YASKAWA TM

Energy In Motion

VS-616G5 SI-N Option Card

for DeviceNet
Instructions

TENTATIVE

VS-616G5 SI-N Option Card for DeviceNet Instructions

Inst_sin.doc
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 YASKAWA TM
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1 Introduction
This instructions is intended to provide information necessary to start-up and use the VS-
616G5 SI-N DeviceNet Option Card.

1.1 Background
The option card adopted to 2CN option connector on the VS-616G5 control card. The
option board supports 4 different Input Assemblies and 4 different Output Assemblies,
two of the input and two off the output are YASKAWA specific. All DeviceNet objects
required to meet the AC Drive type are supported. The VS-616G5 communicates in
DeviceNet as a Group 2 only server.
Supported Message Type
Explicit Messages; Fragmentation is supported.
Up to 32 bytes can be input and output
Polled I/O Messages; Fragmentation is not supported.
Up to 8 bytes can be input and output.

2 Board Installation and set-up

2.1 Option board overview

Indication LED’s

DeviceNet
BUS Connection

Address and Baud Rate

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2.2 DeviceNet BUS connectors and cabling

Cable for DeviceNet networks can be found in the product catalogues from ODVA.

Pin No Name Function

1 black V- Power supply from the bus.
2 blue Can Lo CAN signals
3- Shield Shield from bus cable
4 white Can Hi CAN signals
5 red V+ Power supply from the bus.

2.3 Termination resistors.

Terminating resistors must be mounted on the first and last node in a DeviceNet network.
The value of this resistor is specified by ODVA to 121 Ohm. Terminating resistors can be
found in the product catalogue from ODVA.

2.4 Address and Baudrate configuration

There is one 8-bit DIP-Switch for configuration on the DeviceNet option card.

OFF

ON
1 2 3 4 5 6 7 8

Baud Rate MAC ID

1 2 3 4 5 6 7 8
OFF OFF 125kbps OFF OFF OFF OFF OFF OFF 0
OFF ON 250kbps OFF OFF OFFOFF OFF ON 1
ON OFF 500kbps OFF OFF OFF OFF ON OFF 2
OFF OFF OFF OFF ON ON 3
ON ON Not Allowed

ON ON ON ON ON OFF 62
ON ON ON ON ON ON 63

If setting the Not Allowed baud rate configuration, “BUS” is indicated on the digital operator.

VS-616G5 SI-N Option Card for DeviceNet Instructions

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2.5 Board LED indications

The board is equipped with four indications LED’s for module and DeviceNet status
indication. The LED’s are located on the board according to the figure below.

PWR, Power OK

DeviceNet Module Status

WD, Module status LED DeviceNet Net Work Status

2.5.1 DeviceNet indications

The table below describes the function of DeviceNet specific LED’s

LED Colour Indication / Function

Off No power.
Green Device Operational.
DeviceNet Module Flashing Device in standby.
Status Green
(MS) Flashing Minor fault.
Red
Red Unrecoverable Fault
Off Not powered/Not on line
Flashing On-line, Not connected
Green
DeviceNet Net Work Green Link OK, On-line, connected
Status
(NS) Flashing Connection Time-out
Red
Red Critical link failure

VS-616G5 SI-N Option Card for DeviceNet Instructions

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2.5.2 Option board Module status indications

The following LED’s indicates the module (option board) status.

LED Colour Indication/Function

PWR Green Lit when the +5V power to the electronics is OK.
Turned off if the +5V is below +4.5V (min)
WD bicolour Indicates the module status.
Red/Green Turned off: Option board CPU not running.
Lit green: Initialisation.
Flashing green: Normal operation.
Lit red: Internal option board error.
Flashing red: G5 error detected.
Other indication: Unspecified, option board error

Note
The LED will flash red once (100 ms) after initialisation.
This is used during our internal testing to verify that
the red LED is working,

