Setup Yaskawa EtherCAT VFD and Run Motion following CiA-402
| Version Number | Description |
|---|---|
| 1.0 | Initial version |
1. Supported Components
| Component Name | Version |
|---|---|
| iC92xx series | ≥ 2024.3 |
| iCube Engineer | ≥ 2024.3 |
| JOHB-SMP3 | ≥ S8206 |
| SI-ES3 | ≥ S4202 |
2. Solution details
Multiple VFDs are supported by the JOHB-SMP3 and the SI-ES3 option cards. See the option card product manuals for the supported VFDs. The steps below will walk through setting up a GA500 VFD with a JOHB-SMP3 (Multi-Protocol) card for Velocity Control using CiA-402.
2.1 Drive Communication Settings
- Adjust the following Parameters in the VFD using Drive wizard industrial or the Digital Operator:
- B1-01 (Frequency Reference Selection) = 3 (Option PCB)
- B1-02 (Run Command Selection) = 3 (Option PCB)
- E2-04 (Motor Pole Count) = Pole Count from Motor Nameplate
- O1-03 (Frequency Display Unit Selection) = 2 (Revolutions Per Minute, RPM)
- C1-01 (Acceleration) = 1 second
- C1-02 (Deceleration) = 1 second
2.2 ESI file
Preparation
-
Download the ESI file from
Yaskawa.com
Under the EtherCAT/EtherCAT ESI files section, download the latest ESI file or search for " ESI Files for EtherCAT Option on JOHB-SMP3"
On Yaskawa website select the following menus: Products/Drives/Industrial Network Communication protocols/EtherCAT
Click on the "ESI" selection, which will automatically download a zip file containing the ESI file
Click on the "ESI" selection, which will automatically download a zip file containing the ESI file
Unzip the contents that were downloaded from a previous step
If using the SMP3 Card (Multi-Protocol)
- Make sure to set the Dispswitches on the physical card for "EtherCAT
If using the SMP3 Card (Multi-Protocol)
3. iCube Engineer
- Start a new project
- Add the VFD to the project
- Import the ESI file for the Drive that will be used. (Multi-Protocol card or SI-ES3)
- Go to iCube Engineer File --> Import --> Import ESI File(s)...
-
Load the correct ESI file from the computer.
- Select the Drive model that should be added to the project.
-
Banner will appear when file is imported
- In the Plant add the Drive/VFD to the EtherCAT network
- EtherCAT bus scan can be used to find the VFD
-
Go to the PDO Tab of the VFD
-
Select the Following PDO Data. This is the minimum that is needed for motion in the VFD.
-
PDO Items are available for the VFD by double-clicking on the VFD in the Plant and going to the Data List tab
- Create variables for the Process Data Items in the PLC data list.
- Run Motion
- Rebuild and Download the Project Nodeto the Controller
- In Debug Mode add the PLC created from the PDO data to the watch Window
- The following tables from the Multi-protocol manual shows the Control Word and Status Word bits.
- Set the "Target_Velocity" variable in the watch window to 500RPM
- Right click on the Control Word and Status Word in the watch window and set the display to binary
- Perform the following sequence on the Control Word to "Enable" the VFD
- Set ControlWord.X1 and ControlWord.X2 = 1 (Shutdown)
- StatusWord.X0 and StatusWord.X5 should turn on and StatusWord.X6 should turn off (Ready To Switch on)
- Set ControlWord.X0 = 1 (Switch On)
-
StatusWord.X1 should turn on (Switch on)
- Set ControlWord.X3 = 1 (Enable Operation)
- StatusWord.X2 should turn on (Operation Enabled)
- When enabled the Reference Speed can be triggered by setting the following bits
- Bit 5 (RFG Unlock)
- Bit 4 (Enable)
- Bit 6 (RFG Use Reference)
- The motor will start to move at the Requested Velocity.
- The Feedback Velocity can be seen in the "vl_Control_effort" variable in the watch window
- To Stop the Motor set ControlWord Bit 6 to 0.
