Sanyo SUPER BL P5 Manual

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AC SERVO SYSTEM

PY2 Servo Amplifier Instruction Manual

SANYO DENKI CO.,LTD

Super

Released

September

Revision F

April

Revision J

August

M0001584J

Series

PY2

1999

2001

2003

English

Table of Contents

Troubleshooting

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Summary of Contents for Sanyo SUPER BL P5

Page 1 M0001584J AC SERVO SYSTEM Super Series PY2 Servo Amplifier Instruction Manual Released September 1999 Revision F April 2001 Revision J August 2003 SANYO DENKI CO.,LTD English...
Page 2 This product does not qualify as strategic goods as specified by the Foreign Exchange and Foreign Trade Control Law. Accordingly, applying for an export permit from the Ministry of Economy, Trade & Industry is not required. For customs purposes, however, an explanation may be required.
Page 3 PREFACE The "PY" series Servo Amplifier is applicable to a wide range of applications from small to medium capacity thanks to its multiple functions, high performance, downsizing and high cost performance. The "PY2" was developed as an upgraded version of this "PY" series to satisfy customer needs for further downsizing.
Page 4 International Standard Compliance The “PY2” Servo Amplifier complies with the following International standards. International standard Standard No. TÜV EN50178 UL508C UL508C Low Voltage Directive EN50178 EMC Directive EN55011 Working Environment Since the working environment for the “PY2” Servo Amplifiers must be pollution level 2 or above (i.e. level 1 or 2) as specified in EN50178, be sure to use them in a pollution level 1 or 2 environment.
Page 5 CE Marking At Sanyo Denki, we are executing tests on the “PY2” Servo Amplifier for compliance with the CE marking at qualifying institutions. The CE mark is required to be attached all end products sold in EU countries. Only products conforming to the safety standards are permitted to have them. Accordingly, customers are requested to perform the final conformity test on their machines or systems incorporating our amplifiers.
Page 6: Table Of Contents
CONTENTS SAFETY PRECAUTIONS 0.1 Introduction ........................0-2 0.2 "Warning Label" Location on Product ................0-2 0.3 Meaning of Warning Indication ..................0-3 0.3.1 Details of Indications ................... 0-3 0.3.2 Rank of Cautions on Safety................. 0-3 0.3.3 Symbolic Indication....................0-4 0.4 Cautions on Safety ......................0-5 BEFORE OPERATION 1.1 Precaution on Unpacking ....................
Page 7 4.3.3 Sensor Connection Diagram (INC-E)..............4-8 4.3.4 Sensor Connection Diagram (ABS-E)..............4-9 4.3.5 Sensor Connection Diagram (ABS-RII) .............. 4-10 4.3.6 Sensor Connection Diagram (ABS-E.S1) ............4-11 4.4 Connector Terminal Arrangement Input/Output Signal Diagram ........4-12 4.4.1 CN1: Interface Connector..................4-12 4.4.2 CN2: Sensor Connector ..................
Page 8 7.1.4 Parameter Setting Mode (Screen Mode 0 to 2 and 8)................. 7-5 7.1.5 Parameter Increment/Decrement Mode (Screen Mode 3)....................7-8 7.1.6 Parameter Select Mode (Screen Mode 4)............7-10 7.1.7 Monitor Mode (Screen Mode 5)................7-12 7.1.8 Alarm Trace Mode (Screen Mode 6)..............7-14 7.1.9 Test Mode (Screen Mode 7)................
Page 9 9.2.1 Common Specifications..................9-48 9.2.2 Revolution Direction Specifications ..............9-49 9.2.3 Motor Mechanical Specifications................. 9-50 9.2.4 Holding Brake Specifications................9-53 9.2.5 Motor Data Sheet ....................9-55 9.3 External Views........................9-125 9.3.1 Servo Amplifier ....................9-125 9.3.2 Servomotor ......................9-126 9.3.3 Remote Operator (Option)...................
Page 10: Safety Precautions
0. SAFETY PRECAUTIONS SAFETY PRECAUTIONS This chapter summarizes the precautions to ensure safe operation of the PY2 Servo Amplifier. Be sure to read this chapter before operation. Introduction ................0-2 "Warning Label" Location on Product ......... 0-2 Meaning of Warning Indication ........... 0-3 0.3.1 Details of Indications ............
Page 11: Introduction
0. SAFETY PRECAUTIONS Introduction The “PY2” Servo Amplifier is designed to be used for general industrial equipment. So, note the following precautions. • To ensure proper operation, thoroughly read the Instruction Manual before installation, wiring and operation. • Do not modify the product. •...
Page 12: Meaning Of Warning Indication
0. SAFETY PRECAUTIONS Meaning of Warning Indication This chapter explains how warnings are indicated. Please understand the details of indications before reading 0.4 Cautions on Safety. 0.3.1 Details of Indications Section 0.4 describes as follow s: DANGER ① Rank of cautions on safety ①...
Page 13: Symbolic Indication
0. SAFETY PRECAUTIONS 0.3.3 Symbolic Indication Symbolic indications are divided into the following eight kinds: Kinds of symbols Example of symbols Symbolic indications of danger DANGER, ELECTRIC INJURY SHOCK Symbolic indications calling attention CAUTION FIRE BURN Symbolic indications prohibiting actions PROHIBITION PROHIBITION OF DISASSEMBLING...
Page 14: Cautions On Safety
0. SAFETY PRECAUTIONS Cautions on Safety DANGER <General> Don't operate the system in explosive environment, or you may be injured or fire may occur. Never touch any inside part of the amplifier, or you may be struck by electricity. Don't arrange wires nor conduct maintenance work and inspection under a hot-line condition.
Page 15 0. SAFETY PRECAUTIONS DANGER <Operation> During operation, never touch the motor rotator, or you may be injured. 10. While the power is supplied, never approach nor touch terminals, or you may be struck by electricity. 11. While the power is supplied, never remove any terminal cover, or you may be struck by electricity.
Page 16 0. SAFETY PRECAUTIONS CAUTION <General> Before installation, operation, maintenance and inspection, be sure to read the User's Manual and follow instructions detailed in the manual. Otherwise, you may be struck by electricity or be injured, or fire may occur. Don't use the amplifier and the motor in any situations where the specifications are not fully satisfied.
Page 17 0. SAFETY PRECAUTIONS CAUTION <Wiring> Don't measure insulation resistance and dielectric strength, or these units may be damaged. When you have to measure them, please contact us. 10. Arrange cables in accordance with the Technical Standard for Electric Facilities and the Extension Rules. Otherwise, cables may be burnt and fire may occur.
Page 18 0. SAFETY PRECAUTIONS CAUTION <Operation> 21. This motor is not equipped with any protective device. So, protect it with an overcurrent device, an earth leakage breaker, a thermal cutout or an emergency stop device. Otherwise, you may be injured or fire may occur. 22.
Page 19 0. SAFETY PRECAUTIONS CAUTION <Maintenance> 30. Since the amplifier frame is heated to high temperature, beware of it at the time of maintenance and inspection, or you may be burnt. 31. The electrolytic capacitor inside the amplifier is recommended to be replaced with a new one every five years for preventive maintenance providing that the yearly ambient temperature is 40°C.