VS-616G5 SI-N Option Card for DeviceNet Instructions

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3 DeviceNet
The SI-N follows the specification for the AC/DC-profile from ODVA .
∗ Identity Object (Class 01 hex)
∗ Message Router Object (Class 02 hex)
∗ DeviceNet Object (Class 03 hex)
∗ Assembly Object (Class 04 hex)
∗ Connection Object (Class 05 hex)
∗ Motor Data Object (Class 28 hex)
∗ Control Supervisor Object (Class 29 hex)
∗ AC/DC Drive Object (Class 2A hex)

VS-616G5 SI-N Option Card for DeviceNet Instructions

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Identity Object (Class 01hex)

Services supported
Service Code No. (hex) Service Name
0E Get Attribute Single
05 Reset

Attribute Supported
Instance ID Attribute Description Get Set Size
0 1 Object Software Revision X - UINT
1 Vendor ID X - UINT
2 Device Type X - UINT
3 Product Code X - UINT
1 4 Revision X - Array of 2
SINT
5 Status X - WORD
6 Serial Number X - UDINT
7 Product Name X - SHORT
STRING
8 State X - USINT

Message Router Object (Class 02hex)

Services supported
Service Code No. (hex) Service Name
0E Get Attribute Single

Attribute Supported
Instance ID Attribute Description Get Set Size
0 1 Object Software Revision X - UINT

DeviceNet Object (Class 03hex)

Services supported
Service Code No. (hex) Service Name
0E Get Attribute Single
05 Reset

Attribute Supported
Instance ID Attribute Description Get Set Size
0 1 Object Software Revision X - UINT
1 MAC ID X - USINT
2 Baud Rate X - USINT
5 Allocation Information X - WORD
The MAC ID and Baud Rate are set by DIP-switch on the SI-N card.

VS-616G5 SI-N Option Card for DeviceNet Instructions

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Supported Objects (Cont.)

Assembly Object (Class 04hex)

Services supported
Service Code No. (hex) Service Name
0E Get Attribute Single
10 Set Attribute Single

Attribute Supported
Instance ID Attribute Description Get Set Size Default Value
0 1 Object Software Revision X - Word 1
20 3 Data X X Array 4 bytes 00 00 00 00
21 3 Data X X Array 4 bytes 00 00 00 00
70 3 Data X - Array 4 bytes 00 00 00 00
71 3 Data X - Array 4 bytes 00 00 00 00
100 3 Data X X Array 5 bytes 00 00 00 00 00
101 3 Data X X Array 8 bytes 00 00 00 00 00 00 00 00
150 3 Data X - Array 5 bytes 00 00 00 00 00
151 3 Data X - Array 8 bytes 00 00 00 00 00 00 00 00
See the I/O Assembly Description

VS-616G5 SI-N Option Card for DeviceNet Instructions

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VS-616G5 SI-N Option Card for DeviceNet Instructions

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DeviceNet Connection Object (Class 05hex)

Services supported
Service Code No. (hex) Service Name
0E Get Attribute Single
10 Set Attribute Single

Attribute Supported
Instance Attribute Description Get Set Size Default Value
ID
0 1 Object Software Revision X - Word 1
1 State X - USINT 3
2 Instance type X - USINT 0
3 Transport class trigger X - Byte 83hex
4 Produced connection ID X - UINT Depends on master
ID
5 Consumed connection ID X - UINT Depends on node ID
6 Initial comm characteristics X - Byte 21hex
1 7 Produced connection size X - UINT 32
(Explicit 8 Consumed connection size X - UINT 32
Message)
9 Expected packet rate X X UINT 2500
12 Watchdog time-out action X - USINT 1
13 Produced connection path length X - UINT 0
14 Produced connection path X - Array of 0
USINT
15 Consumed connection path length X - UINT 0
16 Consumed connection path X - Array of 0
USINT
1 State X - USINT 1
2 Instance type X - USINT 1
3 Transport class trigger X - Byte 82hex
4 Produced connection ID X - UINT Depends on master
ID
5 Consumed connection ID X - UINT Depends on node ID
6 Initial comm characteristics X - Byte 1
2 7 Produced connection size X - UINT 4
(Remote I/O) 8 Consumed connection size X - UINT 4
9 Expected packet rate X X UINT 0
12 Watchdog time-out action X X USINT 0
13 Produced connection path length X - UINT 3
14 Produced connection path X X Array of 62 34 36
USINT
15 Consumed connection path length X - UINT 3
16 Consumed connection path X X Array of 62 31 34
USINT

