How to configure and run a Yaskawa Drive using ModbusRTU on the ic92xx controller with PLC Open FBs

Component Name	Version
iC9200 series	≥ 2023.6
SLIO module CP040 (040-1CA00)	≥1.00
iCube Engineer	≥ 2023.6
GA700 & GA800	≥1034
GA500	≥1017

note : COSmos Drive serie (V1000, A1000, U1000...) is not supported with Yaskawa library.

2. Libraries

• Y_DataTypes_Toolbox ( ≥ 2023.6)
  
• Y_PLCopenPart1_Toolbox ( ≥ 2023.6)
  
• Y_IOModule_Toolbox (≥ 2023.6)
  

iC9226M CPU needs CP040 module (ref: 040-1CA00) to establish RS485 communication to Drives.

The CP040 can be connected on a fieldbus coupler or directly on the slicebus of the controller.

In case of the slicebus usage, make sure to use a Power module (ref: 007-1AB00) to supply the CP040.

Connect CP040 to Drives as following:

• CP040: Pin 2 (RxD+) to Drive D+
• CP040: Pin 6 (RxD-) to Drive D-
  
• CP040: Pin 7 (Gnd) to Drive AC
• Activate Terminator: CP: Bridge CP: Pin 4 - Pin 8

3.2 Communication Settings
3.2.1 Drive Communication Settings:

Set the following parameters:

Cycle power of Drive or set H5-20 = 1 to activate modifications of H5-Parameters.

Parameter	Value	Description
B1-01	2 (= source Modbus RTU)	Frequency Reference Selection
B1-02	2 (= source Modbus RTU)	Run Command Selection
H5-01	User’s value	Drive Modbus RTU address
H5-02	Same value defined in ICE “baud rates”	Communication Speed selection (baud rates)
H5-03	Same value defined in ICE “Parity”	Communication Parity Selection
H5-04	User’s Value	Communication Error Stop Method
H5-06	Same value defined in ICE “Delay Time”	Drive Transmit wait Time
H5-11	1 (= no enter command required)	Information: The Driver set H5-11 = 1. Do not change.

Recommended settings:

• Baud rate 115.2kbps H5-02 = 8
• Parity No H5-03 = 0
• Error Stop Ramp to Stop H5-04 = 0
• Drive Transmit Wait Time H5-06 = 0ms

3.2.2 iCube Engineer Communication Settings

This FAQ Modbus RTU Communication Details for Drives and generic Modbus Devices  describes the Bus cycle time, Task cycle time and SliceBus Settings in detail.

3.2.3 Modbus RTU concept to handle Yaskawa Drive and Generic Device

Define and Initialize at startup the Axis Structure:

Global Variable Definition: Init:

• Set H5-01 = 0x1F for Drive node 31
  
• Cycle power of Drive or set H5-20 = 1 to activate modifications of Memobus Communication parameters.

Note : Modbus Drive connections are not defined in Motion Axis definition:

The Structure g_PM_VFD_AxisData from datatype Yt_PM_VFD_AxisStructure is defined automatically when creating an instance of e.g. MC_Power (from Y_PLCopenPart1_Toolbox) using Inv01 as Axis_Ref.

AXIS_REF and Axis Data structure are linked by:

[1] is the first MBRTU Drive axis on this network.

plcOpen FBs use velocity user units in s-1 and acceleration user units in s-2.

The scaling to the mechanical construction has to be defined in POU INIT:
PM_VFD_AxisData.AxisArray[1].AxisInfo.DriveConversion.posScale

The definition of posScale is used to convert the Velocity User Units [s-1] to Drive Frequency Reference [Hz].The scaling uses: motor nominal speed [rpm]  at nominal motor frequency [Hz] )E1-04).

Use default setting of o1-03 = 0

(Comment: The scaling from Hz to 0.01Hz is done internally)

Example:

Calculation Output frequency [Hz] = Velocity reference [s-1] * 60.0  * MaxOutput Frequency /PM_VFD_AxisData.AxisArray[1]. AxisInfo.DriveConversion.posScale

e.g. Velocity reference = 22.6667[s-1] * 60.0 * 50.0  / 1360.0 = 50.0Hz

The posScale is used also for the actual Velocity.

Modify this calculation to respect also the mechanical construction (belt,...) and gear.

MC_MoveVelocityand MC_StopFB use acceleration user unit in [s-2]. The ramps for acceleration (C1-01) and deceleration (C1-02) are in [s].
The values have to be within the allowed range for C1-01 and C1-02 := 0.0s .... 6000.0s

Acceleration = MaxOutputFrequency (E1-04) / Acceleration Time (C1-01) ->

min acceleration [C1-01 = 6000.0s] = PM_VFD_AxisData.AxisArray[1]. AxisInfo.DriveConversion.posScale / 6.0 / 60000 [0.1s.]

max acceleration [C1-01 = 0.1s] = PM_VFD_AxisData.AxisArray[1]. AxisInfo.DriveConversion.posScale / 6.0 / 1 [0.1s.] 

With .Softlimit.Velocity.Enabled := FALSE the limits of (E1-04 / E1-09) are valid. In the above example the softlimits are same as the Drive limits.

With .Softlimit.Accleration.Enabled := FALSE (same for Deceleration) the Drive limits (.posScale and C1-01/C1-02 range) are used. In the above example the acceleration and deceleration must be within 1s and 30s.

Note: Take care when using a different Maximum Output Frequency (E1-04). e.g. E1-04 = 87Hz

Example:

Calculation Acceleration Time (C1-01 in s) = PM_VFD_AxisData.AxisArray[1]. AxisInfo.DriveConversion.posScale / (60.0 * Acceleration Reference [s-2]).

Acceleration Time (C1-01 in s) for Acceleration 5.0s-2 = 1360 [min-1] / (60.0 [s/min] * 5.0[s-2]) = 4.53s