALARM 3 STATUS 4 5 6 7 8 9 10 11 12 13 14 15 16 WDT RWDT The DISCONNECT command is used to close the connection and move to phase 1. After moving to phase 1, no check for transmission faults is executed. This command can be used in phases 2 and 3. If this command is received while in phase 2 or 3, the data for the control command to the Inverter is cleared to 0, and a fault reset command is carried out for the Inverter.
7 MECHATROLINK-II Commands Inverter Control (INV_CTL) Byte 1 Command Response INV_CTL INV_CTL 2 3 ALARM Operation signals STATUS Speed reference Output frequency Torque reference (torque limit) Output current 8 9 SEL REF1/2 SEL REF1/2 10 SEL MON1/2 SEL MON1/2 11 Reference selected by SEL REF1 Monitor selected by SEL MON1 Reference selected by SEL REF2 Monitor selected by SEL MON2 WDT RWDT 4 5 6 7 12 13 14 15 16 The INV_CTL command is used to set the Inverter's operation signals
Table 3 Operation Signals Bit Description Remarks 0 Forward operation 1 Reverse operation 2 INV multi-function terminal input 3 Default: External fault (EF3) 3 INV multi-function terminal input 4 Default: Fault reset 4 INV multi-function terminal input 5 Default: Multi-step speed reference 1 5 INV multi-function terminal input 6 Default: Multi-step speed reference 2 6 INV multi-function terminal input 7 Default: Jog command 7 Not used.
7 MECHATROLINK-II Commands Table 5 SEL MON1/2 Selection Range REF1/2 Item Remarks 0 Nothing selected. 1 Output frequency According to n035. 2 Torque reference (U-08): 0.1 % Given only for vector control. 3 Not used. 4 Frequency reference (U-01) According to n035. 5 Pulse train reference RP: 0.1 % 6 Main circuit current voltage: 1 V 7 Inverter alarm Refer to the Inverter alarm code list. 8 Inverter warning Refer to the Inverter warning code list. 9 Not used. A Not used.
Start Synchronous Communications (SYNC_SET) Byte 1 Command Response SYNC_SET SYNC_SET 2 ALARM 3 STATUS 4 5 6 7 8 9 10 11 12 13 14 15 16 WDT RWDT The SYNC_SET command is used to request the start of synchronous communications. After this command is issued, synchronous communications are carried out. If communications become asynchronous due to any fault such as a communications fault, this command can be used to restore synchronous communications.
7 MECHATROLINK-II Commands 7.2 Sub-commands The format of sub-commands are as follows. Sub-commands can be used only with MECHATROLINK-II when the 32-byte mode has been selected by a switch. No Operation (NOP) Byte 17 Command Response NOP NOP 18 SUBSTATUS 19 20 21 22 23 24 25 26 27 28 29 This is the format of No Operation sub-command.
Read Parameter (PRM_RD) Byte 17 Command Response PRM_RD PRM_RD 18 19 SUBSTATUS NO NO SIZE SIZE 20 21 22 PARAMETER 23 24 25 26 27 28 29 The PRM_RD sub-command is used to read internal Inverter constants. This sub-command functions in the same way as the PRM_RD main command. In the following cases, a warning is generated and the command is ignored. If a warning is generated, the values that were read are undefined. • While using the Digital Operator to change settings: Command alarm (A.
7 MECHATROLINK-II Commands Write Parameter (PRM_WR) Byte 17 Command Response PRM_WR PRM_WR 18 19 SUBSTATUS NO NO 21 SIZE SIZE 22 PARAMETER PARAMETER 20 23 24 25 26 27 28 29 The PRM_WR sub-command is used to write internal Inverter constants. This sub-command functions in the same way as the PRM_WR main command. In the following cases, a warning is generated and the command is ignored. If a warning is generated, the values that were read are undefined.
RAM Write ENTER_CODE/EEPROM Write ENTER_CODE (CONFIG) Byte 17 Command Response CONFIG CONFIG 18 19 SUBSTATUS CONFIG_MOD CONFIG_MOD 20 21 22 23 24 25 26 27 28 29 The CONFIG command is used to enable data for which constants have been written. This sub-command functions in the same way as the CONFIG main command. In the following cases, a warning is generated and the command is ignored. • If CONFIG_MOD is not set: Data setting value alarm (A.94) • If not in phase 2 or 3: Command fault (A.