Page 20 0. SAFETY PRECAUTIONS PROHIBITION <Storage> Don't store these units where they are exposed to water, rain drops, hazardous gas or liquid. Otherwise, they will get out of order. <Operation> The built-in brake of the motor is for holding and should not be used for braking in general.
Page 21 0. SAFETY PRECAUTIONS MANDATORY <Storage> Store these units where they are not exposed to direct sunlight and in the specified ranges of temperature and humidity {–20°C to +65°C, below 90%RH (without dew condensation)}. When the amplifier was stored for a long period (over 3 years as a guide), please contact us for how to treat it.
Page 22: Before Operation
1. BEFORE OPERATION BEFORE OPERATION Precaution on Unpacking............. 1-2 Confirmation of the Product ............1-2 Precautions on Operation ............1-2 How to Read Model Numbers ............1-6 1.4.1 Model Number of Servomotor ........... 1-6 1.4.2 Model Number of Servo Amplifier ........1-7 PY2 Servo Amplifier Standard Combination ........
Page 23: Precaution On Unpacking
1. BEFORE OPERATION Please operate this system taking the contents of the following description into consideration. A misoperation will lead to an unexpected accident or damage. Precaution on Unpacking When unpacking this product after purchasing, care is needed to the following. •...
Page 24 1. BEFORE OPERATION • Be sure to use a power supply within the specified range. 200 VAC input type: PY2A…, PY2B… 200 VAC to 230 VAC (+10%, −15%) 50/60 Hz 100 VAC input type: PY2E…, PY2F… 100 VAC to 115 VAC (+10%, −15%) 50/60 Hz If a power supply other than the above is used, an accident may result.
Page 25 1. BEFORE OPERATION • For operating safety, check that the Servo Amplifier is grounded by at least a class 3 (less than 100Ω) of the PE (protective earth) terminal . In addition, the grounding terminal of the Servomotor must be connected to the PE (protective earth) terminal •...
Page 26 1. BEFORE OPERATION • Connect a power supply within the specified range to the Servo Amplifier’s R, S, T terminals respectively. When a power supply out of the specified range is used, install a transformer. If a commercial power supply is applied to the U, V or W terminal, the amplifier will break. Commercial power supply 1－5...
Page 27: How To Read Model Numbers
1. BEFORE OPERATION How to Read Model Numbers 1.4.1 Model Number of Servomotor ○○○ ○○ ○○○ △ □ ◇ ▽▽ 1. BL series P10...P1 series P20...P2 series P30...P3 series P50...P5 series P60...P6 series P80...P8 series 2. Indicates the BL motor 3.
Page 28: Model Number Of Servo Amplifier
1. BEFORE OPERATION 1.4.2 Model Number of Servo Amplifier □ ○○○ △ ▽ 1. Indicates a PY2 servo amplifier 2. Type of power unit A… For 200 VAC input, with dynamic brake B… For 200 VAC input, without dynamic brake E…...
Page 29: Py2" Servo Amplifier Standard Combination
1. BEFORE OPERATION "PY2" Servo Amplifier Standard Combination Check the model numbers of the motor and the amplifier on the combination table below. If the combination is different, the system will not function properly. Table1-1 "PY2" Servo Amplifier Standard Combination Table (200 VAC input type) Servomotor Servo Amplifier Servomotor...
Page 30: Flowchart For Determining Servomotor Model Number
1. BEFORE OPERATION Flowchart for Determining Servomotor Model Number Refer to the following flowchart to determine the Servomotor model number. Determine capacity and Select Servomotor capacity. maximum speed. P50B08100D Add B to the end. 90 V P50B08100DB With brake Add C to the end. 24 V P50B08100DC Add X to the end.
Page 31: Function, Characteristics And Configuration
2. FUNCTION, CHARACTERISTICS AND CONFIGURATION FUNCTION, CHARACTERISTICS AND CONFIGURATION "PY2" Servo Amplifier Built-in Functions ........2-2 Characteristics of "PY2" Servo Amplifier........2-6 Characteristics of Servomotor............2-11 2－1...
Page 32: Py2" Servo Amplifier Built-In Functions
2. FUNCTION, CHARACTERISTICS AND CONFIGURATION "PY2" Servo Amplifier Built-in Functions This section describes the main built-in functions of the Servo Amplifier and additional functions specially for the PY2 series. The functions marked require the remote operator (see Chapter 7). ● Position, speed and torque control The above three types are controlled as a package and can be selected using the remote operator.
Page 33 2. FUNCTION, CHARACTERISTICS AND CONFIGURATION ● Servo tuning support function When the remote operator sets a mode, the load inertia is automatically estimated and a proper parameter is set. There are two different kind of tuning methods: one is “Offline auto tuning” executed at test mode when offline, and the other is “Online auto tuning”...
Page 34 2. FUNCTION, CHARACTERISTICS AND CONFIGURATION ● Power supply type selection function (200 VAC input type) Either a 3-phase, 200 VAC type or the single phase, 200 VAC type main power supply can be selected. After selecting either one, simply turn the control power supply on again, no other parameter settings are necessary.
Page 35 2. FUNCTION, CHARACTERISTICS AND CONFIGURATION Additional function specially for the PY and PY2 series (compared to PZ amplifiers) In addition to the various control functions provided in the "PZ" series, the following functions have been added to the "PY" and "PY2" series 1.
Page 36: Characteristics Of "Py2" Servo Amplifier
2. FUNCTION, CHARACTERISTICS AND CONFIGURATION Characteristics of "PY2" Servo Amplifier This section explains the characteristics of the "PY2" amplifiers. • The volume is about half that of conventional models About 40% to 65% smaller in terms of volume than the “PY”, ”PZ” and ”PE” series. PY2A015 (to 300 W) : About 45% PY2A030 (to 1 kW) : About 65%...
Page 37 2. FUNCTION, CHARACTERISTICS AND CONFIGURATION • Supports various types of power supplies The “PY2” Servo Amplifier supports 200 VAC 3-phase, 200 VAC single-phase and 100 VAC single-phase types of power supplies. Switching between 200 VAC 3-phase and 200 VAC single-phase is possible by simply changing the parameters.
Page 38 PE, PV and PU models. Noiseproofing, however, is the same as that on conventional models thanks to improved internal circuits. Although noiseproofing does not differ, after Sanyo Denki’s conventional amplifier in your system is replaced with the PY2 amplifier, power supply noise which had been absorbed by the noise filters inside the conventional amplifier may affect other peripherals.
Page 39 2. FUNCTION, CHARACTERISTICS AND CONFIGURATION • Sensor cable wiring While the maximum length of the sensor cable wiring is 50 m for our conventional PY, PZ, and PE models when a standard cable is used, the length is 30 m for the PY2 amplifier for sensor power supply reasons (the maximum length is 25 m for the absolute encoder (ABS-E) type).
Page 40 2. FUNCTION, CHARACTERISTICS AND CONFIGURATION Table 2-1 Comparison of PY2/PY and Sanyo's Other Series (for Reference) PZ and PE amplifier amplifier amplifiers amplifier amplifier amplifier amplifier Input 100 VAC 200 VAC 200 VAC 100 VAC 200 VAC 5 VDC, 38 V...
Page 41: Characteristics Of Servomotor
