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YASKAWA MECHATROLINK-II SI-T3 Technical Manual

Ac drive-option card
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YASKAWA AC Drive-Option Card
MECHATROLINK-II
Technical Manual
Type: SI-T3
To properly use the product, read this manual thoroughly and retain
for easy reference, inspection, and maintenance. Ensure the end user
receives this manual.
MANUAL NO. SIEP C730600 50A
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Summary of Contents for YASKAWA MECHATROLINK-II SI-T3

  • Page 1 YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual Type: SI-T3 To properly use the product, read this manual thoroughly and retain for easy reference, inspection, and maintenance. Ensure the end user receives this manual. MANUAL NO. SIEP C730600 50A...
  • Page 2 This Page Intentionally Blank...

  • Page 3: Table Of Contents

    10 SPECIFICATIONS........... . 38 YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...
  • Page 4 Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual.

  • Page 5: Preface And Safety

    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.

  • Page 6: General Safety

    • When ordering a new copy of the manual due to damage or loss, contact your Yaskawa representative or the nearest Yaskawa sales office and provide the manual number shown on the front cover.

  • Page 7: Product Overview

    By installing the MECHATROLINK-II Option to a drive, it is possible to do the following from a MECHATROLINK master device: • operate the drive • monitor the operation status of the drive • change parameter settings YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...

  • Page 8: Receiving

    Ground Cable Screws (M3) LED Label Installation Manual MANUAL SI-T3 Quantity: Tool Requirements A Phillips screwdriver (#2 (M3)) U.S. standard size is required to install the MECHATROLINK-II Option. YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...

  • Page 9: Mechatrolink-Ii Option Components

    Data is being received (LED may appear to be flashing) • No data is being received Not receiving data • During reset <1> For details on the communication error, refer to Troubleshooting on page YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...

  • Page 10: Installation Procedure

    Do not use unshielded cable for control wiring. Failure to comply may cause electrical interference resulting in poor system performance. Use shielded twisted-pair wires and ground the shield to the ground terminal of the drive. YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...
  • Page 11 <1> The FE terminal on the MECHATROLINK-II Option is supplied with a ground cable that should be connected to the ground terminal on the drive.If there are noise influences on communication, remove the grounding cable. Figure 2 Wiring Diagram YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...
  • Page 12 Note: There are only two screw holes on the drive for ground terminals. If three option cards are connected, two of the lead lines will need to share the same ground terminal. Figure 3 SI-T3 Figure 4 Connecting the Ground Terminal YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...
  • Page 13 2. Connect the terminator (model No.: JEPMC-W6022-E) on the end of the communication lines. 3. Maximum transmission distance is 50 m. Minimum wiring distance between stations is 0.5 m. <1> is the length (m). YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...

  • Page 14: Mechatrolink Option Drive Parameters

    <6> Setting byte 10 of INV_CTL to 0FH enables the register set by F6-24. Byte 11 and 12 of the response data enable the register content set by F6-24. YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...

  • Page 15: Transmission Interface

    +04H +04H Status Data link layer data and application layer +06H Data Data +11H +11H EWDT +12H +12H Figure 6 Basic format of data transfer (17-byte data transmission) YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...
  • Page 16 All SI-T3 commands can be used. Phase 2 starts to count the watchdog timer in the communications frame. The phase moves to phase 3 when a SYNC_SET command is received, and it moves to phase 1 when a DISCONNECT command is received. YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...
  • Page 17 INV_CTL Note: Command warning (A.95) will result if a main command and sub-command conflict with one another. For details on the alarm, refer to Other Faults on page YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...