7 MECHATROLINK-II Commands Inverter I/O Control (INV_I/O) Byte 17 Sub-Command Response INV_I/O INV_I/O 18 SUBSTATUS 19 SEL REF3/4 SEL REF3/4 20 SEL REF5/6 SEL REF5/6 21 SEL MON3/4 SEL MON3/4 22 SEL MON5/6 SEL MON5/6 23 Reference selected by SEL REF3. Monitor selected by SEL MON3. Reference selected by SEL REF4. Monitor selected by SEL MON4. Reference selected by SEL REF5. Monitor selected by SEL MON5. Reference selected by SEL REF6. Monitor selected by SEL MON6.
7.3 Status Details This section describes the STATUS field for main commands and the SUBSTATUS field for sub-commands. STATUS Field Bit 0 1 2 3 4 5 Name ALM WARNG CMDRDY BB OFF PON RUNX Description Value 0 No alarm 1 Alarm (fault) 0 No warning 1 Warning 0 Busy 1 Ready Baseblock OFF (OFF when output voltage is being output from the Inverter or during baseblock.
7 MECHATROLINK-II Commands SUBSTATUS Field 18th Byte D7 D6 D5 D4 D3 D2 D1 D0 − − − − − SUBCMDRDY SBWARNG SBALM Bit Name D0 SUBALM D1 D2 SUBWARNG Description Sub-command alarm Sub-command warning SUBCMDRDY Sub-command ready (Sub-command can be received.) Value No alarm 1 Alarm 0 No warning 1 Warning 0 Busy 1 Ready Note: D3 to D7 are not used. A value of 0 is always returned.
8 Protective Operations 8.1 Fault Detection Processing Faults can be detected by two methods: Inverter fault detection and SI-T/V7 fault detection. The SI-T/V7 is notified of Inverter faults by the internal interface, and the SI-T/V7 sends the response data, ALARM or STATUS. The SI-T/V7 notifies Inverter of SI-T/V7 faults by the internal interface, and the faults are simultaneously sent the response data, ALARM or STATUS. The following four types of faults can be detected.
8 Protective Operations Table 6 Response Data for Consecutive Alarms and/or Warnings Fault Detection Previous Value Most Recent Value Alarm 8.
Other Faults The following table shows other faults that can be detected by the SI-T/V7. If a warning occurs, operation will follow the previous command. ALARM Description Fault Type Operation when Fault Occurs 94 Data setting warning Communications warning Received commands are ignored. 95 Command warning Communications warning Received commands are ignored. EC WDC fault with Inverter Communications alarm Waits for power supply to be reset.
8 Protective Operations Inverter Fault Notification If a fault is detected in the Inverter, the SI-T/V7 stores the alarm or warning code in the MECHATROLINK-II ALARM command and simultaneously turns ON the relevant bit in the STATUS field. The following table shows the alarm codes for SI-T/V7 notification if a fault is detected in the Inverter.
Table 11 Inverter Warning Codes ALARM Digital Operator Display Description 01H UV Main circuit undervoltage 02H OV Overvoltage 03H OH Inverter overheat 05H OL3 Overtorque 1 07H EF External fault 08H BB External baseblock 0FH FAN Cooling fan fault 13H OPR Digital Operator connection fault 14H CE MEMOBUS transmission fault 1CH FBL PID feedback reference loss 1DH CALL Waiting to receive data 1EH UL3 Undertorque detection 1 20H SEr Sequence input fault 22H OH3 Motor o
9 Specifications 9 Specifications Item Requirements Baud rate 4 Mbps or 10 Mbps*1 Access mode Start-stop synchronization, master/slave method Transmission cycle 500 µs to 8 ms*2 Transmission distance 50 m max. Data length 17-byte data transmission or 32-byte data transmission*3 Number of connectable stations 30 slaves max.*4, *5 Operating Power Supply 4.75 VDC to 5.25 VDC (supplied from Inverter) Ambient Temperature -10°C to 45°C Humidity 95% max.
Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIBP C730600 03A C Printed in Japan January 2005 05-1 Date of printing Date of Printing January 2005 Rev. No.
VS mini V7 OPTION UNIT MECHATROLINK COMMUNICATIONS INTERFACE UNIT USER'S MANUAL IRUMA BUSINESS CENTER 480, Kamifujisawa, Iruma, Saitama 358-8555, Japan Phone 81-4-2962-5696 Fax 81-4-2962-6138 YASKAWA ELECTRIC AMERICA, INC. 2121 Norman Drive South, Waukegan, IL 60085, U.S.A. Phone 1-847-887-7000 Fax 1-847-887-7370 MOTOMAN INC. HEADQUARTERS 805 Liberty Lane West Carrollton, OH 45449, U.S.A. Phone 1-937-847-6200 Fax 1-937-847-6277 YASKAWA ELETRICO DO BRASIL COMERCIO LTD.A.