2. FUNCTION, CHARACTERISTICS AND CONFIGURATION Characteristics of Servomotor • Wide range of models (67 types in total) P1 series: from 0.3 to 5.5 kW (15 types) P2 series: from 1 to 5 kW (14 types) P3 series: from 30 to 750 W (6 types) P5 series: from 30 W to 1000 W (15 types) P6 series: from 0.5 to 7 kW (11 types) P8 series: from 0.75 to 4.5 kW (6 types)
Page 42: Servo System Configuration
3. SERVO SYSTEM CONFIGURATION SERVO SYSTEM CONFIGURATION Block Diagram................3-2 External Mounting and Wiring Diagram ........3-2 Names of Servo Amplifier Parts ........... 3-3 3.3.1 PY2A015/030 ..............3-3 3.3.2 PY2E015/030 ..............3-4 3.3.3 PY2A050 ................3-5 Optional Peripheral Equipment List..........3-6 3－1...
Page 43: Block Diagram
3. SERVO SYSTEM CONFIGURATION Block Diagram Upper controller Servo Amp. External regenerative resistor Command Feedback AMP ready Holding brake excitation Remote operator timing output Sensor Motor Fig. 3-1 System Configuration Schematic Diagram External Mounting and Wiring Diagram Power supply: Circuit breaker, fuse 200 VAC 3φ...
Page 44: Names Of Servo Amplifier Parts
13 Sensor signal connector (CN2) Connected to the sensor signal line from the motor. 14 Maintenance mode switch Used for maintenance by Sanyo operator. So, do not change the setting during general operation. When the Servo Amplifier is used, be sure to set the switch to the left when viewed from the front of the amplifier.
Page 45: Py2E015/030
3. SERVO SYSTEM CONFIGURATION 3.3.2 PY2E015/030 Control and main power supply (CNA) Connect the control power supply (100 VAC, single-phase) to r and t, and the main power supply (100 VAC, single-phase) to R and T. Same as 1 and 3 to 14, 200 VAC input type. (Refer to 3.3.1 PY2A015/030.) POWER POWER...
Page 46: Py2A050
3. SERVO SYSTEM CONFIGURATION 3.3.3 PY2A050 Regenerative resistor connecting terminal (CND) When a built-in regenerative resistor is used, use it at the settings made on shipment (i.e. short-circuit the P and X terminals using a short-circuit bar). When an external regenerative resistor is CHARGE CHARGE used, remove the short-circuit bar from...
Page 47: Optional Peripheral Equipment List
3. SERVO SYSTEM CONFIGURATION Optional Peripheral Equipment List The following optional peripheral devices are available for the PY2 Servo Amplifiers. Please order as necessary. ● I/O connectors The table below lists I/O connector plugs and housings. (Connectors of standard shapes are listed as optional equipment.) Connector List for PY2A (200 VAC input type) Application Model No.
Page 48 3. SERVO SYSTEM CONFIGURATION Connector List for PY2E (100 VAC input type) Application Model No. Set contents Maker Maker’s model No. Single item AL-00329461-02 CNA plug Phoenix Contact MSTB2.5/4-STF-5.08 10150-3000VE 10350-52A0-008 CN1 or CN2 plug 10120-3000VE PY2E015 and Sumitomo 3M and housing PY2E030 (without AL-00397841...
Page 49 3. SERVO SYSTEM CONFIGURATION ● Personal computer interface The following parts are available for communication with PC. Model No. Remarks AL-00356620-01 Specialized cable SFY95-00 Communication program The PC interface can be used only on Windows 95. ● External regenerative resistor Use one when load with large inertia is to be operated or in other necessary cases.
Page 50: Wiring
4. WIRING WIRING Applicable Wire Sizes ..............4-2 Specifications of Sensor Cable ............ 4-3 External Wiring Diagram .............. 4-4 4.3.1 External Wiring Diagram (200 VAC Input Type)....4-4 4.3.2 External Wiring Diagram (100 VAC Input Type)....4-6 4.3.3 Sensor Connection Diagram (INC-E) ........ 4-8 4.3.4 Sensor Connection Diagram (ABS-E) .......
Page 51: Applicable Wire Sizes
4. WIRING Applicable Wire Sizes • The table below shows typical sizes of external terminals and wires used for the Servo Amplifier. • Select the wire to use and its size based on the wiring distance, operation environment and current capacity.
Page 52: Specifications Of Sensor Cable
4. WIRING Specifications of Sensor Cable Table 4-2 Specifications of Cable Specifications Wiring-saved incremental encoder Wiring-saved incremental encoder (INC-E : wiring distance 20 m or less) (INC-E : wiring distance 20 m to 30 m) Absolute encoder (ABS-E, ABS-RII) Connecting By soldering By soldering Method...
Page 53 4. WIRING When applicable cables are used, the permissible distance between the Servo Amplifier and the motor (sensor) is as follows: • Wiring-saved incremental encoder (INC-E): 20 m max. when 6 pairs of cables of 91 Ω/km or less are used. •...
Page 54: External Wiring Diagram
4. WIRING External Wiring Diagram 4.3.1 External Wiring Diagram (200 VAC Input Type) Built-in type regenerative resistor When connecting an external Note 19) User unit regenerative resistor Regenerative resistor Note 15) Note 16) AC power supply 3φ Note 4) PY2A050 built-in type Note 17) 200 to 230 V regenerative resistor...
Page 55 4. WIRING Note 1) : For the parts marked , use a twisted pair shielded cable. Note 2) : Select the power supply from the two types, 5 V or 12 V to 24 V. 5 V input CN1 - CN1 - 38 pin 49 pin...
Page 56 4. WIRING For the details of the control mode and Func1 setting, refer to the user's manual. Forward The polarity of command input can be reversed. revolution pulse Refer to the figure on the right when connecting the position command pulse input to the open collector output. Note 9) : Forward/backward revolution overtravel input By setting Func0, this function can be deleted or set...
Page 57: External Wiring Diagram (100 Vac Input Type)
4. WIRING 4.3.2 External Wiring Diagram (100 VAC Input Type) Regenerative resistor User unit Note 18) Note 4) Note 15) Note 16) AC power supply 3φ SERVO Note 4) Orange (yellow) 100 to 115 V MOTOR +10% Note 6) Red 50/60 Hz −15% White...
Page 58 4. WIRING Note 1) : For the parts marked , use a twisted pair shielded cable. Note 2) : Select the power supply from the two types, 5 V or 12 V to 24 V. 5 V input CN1 - CN1 - 38 pin 49 pin...
Page 59 4. WIRING For the details of the control mode and Func1 setting, refer to the user's manual. Forward The polarity of command input can be reversed. revolution pulse Refer to the figure on the right when connecting the position command pulse input to the open collector output. Note 9) : Forward/backward revolution overtravel input By setting Func0, this function can be deleted or set...
Page 60 4. WIRING 4.3.3 Sensor Connection Diagram (INC-E Wiring-saved Incremental Encoder) Incremental encoder (INC-E): Lead wire type Sensor Incremental Encoder Blue A or U channel input A or U channel output Brown A or U channel input A or U channel output Green B or V channel input B or V channel output...
Page 61: Sensor Connection Diagram (Inc-E)
4. WIRING 4.3.4 Sensor Connection Diagram (ABS-E Request Signal-unavailable Absolute Encoder) Absolute encoder (ABS-E): Lead wire type Sensor Absolute Encoder White/blue Blue White/yellow Yellow White/orange Orange White/brown Brown White/black Black Green White/green White/ Note 3 Note 3 Shield Note 1) Note Plug Shell...
Page 62: Sensor Connection Diagram (Abs-E)
4. WIRING 4.3.5 Sensor Connection Diagram (ABS-RII Request Signal-available Absolute Sensor) Absolute sensor (ABS-RII): Lead wire type Sensor Absolute Encoder Brown Blue Orange Green Pink Purple White Yellow Black Note 3 Note 3 Gray Note 3 Shield Note 1) Note Plug Shell Absolute sensor (ABS-RII): Cannon plug type...
Page 63: Sensor Connection Diagram (Abs-E.s1)