Produced connection path instance 2 can be set to following values:

62 34 36 (Instance 70)
62 34 37 (Instance 71)
62 39 36 (Instance 150)
62 39 37 (Instance 151)

Consumed connection path instance 2 can be set to following values:

62 31 34 (Instance 20)
62 31 35 (Instance 21)
62 36 34 (Instance 100)
62 36 35 (Instance 101)

VS-616G5 SI-N Option Card for DeviceNet Instructions

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Motor Data Object (Class 28hex)

Services supported
Service Code No. (hex) Service Name
0E Get Attribute Single
10 Set Attribute Single

Attribute Supported
Instance ID Attribute Description Get Set Size Default Value
0 1 Object Software Revision X - UINT 1
3 Motor type X - BYTE 7 Fixed
(Squirrel Cage Induction Motor)
1 6 Rated Current [0.1A/2CS] X X INT Parameter E2-01
7 Rated Voltage [1V/2VS] X X INT Parameter E1-13 *1
CS
; Current Scale (AC/DC Drive Object Attr. 23)
VS
; Voltage Scale (AC/DC Drive Object Attr. 27)
*1; When E1-13 setting is “0”, parameter E1-05 is used for this attribute instead of E1-13.

VS-616G5 SI-N Option Card for DeviceNet Instructions

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Control Supervisor Object (Class 29hex)

Services supported
Service Code No. (hex) Service Name
0E Get Attribute Single
10 Set Attribute Single
05 RESET

Attribute Supported
Instance ID Attribute Name Get Set Type Description
0 1 Object Software Revision X - UINT -
3 Run 1 X X BOOL 1= Forward Run Command
1 4 Run 2 X X BOOL 1= Reverse Run Command
5 Net Control X X BOOL 1= Operation Command from DeviceNet
6 State X - BYTE 3= Inverter Ready
7= Inverter Faulted
7 Running 1 X - BOOL 1= Forward Running
8 Running 2 X - BOOL 1= Reverse Running
9 Ready X - BOOL 1= Inverter Ready
10 Faulted X - BOOL 1= Inverter Fault
11 Warning X - BOOL 1= Inverter Minor Fault
12 Fault Reset X X BOOL 1= Fault Reset Command
13 Fault Code X - UINT Current Fault
See the Fault code table below.
15 Control from Net X - BOOL 1= DeviceNet Operation Command is
valid
16 DeviceNet Fault Mode X - BYTE Action on loss of DeviceNet
2(Fixed); depends on parameter F9-06
17 Force Fault X X BOOL 1= External Fault Command (EF0)
18 Force Status X - BOOL 1= External Fault Status (EF0)

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Table for Control Supervisor Object fault code:

DeviceNet Fault Code Description

[hex]
0000 None
5120 DC Bus Fuse Open (PUF)
3220 DC Bus Under volt (UV1)
5110 CTL PS Under volt (UV2)
3222 MC Answer back (UV3)
2130 Short Circuit (SC)
2120 Ground Fault (GF)
2300 Over Current (OC)
3210 DC Bus Over volt (OV)
4200 Heatsnk Over temp (OH)
4210 Heatsnk Max Temp (OH1)
2220 Motor Overload (OL1)
2200 Inv Overload (OL2)
2221 Over torque Det 1 (OL3)
2222 Over torque Det 2 (OL4)
7110 Dyn Brk Transistor (RR)
7112 Dyn Brk Resistor (RH)
9000 External Fault 0 (EF0)
9000 External Fault 3 (EF3)
9000 External Fault 4 (EF4)
9000 External Fault 5 (EF5)
9000 External Fault 6 (EF6)
9000 External Fault 7 (EF7)
9000 External Fault 8 (EF8)
4140 Heat sink Fan (FAN)
7310 Over speed Det (OS)
7310 Speed Deviation (DEV)
7310 PG Open (PGO)
3130 Input Phase Loss (PF)
3130 Output Phase Loss (LF)
5210 DCCT fault
5300 Operator Disconnected (OPE)
6320 EEPROM R/W Error (ERR)
0000 None
7500 Memo bus Com Fault (CE)
7500 SI-B Com Error (BUS)
7500 SI-F/G Com Error (E-15)
7500 SI-F/G CPU Down (E-10)
8321 Out of Control (CF)
8313 Zero Servo Fault (SVE)