  • Page 18: Mechatrolink-Ii Commands

    The values for the number (NO) and the size (SIZE) in the response data are copies of the values in the command data. Example when reading C1-01 (200H): Table 8 Example when reading C1-01 (200H) Byte Command Response Lower byte of C1-01 Upper byte of C1-01 YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...
  • Page 19 The leading ID data that corresponds to the specified OFFSET and returned is shown in the Table 10 Table Up to eight bytes can be used for SIZE. This command can be used in all phases. YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...
  • Page 20 Note: With the A1000, the maximum number of writes to non-volatile memory is 100,000, so do not use the CONFIG command too frequently. If changing several parameters, carry out the CONFIG command only after all the parameters have been changed. YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...
  • Page 21 Fault history trace 10 max. (byte 6 to 15) 0.1 s U3-01 to U3-10 Fault history (Alarms are not retained in the history.) (bytes 7 and 8) 0.1 s U3-01 to U3-10 YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...
  • Page 22 Set VER (version) to 21H (Ver. 2.1) for MECHATROLINK-II, and to 10H (Ver. 1.0) for MECHATROLINK-I. The communications mode is set by the COM_MOD. For details on the settings, refer to the following description. YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...
  • Page 23 • If SUBCMD is set to 1 for Ver. 1.0 (VER: 10H): Data setting warning (A.94) • If Bit6, Bit5, Bit4, Bit3, or Bit0 is set to 1: Data setting warning (A.94) YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...
  • Page 24 These bytes do not need to be set every scan. The settings are saved in the drive until the next data is received or until the power is turned OFF. For details on operation signals, refer to Table The speed reference and the output frequency units can be selected with o1-03. YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...
  • Page 25 Bit2: terminal P2-PC PID target Unit: 0.01% Pulse train output Unit: 1 Hz V/f gain Reserved Command selection Bit1: PID target value enable A to F Not used. YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...
  • Page 26 • If SIZE is an odd number or is not between 2 and 8: Data setting warning (A.94) • If a main command is PRM_RD or PRM_WR: Command warning (A.95) YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...
  • Page 27 These settings do not need to be set every scan. The settings are saved in the Drive until the next data is received or until the power is turned OFF. YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...
  • Page 28 Motor 2 – 0_SERVO Zero Servo Complete Zero Servo complete Note: With the PRM_RD command, only the settings for the STATUS (CMDRDY) is valid. Other bits are not used. YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...
  • Page 29 Bit3 Bit2 Bit1 Bit0 SUBCMDRDY SUBWARNG SUBALM No alarm SUBALM Sub-command alarm Alarm No warning SUBWARNG Sub-command warning Warning Busy Sub-command ready SUBCMDRDY (Sub-command can be received.) Ready YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...

  • Page 30: Troubleshooting

    Alarm WARNG Alarm Alarm Most recent alarm code Alarm Warning Most recent alarm code Warning Alarm Most recent alarm code Warning Warning Warning with the smaller warning code YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...
  • Page 31 Drive monitor timer over (1 s elapsed) Communications alarm Received commands are ignored. <1> <1> If the ERR indicator is not lit or flashing, any commands that are received will be ignored. YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...
  • Page 32 Option Card External Fault PID Feedback Loss Undertorque Detection 1 Undertorque Detection 2 High Slip Braking oL Z Pulse Fall Detection Z Pulse Noise Fault Detection Inversion Detection YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...
  • Page 33 Control Circuit Error CPF21 CPF22 Hybrid IC Error CPF23 Control Board Connection Error CPF24 Drive Unit Signal Fault CPF26 Control Circuit Error CPF35 oFA00 Option Card Error oFA43 YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...
  • Page 34 Safe Disable Signal Input Mechanical Weakening Detection 1 Mechanical Weakening Detection 2 Output Voltage Detection Fault TrPC IGBT Maintenance Time (90%) LT-3 Soft Charge Bypass Relay Maintenance Time YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...
  • Page 35 9 Troubleshooting ALRM Code (Hex) Display Description LT-4 IGBT Maintenance Time (50%) Breaking Transistor Overload Fault dWAL DriveWorksEZ Alarm YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...
  • Page 36 Cause Possible Solution ⇒ Turn the power off and check the connectors between the drive and MECHATROLINK-II Problem with the connectors between the drive and MECHATROLINK-II Option Option. YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...
  • Page 37 ⇒ Check communications at start-up and correct programming errors. Programming error on the master side Perform a self-diagnostics check. Communication circuitry is damaged. ⇒ Replace the drive if the fault continues to occur. YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...

  • Page 38: Specifications

    16.) For MECHATROLINK-II (32-byte transmission, 1.0 ms communications cycle): 9 stations max. For MECHATROLINK-II (17-byte transmission, 1.0 ms communications cycle): 15 stations max. For MECHATROLINK-I: 14 stations max. YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...

  • Page 39: Revision History

    MANUAL NO. SIEP C730600 50A Published in Japan December 2008 08-12 Date of Date of original publication publication Date of Rev. Section Revised Content Publication − − December 2008 First edition YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual...
  • Page 40 No.18 Xizang Zhong Road. Room 1702-1707, Harbour Ring Plaza Shanghai 200001, China Phone 86-21-5385-2200 Fax 86-21-5385-3299 YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE Room 1011A, Tower W3 Oriental Plaza, No.1 East Chang An Ave., Dong Cheng District, Beijing 100738, China...
  • Page 41 Errata Listed below are corrections for the MECHATROLINK-II (SI-T3) Technical Manual (SIEP C730600 50A). Please correct your manual accordingly. MECHATROLINK-II Commands CONNECT：0EH(Connect) MECHATROLINK-II (VER=21H) (p.23) (ERROR) When the transmission cycle is equal to the communications time (COM_TIM = 1): • 32-byte data transmission 1 [ms] ≤...

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