4. WIRING 4.3.6 Sensor Connection Diagram (Wiring-saved Absolute Sensor) Absolute sensor (E03B151302): Lead wire type Sensor Absolute Encoder Brown Blue Pink Purple Note 3 Note 3 Black Shield Note 1 Note Plug Shell Absolute sensor (E03B151302): Cannon plug type Sensor Absolute Encoder Note 3 Note 3 Note 1...
Page 64: Connector Terminal Arrangement Input/Output Signal Diagram
4. WIRING Connector Terminal Arrangement Input/ Output Signal Diagram 4.4.1 CN1: Interface Connector CN1 is an interface connector to a host computer or the like. The connector of the amplifier is "10250-52A2JL" (made by Sumitomo 3M). １６１２８４...
Page 65: Cn2 Sensor Connector
4. WIRING 4.4.2 CN2 Sensor Connector The amplifier-side connector is "10220-52A2JL" (made by Sumitomo 3M). • Connection differs depending on the type of the Servomotor sensor to be combined with the Servo Amplifier. • Note that the hardware inside the Servo Amplifier differs between the incremental encoder (INC-E) or the request signal-unavailable absolute encoder (ABS-E) and the request signal-available absolute sensor (ABS-RII) or wiring-saved absolute sensor (ABS-E.S1).
Page 66 4. WIRING ● Request signal-available absolute sensor (ABS-RII) terminal arrangement diagram REQ− BAT− −5 V −5 V REQ+ BAT+ ECLR Fig. 4-10 CN2 Connector (ABS-RII Request Signal-available Absolute Sensor) Terminal Arrangement Diagram ● Wiring-saved absolute sensor (ABS-E.S1) terminal arrangement diagram OPEN OPEN OPEN...
Page 67: Wiring Procedure
4. WIRING Wiring Procedure The Servo Amplifier is control unit to process signals of several mV or less. Therefore, perform wiring observing the following items. Input/output or sensor signal line For the input/output or sensor signal line, use recommended cables or their equivalent (twisted wires or multi-conductor twisted lump shielded wires).
Page 68: Precautions On Wiring
4. WIRING Precautions on Wiring Perform wiring observing the following completely. Noise processing The main circuit of the Servo Amplifier uses IGBTs under PWM control. If the wiring processing is not earthed properly, switching noise may occur by di/dt and dv/dt generated when IGBT is switched.
Page 69 4. WIRING Leakage current Even after the motor frame is grounded as specified, leakage current flows in the input power line. When selecting a leak detection-type breaker, make sure that no oversensitive operation is caused by high-frequency leakage current by referring to “Servo Amplifier/Servomotor Leakage Current”...
Page 70: Recommended Surge Protector
4. WIRING 4.6.1 Recommended Surge Protector When purchasing the following, directly make a reference to the maker for it. Item Specification Model No. R.A.V-781BXZ-2A (Okaya Electric Industries Co., Ltd.) External dimensions Yellow/green Black UL-1015AWG16 (0.26.26) black, yellow/green Case : PBT, black Resin : Expoxy, black φ4.2 11±1...
Page 71: Cn1 & Cn2 Shielding Procedure
4. WIRING 4.6.2 CN1 & CN2 Shielding Procedure The following figure shows the connector shielding procedure for the CN1 or CN2 connector. There are two shielding procedures, clamp and soldering processing. ● Clamp processing φA Remove the cable sheath. Sheath Tape or Mount a tape or a compression insert.
Page 72 4. WIRING ● Soldering processing Procedures 1 and 2 are the same as the clamp processing. Drain wire 1 mm Ground plate Turn the cable and bring the drain wire near the ground plate. Solder the drain wire (where ○ is narked.) 5 mm Ground plale ●...
Page 73: Typical Cn2 Compression Insert Application
4. WIRING 4.6.3 Typical CN2 Compression Insert Application The following products are recommended as a CN2 compression insert. Table 4-4 CN2 Compression Inserts Compression insert No. Applicable cable outer Maker name diameter (φA) φ4.0 to 5.0 mm 10607-C058 φ5.0 to 6.0 mm 10607-C068 φ6.0 to 7.0 mm 10607-C078...
Page 74: Installation
5. INSTALLATION INSTALLATION Servo Amplifier Installation ............5-2 5.1.1 Installation Place ............... 5-2 5.1.2 Installation Procedure ............5-3 Servomotor Installation ..............5-4 5.2.1 Installation Place ............... 5-4 5.2.2 Installation Procedure ............5-4 Cable Installation ................. 5-9 5 - 1...
Page 75: Servo Amplifier Installation
5. INSTALLATION Servo Amplifier Installation Refer to the following for the Servo Amplifier installation place and procedure. 5.1.1 Installation Place Install the Servo Amplifier by referring to the following. Case Precautions When installing The temperature in the box may be higher than the outside temperature depending the Servo on the power loss of built-in equipment and the dimensions of the box.
Page 76: Installation Procedure
5. INSTALLATION 5.1.2 Installation Procedure ● Direction and Position of Installation Install the Servo Amplifier vertically and fix the amplifier by tightening M5 screws onto the four mounting holes as in the figure below. Front installation Rear installation Servo Amp. Fig.
Page 77: Installation Place
5. INSTALLATION Servomotor Installation The Servomotor is designed to be installed indoors. Note the following precautions on the position and method for installation. 5.2.1 Installation Place Install the Servomotor at an indoor site by referring to the following. • Ambient temperature 0 to 40°C •...
Page 78 5. INSTALLATION ● Prevention against wetting The motor, as a single unit, satisfies the IEC standard. Since the standard, however, is intended to check performance over a short period of time, the following measures against wetting are required for actual usage. Handle the system carefully, or the connector sheathes may be hit or damaged, deteriorating waterproof function.
Page 79 5. INSTALLATION • When the connector (lead outlet) cannot be installed with its end downward by any means, slacken the cable so that water (oil) may not invade it. • Make the oil level of the gear box lower than the oil seal lip. •...
Page 80 5. INSTALLATION • Since a precision encoder is directly connected to the motor shaft, be careful not to give shocks to it. If tapping on the motor is unavoidable for position adjustment or other reasons, tap on the front flange, if possible, with a rubber or plastic hammer. •...
Page 81 5. INSTALLATION Table 5-1 P Series Motor Allowable Radial and Thrust Load During assembly During operation Models Radial load Thrust load Radial load Thrust load (kg) (kg) (kg) (kg) Direction Direction Direction Direction P10B10030 P10B10075 P10B13050 P10B13100 P10B13150 P10B18200 P20B10100 P20B10150 P20B10200 P30B04003...
Page 82: Cable Installation
5. INSTALLATION The allowable radial load refers to the maximum load applicable to the point one-third of the output shaft length away from the output shaft (see the figure below). LR/3 Thrust load F direction F1 direction Point loaded Fig. 5-9 Radially loaded position Cable Installation •...
Page 83: Operation
6. OPERATION OPERATION Operation Sequence ..............6-2 6.1.1 Power ON Sequence ............6-2 6.1.2 Stop Sequence..............6-3 6.1.3 Servo OFF Sequence ............6-5 6.1.4 Alarm Reset Sequence ............. 6-6 6.1.5 Overtravel Sequence ............6-7 Display ..................6-8 6.2.1 Status Display ..............6-8 6.2.2 Alarm Display ..............
Page 84: Operation Sequence