VS-616G5 SI-N Option Card for DeviceNet Instructions

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AC/DC Drive Object (Class 2Ahex)

Services supported
Service Code No. (hex) Service Name
0E Get Attribute Single
10 Set Attribute Single

Attribute Supported
Instance ID Attribute Name Get Set Type Description
0 1 Object Software Revision X - Word
3 At Reference X - BOOL 1= Speed Agree
1 4 Net Reference X X BOOL 1= Speed Reference from DeviceNet
6 Drive Mode X X USINT 0= Open Loop Vector (A1-02= 2)
1= V/f (A1-02= 0)
2= V/f with PG (A1-02= 1)
3= Closed Loop Vector (A1-02= 3)
7 Speed Actual [RPM/2SS] X - INT Output Frequency
(Speed Feedback when FVC mode)
8 Speed Reference [RPM/2SS] X X BOOL Frequency Reference
9 Current actual [0.1A/2CS] X - INT Inverter Output Current
15 Power Actual [W/2PS] X - INT Inverter Output Power
16 Input Voltage [V/2VS] X - INT Inverter Input Voltage [E1-01]
17 Output Voltage [V/2VS] X - INT Inverter Output Voltage
18 Accel Time [ms/2TS] X X UNIT Acceleration Time [C1-01]
19 Decel Time [ms/2TS] X X UINT Deceleration Time [C1-02]
20 Low Speed Limit [RPM/2SS] X X UINT [D2-02]
21 High Speed Limit [RPM/2SS] X X UINT [D2-01]
22 Speed scale X X SINT Data scale for Speed data (-15 to 15)
23 Current scale X X SINT Data scale for Current data (-15 to 15)
26 Power scale X X SINT Data scale for Power data (-15 to 15)
27 Voltage scale X X SINT Data scale for Voltage data-15 to 15
28 Time scale X X SINT Data scale for Time data (-15 to 15)
29 Reference from the Net X - BOOL 1= DeviceNet Frequency Reference is valid
SS
; Speed Scale (AC/DC Drive Object Attr. 22)
CS
; Current Scale (AC/DC Drive Object Attr. 23)
PS
; Power Scale (AC/DC Drive Object Attr. 26)
VS
; Voltage Scale (AC/DC Drive Object Attr. 27)
TS
; Time Scale (AC/DC Drive Object Attr. 28)

VS-616G5 SI-N Option Card for DeviceNet Instructions

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I/O Assembly Description (Inputs)

DeviceNet Basic Speed Control

Input Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Instance 0 - - - - - Fault - Run
Reset Fwd
20 1 -
2 Speed Reference (Low Byte)
3 Speed Reference (High Byte) [RPM/2SS]
SS
; Speed Scale (AC/DC Drive Object Attr. 22)

Data Name Description

Byte 0 - bit 0 Run Fwd 1= Forward Run command
Byte 0 - Bit 2 Fault Reset 1= Fault Reset
Byte 2,3 Speed Reference Speed Reference for Inverter [RPM/2SS]

DeviceNet Extended Speed Control

Input Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Instance 0 - Net Net - - Fault Run Run
Ref Ctrl Reset Rev Fwd
21 1 -
2 Speed Reference (Low Byte)
3 Speed Reference (High Byte) [RPM/2SS]
SS
; Speed Scale (AC/DC Drive Object Attr. 22)

