How to configure and run a Yaskawa Drive with PROFINET Option Card SI-EP3 in iCube Engineer

This documentation explains how to handle YASKAWA Drives with PROFINET Option Card SI-EP3 inside iCube Engineer environment.

• Y_DataTypes_Toolbox (≥ 2023_9)
• Y_PLCopenPart1_Toolbox ( ≥ 2023_9 )

• Set the IP Address of the drive with parameters F7-01 to F7-04.
• Set the Subnet Mask of the drive with parameters F7-05 to F7-08.
• Set the Gateway Address of the drive with parameters F7-09 to F7-12
• Set Address Mode at Startup (F7-13) to value 0 : Static.
• Set Frequency Reference Selection 1 (b1-01) to value 3 : Option PCB.
• Set Run Command Selection 1 (b1-02) to value 3 : Option PCB.

These parameters can be set using DriveWizard® Industrial with a USB connection or using the drive’s keypad. Power cycle the drive after setting the parameters. Now the MS LED of the Option Card should be green and the drive’s Web Interface should be reachable. From the Web Interface you can see and modify the Station Name of the drive as seen in the following image (login needed to change the Station Name).

For further details on setting up the drive and Option Card please refer to their respective manuals.

3.2 Connecting the Drive to the iCube Controller

Once the drive is set up and ready to be used in a PROFINET network, connect it to the iCube Controller as shown in the following image. LAN1 (X3) and LAN2 (X4) ports of the iCube Controller are available for PROFINET devices connection as well as a computer connection.

Make sure that the controller has its Profinet Controller service active. To do this go to the controller's Web Based Management (WBM) and go to Configuration -> System Services. The following screen will be shown. The Profinet Controller service (highlighted in red) should be active to use a PROFINET drive. If it's not active, mark the box in the "Activation" column and click "Apply and reboot". Another important aspect to consider is that the target controller should have a PROFINET I-Device + Controller license active (for more details refer to(For Americas) How to manage feature licenses on iC9200 series controllers).

Once the physical connections are done, adding a drive to the iCube Engineer project can be different depending on the hardware configuration on it. When using a blank project (Project without PROFINET hardware configuration) it is easier to scan the network and add the drive based on the online values. Otherwise if a project is already developed with configured devices (Project with PROFINET hardware configuration) some adjustments might be needed if the online and configured values have a mismatch.

After adding the drive to the project with either of the methods explained below, a verification of proper communication with the controller can be done by downloading the project to the controller. When the download is complete, the NS LED of the Option Card should be green and the "PLC Status" of the drive's Web Interface should be "Connected".

Before adding the drive to the project with the following steps, make sure that Y_DataTypes_Toolbox and Y_PLCopenPart1_Toolbox are included in the project.

1. Open the controller's PROFINET configuration and head over to the "Online Devices" tab. From here, select the network to scan from the drop-down menu and click the "Scan the network" button. The desired drive should be on the list of online devices. To verify that the online device is the one to be included in the project, right-click on the line with the online device and click on "Flashing" (or use the button on the top), this will flash the MS LED on the SI-EP3 Option Card. To stop the flashing repeat the same procedure used for activation.
   
2. Right-click on the line of the online device and click "Add To Project".
   
3. A window will open to select the device to use in the project. Select the desired hardware from the "Type" drop-down menu and click "OK".
   
4. The drive is added to the list and it should be visible now in the PROFINET section of the PLANT. A motion axis is automatically added to the PLANT, with which the drive can be handled with standard PLC Open Part 1 Function Blocks (using Y_PLCopenPart1_Toolbox).
   

1. Open the drive's configuration and adjust the values of the Ethernet data to match the ones of the physical drive. Special attention should be given to the "Name of station" to make sure that matches the configured name.
   
2. Open the controller's PROFINET configuration and head over to the "Online Devices" tab. The configured drive(s) should be listed on the "Project" devices. Select the network to scan from the drop-down menu and click the "Scan the network" button. The online drive should be automatically mapped to the one configured in the project if "Name of station (Project)" and "Name of station (Online)" have the same value. To verify that the online device is the one to be included in the project, right-click on the line with the online device and click on "Flashing" (or use the button on the top), this will flash the MS LED on the SI-EP3 Option Card. To stop the flashing repeat the same procedure used for activation.
   
3. Notice that the mapping will happen even when the network configuration (IP Address, Subnet Mask, and Default Gateway) has different values in the online drive compared to the one in the project. To use the values configured in the project, right click on the line of the drive and click on the "Apply Project Device Settings To Online Device" option (or use the button on the top). To do the opposite and use the online valuesright click on the line of the drive and click on the " Apply Online Device Settings To Project Device " option (or use the button on the top).
   

3.6 Moving the Drive

If the previous sections are successfully completed, then the drive should be ready to use in the application code. As explained before, having a defined motion axis for the drive allows its usage with PLC Open Part 1 Function Blocks, meaning that some Function Blocks in Y_PLCopenPart1_Toolbox can be used. Several are not available given the device type, for example MC_ReadActualPosition and MC_MoveAbsolute are not available because the drive doesn't have a built-in position encoder. Find the full list of available Function Blocks at the bottom of this document. A basic example of how to use Y_PLCopenPart1_Toolbox Function Blocks to move the drive is shown below.

1. Add an instance of Y_MotionAxisDriver to make sure that the data transfer is being done properly between the drive and the controller.
   
2. Power the axis with an instance of MC_Power (notice that MC_Power will not take control of the drive's status until Y_MotionAxisDriver.Valid is TRUE).
   
3. Move the drive using MC_MoveVelocity. Notice that the Acceleration and Deceleration values in <user units>/s² are internally transformed into Acceleration and Deceleration times.