6. OPERATION Operation Sequence The frequency of power ON/OFF should be 10 times/H or less, and 50 times/day or less. 6.1.1 Power ON Sequence Control power ON (r, t) 2.5 Sec Sequence power ON (CN1) or less Amplifier ready output (RDY) Start ready ON (external switch) Main circuit power supply (R, S, T)
Page 85: Stop Sequence
6. OPERATION 6.1.2 Stop Sequence 6.1.2.1 Stop and recovery due to emergency stop input Start ready ON (external switch) Emergency stop Contact open (EMR) Main circuit power supply (R, S, T) Amplifier ready output (RDY) Dynamic brae ON (operating) (release) Servo ON (SON) Holding brake...
Page 86 6. OPERATION 6.1.2.2 Stop and recovery due to an internal error Start ready ON (external switch) Contact Emergency stop open (EMR) Main circuit power supply (R, S, T) Amplifier ready output (RDY) Internal abnormality (ALM) ON (operating) Dynamic brae Servo ON (SON) Holding brake (holding brake operation)
Page 87: Servo Off Sequence
6. OPERATION 6.1.3 Servo OFF Sequence 6.1.3.1 When holding brake timing THB is set at 300 msec (standard) Start ready complete output (SRDY) Servo ON (SON) Holding brake excitation (holding brake operation) timing output (HBON) 12 mSec or less (release) 12 mSec or less Motor excitation Command ineffective...
Page 88: Alarm Reset Sequence
6. OPERATION 6.1.4 Alarm Reset Sequence 40 mSec or more Reset input CN1-30 (23: common) (RST) Alarm code output or Output Not output alarm bit output (ALM) Amplifier ready output (RDY) Display/alarm output clear Regarding the upper controller, turn off "reset input" after checking that no alarm occurs by watching the alarm output.
Page 89: Overtravel Sequence
6. OPERATION 6.1.5 Overtravel Sequence Forward revolution side overtravel (PROT) Backward revolution side overtravel (NROT) Backward revolution Forward revolution Input command command command Command ineffective Internal command Input command Input command (forced zero) effective effective Sequence current limit Current limit Normal limit Normal limit value (...
Page 90: Display
6. OPERATION Display The Servo Amplifier status and alarms are displayed by LED and 7-segment LED. 6.2.1 Status Display Table 6-1 Status Display Display Explanation of status LED POWER ON The control power supply of +5 V is set up. 7-segment LED The control power supply (r, t) is set up and the "amplifier ready output (RDY)"...
Page 91: Be Sure To Check The Functioning At First
6. OPERATION Be Sure to Check the Functioning at First The parameter setting at the first power ON is assumed to be a standard setting. In taking a runaway into consideration, be sure to fasten the motor to a fixing table or the like, and also do not apply any load to its shaft side.
Page 92: Jog Operation
6. OPERATION 6.3.2 Jog Operation Turn ON the 200 VAC of r-t (① wires). → The servo amplifier POWER and the right-hand figure portion of 7-segment LED are lighted. → When the 7-segment LED displays "U", proceed to section 6.4. →...
Page 93 6. OPERATION Push the key so that the right screen will appear. 　　Completed　　 7 (Func6 bit6 “1” described above returns to “0” by Func6　:　01000000 turning the power on again.) 10 Turn on the 200 VAC (② wires) of R-S-T. The 7-segment LED is light as shown in the right figure.
Page 94: Resetting And Turning The Power Off
6. OPERATION 12 Return to original mode. ０ Push the keys so that the ＊Mode select 　＊ Push〔0〕to〔７〕key right screen will appear. key in the 7-segment LED flickers. By this, the JOG operation ends. 6.3.3 Resetting and Turning the Power Off 13 Change the remote operator setting and reset the Then, operate the remote operator according to the following procedure.
Page 95: Encoder Clear Using Remote Operator (When Absolute Encoder Is Used)
6. OPERATION Encoder Clear Using Remote Operator (When Absolute Encoder is Used) When the power is first turned on after the amplifier and the motor are wired, the alarm "U" (battery alarm) may come on even though a lithium battery is connected. This is because, when an absolute encoder is used, the absolute position is not fixed inside the encoder if the battery backup is less than 20 hours, causing an alarm to be output.
Page 96: Explanation Of Parameters
7. EXPLANATION OF PARAMETERS EXPLANATION OF PARAMETERS Remote Operator (Optional) ............7-2 7.1.1 Outline of Remote Operator ..........7-2 7.1.2 Function Table ..............7-3 7.1.3 Basic Operation Procedure ..........7-4 7.1.4 Parameter Setting Mode (Screen Mode 0 to 2 and 8) ..........7-5 7.1.5 Parameter Increment/Decrement Mode (Screen Mode 3) ...............
Page 97: Remote Operator (Optional)
7. EXPLANATION OF PARAMETERS Remote Operator (Optional) This section explains the basic operation of the remote operator. By using the remote operator, parameter change, monitoring of velocity and current, alarm trace and various tests are possible. 7.1.1 Outline of Remote Operator The following figure shows the remote operator.
Page 98: Function Table
7. EXPLANATION OF PARAMETERS 7.1.2 Function Table Table 7-2 Functions of Remote Operator Mode Screen Function Setting mode Directly enters user parameters by key-in operation. Directly enters user parameters by key-in operation. Directly enters user parameters by key-in operation. Up/down mode Allows values to be incremented or decremented using the "1"...
Page 99: Basic Operation Procedure
7. EXPLANATION OF PARAMETERS 7.1.3 Basic Operation Procedure R e m o t e O p e r a t o r ＜Ver. ##＞ Powering on Motor Communication version version TYPE capacity code status * # # # - # # - # - 0 #-##* Communication Peep ready complete...
Page 100: Parameter Setting Mode (Screen Mode 0 To 2 And 8)
7. EXPLANATION OF PARAMETERS 7.1.4 Parameter Setting Mode (Screen Mode 0 to 2 and 8) Various Servo Amplifier parameters can be directly set in this mode from the keys. ＊Para. Set Screen page #### ######### (Any number from 1 to 4 is entered in “$”.) Abbreviated Set parameter parameter name...
Page 101 7. EXPLANATION OF PARAMETERS Table 7-5 Parameters for Screen Mode 1 (2/2) Page No. Abbreviation Name Setting range Unit VCI2 Internal velocity command value 2 0 to 32767 VCI3 Internal velocity command value 3 0 to 32767 30 to (IP/IR) × 100 IILM Internal current limit value 30 to (IP/IR) ×...
Page 102 7. EXPLANATION OF PARAMETERS ● Setting practice For example, set the speed loop proportional gain to 100 Hz. According to the basic operating procedure, select 0 from the Mode Select screen, then implement the following operations: Select page 2 using by key.
Page 103: Parameter Increment/Decrement Mode (Screen Mode 3)
7. EXPLANATION OF PARAMETERS 7.1.5 Parameter Increment/Decrement Mode (Screen Mode 3) This mode allows you to increment or decrement parameter values using the increment (“1”) and decrement (“0”) keys. ＊P.Up=1, Down=0 # Screen page number #### ######### Abbreviated Set parameter parameter value Fig.
Page 104 7. EXPLANATION OF PARAMETERS ● Setting practice The following describes the procedure for selecting, for instance, 100 Hz for the position loop gain. According to the basic operating procedure, select 3 from the Mode Select screen. Then, Select page 0 using by key.
Page 105: Parameter Select Mode (Screen Mode 4)
7. EXPLANATION OF PARAMETERS 7.1.6 Parameter Select Mode (Screen Mode 4) This mode allows you to set data according to the screen display. ＊Para. Select Screen page number #### ######### Abbreviated Choices parameter name available Fig. 7-5 Parameter Select Mode Screen Table 7-9 Parameters for Screen Mode 4 Category Page No.