Data Name Description

Byte 0 - bit 0 Run Fwd 1= Forward Run command
Byte 0 - bit 1 Run Rev 1= Reverse Run command
Byte 0 - bit 2 Fault Reset 1= Fault Reset
Byte 0 - bit 5 Net Ctrl 1= Operation command from DeviceNet
Byte 0 - bit 6 Net Ref 1= Frequency Reference from DeviceNet
Byte 2,3 Speed Reference Speed Reference for Inverter [RPM/2SS]

VS-616G5 SI-N Option Card for DeviceNet Instructions

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G5 Memobus Message (Vendor-Specific YASKAWA Assembly)

Input Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Instance 0 Function Code
1 Resister Number (High Byte)
100 2 Resister Number (Low Byte)
3 Resister Data (High Byte)
4 Resister Data (Low Byte)

Data Name Description

Byte 0 Function Code 03hex= Read command, 10hex = Write command
Byte 1,2 Register Number Register Number (Address)
Byte 3,4 Register Data Writing-in data

G5 Standard Control (Vendor Specific YASKAWA Assembly)

Input Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Instance 0 Terminal Terminal Terminal Terminal Terminal Terminal Run Run
8 7 6 5 4 3 Rev Fwd
101 1 Terminal Terminal Terminal - - - Fault External
26 25 9 Rest Fault
2 Speed Reference (Low Byte)
3 Speed Reference (High Byte) [RPM]
4 Torque Reference (Low Byte)
5 Torque Reference (High Byte) [0.1%]
6 Torque Compensation (Low Byte)
7 Torque Compensation (High Byte) [0.1%]

Data Name Description

Byte 0 - bit 0 Run Fwd 1= Forward Run command
Byte 0 - bit 1 Run Rev 1= Reverse Run command
Byte 0 - bit 2 Terminal 3 1= Terminal 3 function ON (depends on H1-01)
Byte 0 - bit 3 Terminal 4 1= Terminal 4 function ON (depends on H1-02)
Byte 0 - bit 4 Terminal 5 1= Terminal 5 function ON (depends on H1-03)
Byte 0 – bit 5 Terminal 6 1= Terminal 6 function ON (depends on H1-04)
Byte 0 – bit 6 Terminal 7 1= Terminal 7 function ON (depends on H1-05)
Byte 0 – bit 7 Terminal 8 1= Terminal 8 function ON (depends on H1-06)
Byte 1 – bit 0 External Fault 1= Eternal Fault command (EF0)
Byte 1 – bit 1 Fault Reset 1= Fault Reset
Byte 1 – bit 5 Terminal 9 1= Terminal 9-10 ON (vaid at H2-01= Fhex)
Byte 1 – bit 6 Terminal 25 1= Terminal 25 ON (vaid at H2-02= Fhex)
Byte 1 – bit 7 Terminal 26 1= Terminal 26 ON (vaid at H2-03= Fhex)
Byte 2,3 Speed Reference Speed Reference [RPM fixed]
Byte 4,5 Torque Reference Torque Reference [0.1%]
When Flux Vector Control mode is selected, this
data works as follows;
In case of Speed Control (D5-01=0);
Torque Limit Value
In case of Torque Control (D5-01=1);
Torque Reference Value
Byte 6,7 Torque Compensation Torque Compensation [0.1%]
Valid at only Flux Vector Control Mode

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I/O Assembly Description (Outputs)

DeviceNet Basic Speed Control

Output Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Instance 0 - - - - - Running - Faulted
1
70 1 -
2 Speed Actual (Low Byte)
3 Speed Actual (High Byte) [RPM/2SS]
SS
; Speed Scale (AC/DC Drive Object Attr. 22)

Data Name Description

Byte 0 - bit 0 Faulted 1= Inverter Fault
Byte 0 - Bit 2 Running 1 1= Inverter Forward Running
Byte 2,3 Speed Actual Output Frequency [RPM/2SS]

DeviceNet Extended Speed Control

Output Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Instance 0 At Speed Ref from Ctrl from Ready Running 2 Running 1 Warning Faulted
Net Net (REV) (FWD)
71 1 -
2 Speed Actual(Low Byte)
3 Speed Actual (High Byte) [RPM/2SS]
SS
; Speed Scale (AC/DC Drive Object Attr. 22)