Page 106 7. EXPLANATION OF PARAMETERS Setting practice ● The following describes the procedure for selecting, for instance, the velocity control for the amplifier's control mode. According to the basic operating procedure, select 4 from the Mode Select screen. Then, Set Func6 bit7 to “1” from Mode 2 Page 7. ＊Para.　Set3　...
Page 107: Monitor Mode (Screen Mode 5)
7. EXPLANATION OF PARAMETERS 7.1.7 Monitor Mode (Screen Mode 5) This mode is used for monitoring input/output status, velocity and current on the Servo Amplifier. ＊Monitor Screen page number #### ######### Data Abbreviated monitor name Fig. 7-6 Monitor Mode Screen Table 7-10 Parameters for Screen Mode 5 (1/2) Page Abbre-viatio...
Page 108 7. EXPLANATION OF PARAMETERS Table 7-10 Parameters for Screen Mode 5 (2/2) Page Abbre-vi Contents ation PCMD f Indicates the position command frequency. [pulse/s] Indicates the absolute value. [hexadecimal] FCCNT Indicates the position free-run counter value. [hexadecimal]( 1) [Trms/TR × 100%] Trms Indicates the effective torque.
Page 109: Alarm Trace Mode (Screen Mode 6)
7. EXPLANATION OF PARAMETERS 7.1.8 Alarm Trace Mode (Screen Mode 6) This mode is used for displaying the alarm history. ＊Alarm Screen page number #### ######### Abbreviated History alarm name number Fig. 7-7 Alarm Trace Mode Screen Table 7-11 Screen Mode 6 Page History Abbre-viati...
Page 110 7. EXPLANATION OF PARAMETERS ● Tracing method The alarm history can be seen by using key. Press the key to return to the initial screen. ○ Viewing the alarm history on the amplifier 7-segment Set the switch to HISTORY LED. to display the alarm history.
Page 111 7. EXPLANATION OF PARAMETERS ○ Clearing all alarm histories • Select page 1 using the key. • Press the 0 and keys at the same time. ＊Alarm This clears all the alarm histories (Last 1 to Last1 〇〇〇〇 Last 7). •...
Page 112: Test Mode (Screen Mode 7)
7. EXPLANATION OF PARAMETERS 7.1.9 Test Mode (Screen Mode 7) ＊Test Screen page number ##### Abbreviated test term name Fig. 7-10 Test Mode Screen Table 7-13 Screen Mode 7 Page No. Abbreviation Description Initiates JOG operation. Tune Gain Implements offline automatic tuning. VCMD Offers automatic offsets of the velocity command.
Page 113: Jog Operation
7. EXPLANATION OF PARAMETERS ● After implementing JOG or Tune If you return to the initial screen using the key, the excessive deviation error will be indicated because a deviation can be left on the controller in this manner. This alarm, however, is not recorded in the alarm history. •...
Page 114 7. EXPLANATION OF PARAMETERS ● JOG operation procedure Test screen Set page 0 using the key. * T e s t JOG Set #### JOG set screen Using the key, move the cursor to the position corresponding to the number of input digit. Enter the motor speed using the key.
Page 115: Offline Automatic Tuning Function
7. EXPLANATION OF PARAMETERS 7.1.9.2 Offline automatic tuning function ● Outline of offline automatic tuning function The offline automatic tuning function operates the motor through the remote operator and estimates load inertia from its operating status. With this, proper parameters are automatically set. Four parameters for position loop gain (Kp), velocity loop proportional gain (Kvp), velocity loop integral time constant (Tvi) and current command LPF (ILPF) are set using this function.
Page 116 7. EXPLANATION OF PARAMETERS Offline automatic tuning procedure ● Test screen Set page 1 using the * T e s t key. T u n e G a i n # # # # # Tune gain set Select tuning rigidity (High, Middle or Low) using the key.
Page 117: Automatic Notch Filter Tuning Function
7. EXPLANATION OF PARAMETERS 7.1.9.3 Automatic notch filter tuning function ● Outline of Automatic notch filter tuning function (Tune IBEF) The automatic notch filter tuning function operates the motor through the remote operator and estimates resonance point of current loop from its operating status, and proper parameters are automatically set as notch filter frequency.
Page 118 7. EXPLANATION OF PARAMETERS Automatic notch filter tuning (Tune IBEF) procedure ● Test screen Set page 5 using the * T e s t key. T u n e I B E F # # # # # Tune IBEF set screen Select current command peak in tuning using the key.
Page 119: Automatic Offset Function
7. EXPLANATION OF PARAMETERS 7.1.9.4 Automatic offset function ● Outline of automatic offset function This function enables an offset value for a velocity or torque command to be automatically selected. It implements velocity command zero adjustment (Vzero) or torque command zero adjustment (Tzero) ●...
Page 120 7. EXPLANATION OF PARAMETERS ＊Test　　　　　 VCMD　Not　Ready When the offset function is enabled, the OFFSET screen appears. The screen for the torque command offset differs from that for the velocity command as follows: • Screen No. 2 → 3. • VCMD → TCMD. An ideal zero adjustment may not be expected if significant fluctuation exists in the commanded input voltage or substantial noise is present.
Page 121 7. EXPLANATION OF PARAMETERS 7.1.9.5 Encoder clear function This function is used for clearing the encoder multiple revolution counter or an encoder alarm. ● Encoder clearing procedure Test screen Select page 4 using the key. * T e s t ECLR set E C L R C l e a r 〔...
Page 122: Description Of Parameters
7. EXPLANATION OF PARAMETERS Description of Parameters 7.2.1 Block Diagram of Position Control Type Parameters Velocity command Current monitor monitor Current command monitor MODE.0-2 MODE.0-1 MODE.0-4 MODE.0-6 MODE.0-7 MODE.0-8 MODE.2-0 MODE.1-2 MODE.0-9 MODE.0-0 MODE.0-5 Position ＋ command ＋＋＋＋...
Page 123: Parameter Summary Table
7. EXPLANATION OF PARAMETERS 7.2.2 Parameter Summary Table Mode Page Abbre-vi Standard Setting Name Unit Remarks ation value range Position loop gain Monitor 45(30) rad/S KffM Feed forward gain Monitor KvpM Velocity loop proportional gain Monitor 100(70) TviM Velocity loop integral time constant Monitor 15(20) mSec FLPM...
Page 124 7. EXPLANATION OF PARAMETERS Page Abbre-viat Standard Setting Mode Name Unit Remarks value range PMOD Command pulse train form 00000000 0, 1 Func0 Amplifier function select 0 00000000 0, 1 Func1 Amplifier function select 1 00000000 0, 1 Func2 Amplifier function select 2 00100000 0, 1 Func3...
Page 125 7. EXPLANATION OF PARAMETERS Page Abbre-viat Standard Mode Name Setting range Remarks value IR: Rated Monitor 1 output Vm0.5mV/min 19 ranges armature Monitor 2 output Ic0.5 V/IR 19 ranges current Func Servo function Normal 4 ranges TYPE Control mode $$$$ 6 ranges ENKD Encoder type...
Page 126: Parameter List
7. EXPLANATION OF PARAMETERS 7.2.3 Parameter List Page Abbre-vi Standard Setting Mode Name and description Unit Remarks ation value range 0 to Kp0 to Position loop gain rad/s 1 to Position control (30) 1000 • Proportional gain of the position controller. 8 to Kff0 to Position loop feed forward gain...
Page 127 7. EXPLANATION OF PARAMETERS Abbre-vi Standard Setting Mode Page Name and description Unit Remarks ation value range 24 to Tvi0 Velocity loop integral time constant mSec 1 to Position and (20) 1000 velocity control • Integral time constant of the velocity controller (proportional integral control).
Page 128 7. EXPLANATION OF PARAMETERS Abbre-vi Standard Setting Mode Page Name and description Unit Remarks ation value range 56 to BFA0 Current command BEF1 1000 200 to In 10 Hz 1000 • For the current command in the velocity loop, this parameter specifies the notch filter center BFA7 frequency of the following characteristics.
Page 129 7. EXPLANATION OF PARAMETERS Abbre- Standard Setting Mode Page Name and description Unit Remarks viation value range Tpcm Position command LPF time constant mSec 0 to Position control 4000 • When installing the first-order lag filter for the position control pulse, this parameter sets the time constant.
Page 130 7. EXPLANATION OF PARAMETERS Abbre- Standard Setting Mode Page Name and description Unit Remarks viation value range KvpA Velocity loop proportional gain addition value 0 to Position and velocity control • This parameter is used for setting a weight per rotary switch 1. •...
Page 131 7. EXPLANATION OF PARAMETERS Abbre- Standard Setting Mode Page Name and description Unit Remarks viation value range In-position (positioning finish) signal width pulse 1 to Position control (+/−) 32767 • This parameter selects the number of waiting pulses on the deviation counter that output the in-position signal.
Page 132 7. EXPLANATION OF PARAMETERS Abbre- Standard Setting Mode Page Name and description Unit Remarks viation value range EGER Electronic gear ratio Position control 32767 32767 f2 = f1 × N/D N : 1 to 32767 D : 1 to 32767 1/32767≦N/D≦32767 [Example] 2000P/R...
Page 133 7. EXPLANATION OF PARAMETERS Abbre- Standard Setting Mode Page Name and description Unit Remarks viation value range PMUL Command pulse multiplier 1 to 63 Position control • Set the parameter so that the position command pulse is multiplied by 1 to 63. •...
Page 134 7. EXPLANATION OF PARAMETERS Abbre- Standard Setting Mode Page Name and description Unit Remarks viation value range High speed 1000 0 to 32767 • This parameter is used for selecting a revolution speed above which the HTG (high speed) alarm is output. The HTG alarm can be specified using the Func4 parameter.
Page 135 7. EXPLANATION OF PARAMETERS Abbre- Standard Setting Mode Page Name and description Unit Remarks viation value range VCI2 Internal velocity command value 2 1000 0 to Velocity control 32767 • Set a velocity command value. • It is enabled by setting the Func3 parameter bits 3, 2, 1 and 0 to "1010", and turning the CN1-35 pin on and the 36 pin off.
Page 136 7. EXPLANATION OF PARAMETERS Abbre- Standard Setting Mode Page Name and description Unit Remarks viation value range SILM Sequence current limit value 30 to (IP/IR) • Sets a current limit value for holding brake × 100 sequencing, overtravel or JOG operation. •...
Page 137 7. EXPLANATION OF PARAMETERS Abbre- Standard Setting Mode Page Name and description Unit Remarks viation value range MENP Motor encoder pulse number $$$$ 500 to 65535 • Sets the number of pulses of the encoder used. • The following shows the number of encoder pulse in standard combination: Saved wiring incremental encoder --- 2000 P/R.
Page 138 7. EXPLANATION OF PARAMETERS Abbre- Standard Setting Mode Page Name and description Unit Remarks viation value range PMOD Position command pulse train form 0000- 0, 1 Position control • The position command pulse train can be 0000 entered in 3 forms (forward revolution + backward revolution pulse train, code + pulse trains and 90°...
Page 139 7. EXPLANATION OF PARAMETERS Abbre- Standard Setting Mode Page Name and description Unit Remarks viation value range PMOD Position command pulse train form 0 and 1 of bit7 specify setting of the digital filter used for the position command pulse train input.
Page 140 7. EXPLANATION OF PARAMETERS Abbre- Standard Setting Mode Page Name and description Unit Remarks viation value range PMOD Position command pulse train form ② Code + Pulse train PMOD When bit7 = 0 Digital filter for command pulse input Minimum pulse width 0.8 µs 0.2 µs 0.4 µs...
Page 141 7. EXPLANATION OF PARAMETERS Abbre- Standard Setting Mode Page Name and description Unit Remarks viation value range PMOD Position command pulse train form ③ 90° phase difference two-phase pulse train PMOD When bit7 = 0 Digital filter for command pulse input Minimum Minimum edge distance pulse width...
Page 142 7. EXPLANATION OF PARAMETERS Abbre- Standard Setting Mode Page Name and description Unit Remarks viation value range Func0 Amplifier function select 0 0000- 0, 1 • This parameter selects whether external 0000 signals are made effective or are forcibly turned on internally. It also selects the overtravel input logic, the encoder used (between motor encoder and fully closed encoder) and the multiplication factor of the...
Page 143 7. EXPLANATION OF PARAMETERS Abbre- Standard Setting Mode Page Name and description Unit Remarks viation value range Func1 Amplifier function select 1 0000- 0, 1 • A desired function can be set from the digital 0000 switch. Func1 Current limit method Internal setting enabled External analog input enabled Backward revolution current limit input...
Page 144 7. EXPLANATION OF PARAMETERS Abbre- Standard Setting Mode Page Name and description Unit Remarks viation value range Func1 Amplifier function select 1 • How to use different current limit approaches Bits 2 to 0 are parameters relevant to current limit. The following describes their setting and the corresponding current limit method available.
Page 145 7. EXPLANATION OF PARAMETERS Abbre- Standard Setting Mode Page Name and description Unit Remarks viation value range Func2 Amplifier function select 2 0010- 0, 1 • A desired monitor output method or 0000 regenerative resister OL time can be selected. Func2 Monitor 1 output polarity Positive output at forward revolution...
Page 146 7. EXPLANATION OF PARAMETERS Abbre- Standard Setting Mode Page Name and description Unit Remarks viation value range Func3 Amplifier function select 3 0000- 0, 1 • This parameter allows you to set the CN1-35 0001 and 36 pins to the desired terminals. It also allows you to select the input signal for switching the control mode or gain.
Page 147 7. EXPLANATION OF PARAMETERS Abbre- Standard Setting Mode Page Name and description Unit Remarks viation value range Func3 Amplifier function select 3 Precautions on setting Func3. 1 It is enabled when the switching mode is selected for the control mode. 2 This signal select is enabled when the gain switching mode is selected.
Page 148 7. EXPLANATION OF PARAMETERS Abbre- Standard Setting Mode Page Name and description Unit Remarks viation value range Func4 Amplifier function select 4 0000- 0, 1 • CN1-39 and 40 pins may be set for desired 0001 output terminals. Func4 CN1-39 pin output select bit 2 bit 1 bit 0...
Page 149 7. EXPLANATION OF PARAMETERS Abbre- Standard Setting Mode Page Name and description Unit Remarks viation value range Func5 Amplifier function select 5 0000- 0, 1 • Selects the encoder output format or the 0000 command input polarity. Func5 Torque command polarity reversing bit Forward revolution at positive input Backward revolution at positive input Velocity command polarity reversing bit...