Data Name Description

Byte 0 - bit 0 Faulted 1= Inverter Faulted
Byte 0 - bit 1 Warning 1= Minor Fault
Byte 0 - bit 2 Running 1 1= Forward Running
Byte 0 - bit 3 Running 2 1= Reverse Running
Byte 0 - bit 4 Ready 1= Inverter Ready
Byte 0 - bit 5 Control from Net 1= Operation command from DeviceNet
Byte 0 - bit 6 Reference from Net 1= Frequency Reference from DeviceNet
Byte 0 - bit 7 At Speed 1= Speed Agree
Byte 2,3 Speed Actual Output Frequency [RPM/2SS]

VS-616G5 SI-N Option Card for DeviceNet Instructions

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G5 Memobus Message (Vendor Specific YASKAWA Assembly)

Output Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Instance 0 Function Code
150 1 Resister Number (High Byte)
2 Resister Number (Low Byte)
3 Resister Data (High Byte)
4 Resister Data (Low Byte)

Data Name Description

Byte 0 Function Code Response code
Byte 1,2 Register Number Register Number (Address)
Byte 3,4 Register Data Read-out data, Error Code

G5 Standard Control (Vendor Specific YASKAWA Assembly)

Output Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Instance 0 FAULT ALARM READY Speed Reset REV ZSP Running
Agree Running
151 1 ZSV - Terminal Terminal Terminal Local/ UV OPE
26 25 9 Remote
2 Output Frequency (Low Byte)
3 Output Frequency (High Byte) [RPM]
4 Torque Reference (Low Byte)
5 Torque Reference (High Byte) [0.1%]
6 Output Current (Low Byte)
7 Output Current (High Byte) [0.01A] *1
*1; When Inverter capacity is 11kW or bigger, [0.1A] is used for the unit of Output Current.

Data Name Description

Byte 0 - bit 0 Running 1= Running
Byte 0 - bit 1 ZSP 1= Zero Speed
Byte 0 - bit 2 REV Running 1= Reverse Running
Byte 0 - bit 3 Reset 1= Reset Command Receiving
Byte 0 - bit 4 Speed Agree 1= Speed Agree
Byte 0 - bit 5 READY 1= Inverter Ready
Byte 0 - bit 6 ALARM 1= Minor Fault
Byte 0 - bit 7 FAULT 1= inverter Fault
Byte 1 - bit 0 OPE 1= OPE (parameter) error
Byte 1 - bit 1 UV 1= Inverter had Under Voltage
Byte 1 - bit 2 Local/Remote 1= Remote Operation
Byte 1 - bit 3 Terminal 9 1= Terminal 9-10 ON
Byte 1 - bit 4 Terminal 25 1= Terminal 25 ON
Byte 1 - bit 5 Terminal 26 1= Terminal 26 ON
Byte 1 - bit 7 ZSP 1= Zero Servo Completion
Byte 2,3 Output Frequency Output Frequency [RPM fixed]
Byte 4,5 Torque Reference Torque Reference monitor [0.1%]

Byte 6,7 Output Current Inverter Output Current [0.01A] *1

*1; When Inverter capacity is 11kW or bigger, [0.1A] is used for the unit of Output Current.

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4 DeviceNet data types

Data Type Name Data Type Description

BOOL Logical Boolean whit values TRUE and FALSE
SINT Signed 8-bit integer value
INT Signed 16-bit integer value
DINT Signed 32-bit integer value
USINT Unsigned 8-bit integer value
UINT Unsigned 16-bit integer value
SHORT STRING character string
WORD bit string 16-bits

5 Attention

5.1
Before setting up the DeviceNet with SI-N card, sets the number of motor poles into
parameter [o1-03] and inverter MUST be recycled power.

5.2
When modifying the following parameters, inverter MUST be recycled power.
- o1-03; Frequency unit of reference setting and monitor
- b1-01; Reference selection
- b1-02; Operation method selection
- o2-09; Initialise mode selection

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