Page 150 7. EXPLANATION OF PARAMETERS Abbre- Standard Setting Mode Page Name and description Unit Remarks viation value range Func6 Amplifier function select 6 0000- 0, 1 • This parameter is used for changing the 0000 contents of parameters or permitting execution of the test mode. Func6 Parameter setup status Not set...
Page 151 7. EXPLANATION OF PARAMETERS Abbre- Standard Setting Mode Page Name and description Unit Remarks viation value range Position loop gain 45 (30) rad/S 1 to 1000 • Proportional gain of the position controller. Velocity loop proportional gain 100 (70) 10 to 3000 •...
Page 152 7. EXPLANATION OF PARAMETERS Abbre- Setting Mode Page Name and description Standard value Remarks viation range Monitor output select 1 Vm0.5 mV/min 19 types • The contents of monitor 1 output (CN1-15 pin) can be selected among the following 19 types.
Page 153 7. EXPLANATION OF PARAMETERS Abbre- Setting Mode Page Name and description Standard value Remarks viation range Func Servo function select Normal 4 choices • Selectable enabled/ disabled of gain switch and real time automatic tuning functions. Indication Contents Normal Gain switching disabled Real time automatic tuning disabled Gain_Sel.
Page 154 7. EXPLANATION OF PARAMETERS Abbre- Setting Mode Page Name and description Standard value Remarks viation range ENKD Encoder type $$$$ 4 types • Selects the type of encoder used. Indication Contents INC.E Incremental encoder with reduced wiring ABS.E(1M) Absolute encoder (1 Mbps) ABS.E(2M) Absolute encoder (2 Mbps) ABS.E S1.2...
Page 155 7. EXPLANATION OF PARAMETERS Abbre- Setting Mode Page Name and description Standard value Remarks viation range PSKD Power supply type $$$$ 2 types PY2Axxx • Selects the type of power supply for the servo 1 type PY2Exxx amplifier’s main power supply circuit. •...
Page 156 7. EXPLANATION OF PARAMETERS Abbre- Setting Standard Mode Page Name and description Remark Mode viation range value Position loop gain 2 45 (30) rad/S 1 to Position control 1000 • Proportional gain of the position controller. • Enabled during gain switching. Kvp2 Velocity loop proportional gain 2 100 (70)
Page 157: Maintenance
8. MAINTENANCE MAINTENANCE Troubleshooting (Alarm) .............. 8-2 Troubleshooting (Non-Alarm)............8-21 Switching of Velocity Loop Proportional Gain Using Rotary Switch ............8-23 8.3.1 Overview ................. 8-23 8.3.2 Setting Procedure............8-23 Maintenance ................8-24 Overhaul Parts ................8-25 ８－1...
Page 158: Troubleshooting (Alarm)
In replacing Servo Amplifier and Servomotor, confirm that there should be no external parameter causing any trouble to prevent dual breakage. Please consult your Sanyo Denki dealer should the malfunction persist even after following the troubleshooting procedures recommended in this guide.
Page 159 8. MAINTENANCE Alarm Status Segment LED Alarm Code Alarm Alarm Abbreviation Contents Display ALM8,4,2,1 Name Clear OC (MOC) Power Possible • Error detected in internal power module 0001 element (IPM) of Amplifier error • Abnormal value detected in current (Over detection module of Amplifier.
Page 160 8. MAINTENANCE Alarm Status Segment LED Alarm Code Alarm Alarm Abbreviation Contents Display ALM8,4,2,1 Name Clear Overload Possible • Overload was detected in servo amplifier 0010 and motor combination Alarm code 0,1 indicates: when Func2/ bit7,6 =”0,0”, “0”= output open and “1”= output short. Operating state when alarm occurred POSSIBLE CAUSES OPERATING STATE...
Page 161 8. MAINTENANCE Alarm Status Segment LED Alarm Code Alarm Alarm Abbreviation Contents Display ALM8,4,2,1 Name Clear Amplifier Possible • Overheat was detected in Amplifier. 0011 Overheat • Overheat was detected in regenerative resistor of Amplifier. Alarm code 0,1 indicates: when Func2/ bit7,6 =”0,0”, “0”= output open and “1”= output short. Operating state when alarm occurred POSSIBLE CAUSES OPERATING STATE...
Page 162 8. MAINTENANCE Alarm Status Segment LED Alarm Code Alarm Alarm Abbreviation Contents Display ALM8,4,2,1 Name Clear 0101 Over Possible DC voltage of main circuit of amplifier voltage exceeded allowable voltage Alarm code 0,1 indicates: when Func2/ bit7,6 =”0,0”, “0”= output open and “1”= output short. Operating state when alarm occurred POSSIBLE CAUSES OPERATING STATE...
Page 163 8. MAINTENANCE Alarm Status Segment LED Alarm Code Alarm Alarm Abbreviation Contents Display ALM8,4,2,1 Name Clear 0110 Over Possible Rotating speed of servomotor exceeded speed allowable speed (1.2 times maximum rotating speed) during operation. Alarm code 0,1 indicates: when Func2/ bit7,6 =”0,0”, “0”= output open and “1”= output short. Operating state when alarm occurred POSSIBLE CAUSES OPERATING STATE...
Page 164 8. MAINTENANCE Alarm Status Segment LED Alarm Code Alarm Alarm Abbreviation Contents Display ALM8,4,2,1 Name Clear Control 0111 Possible Control power supply input voltage is power below specified range supply error Alarm code 0,1 indicates: when Func2/ bit7,6 =”0,0”, “0”= output open and “1”= output short. Operating state when alarm occurred POSSIBLE CAUSES OPERATING STATE...
Page 165 8. MAINTENANCE Alarm Status Segment LED Alarm Code Alarm Abbreviation Alarm Name Contents Display ALM8,4,2,1 Clear Encoder Disconnection of sensor signal (A, B, C disconnection possible or PS signal) line was detected (sensor error) Serial Disconnection of sensor signal (PS disconnection possible signal) line was detected...
Page 166 8. MAINTENANCE Alarm Status Segment LED Alarm Code Alarm Alarm Abbreviation Contents Display ALM8,4,2,1 Name Clear Main 1001 Possible Main circuit power supply voltage drop power supply drop Alarm code 0,1 indicates: when Func2/ bit7,6 =”0,0”, “0”= output open and “1”= output short. Operating state when alarm occurred POSSIBLE CAUSES OPERATING STATE...
Page 167 8. MAINTENANCE Alarm Status Segment LED Alarm Code Alarm Alarm Abbreviation Contents Display ALM8,4,2,1 Name Clear Main 1010 Possible Phase loss detected in 3-phase main power power supply input supply phase loss Alarm code 0,1 indicates: when Func2/ bit7,6 =”0,0”, “0”= output open and “1”= output short. Operating state when alarm occurred POSSIBLE CAUSES OPERATING STATE...
Page 168 8. MAINTENANCE Alarm Status Segment LED Alarm Code Alarm Alarm Abbreviation Contents Display ALM8,4,2,1 Name Clear 1100 Velocity Possible Velocity control is not functioning normally control error Alarm code 0,1 indicates: when Func2/ bit7,6 =”0,0”, “0”= output open and “1”= output short. Operating state when alarm occurred POSSIBLE CAUSES OPERATING STATE...
Page 169 8. MAINTENANCE Alarm Status Segment LED Alarm Code Alarm Alarm Abbreviation Contents Display ALM8,4,2,1 Name Clear 1101 Excess Possible Position loop deviation counter exceeded position allowable value deviation Operating State when alarm occurred POSSIBLE CAUSES OPERATING STATE 9 10 11 12 13 When control power supply is turned on ○...
Page 170 8. MAINTENANCE Alarm Status Segment LED Alarm Code Alarm Alarm Abbreviation Contents Display ALM8,4,2,1 Name Clear 0011 EXOH External Possible External overheat was detected. overheat Alarm code 0,1 indicates: when Func2/ bit7,6 =”0,0”, “0”= output open and “1”= output short. Operating state when alarm occurred POSSIBLE CAUSES OPERATING STATE...
Page 171 8. MAINTENANCE Alarm Status Segment LED Alarm Code Alarm Alarm Abbreviation Contents Display ALM8,4,2,1 Name Clear 1111 DSPE Servo Built-in servo processor (DSP) of amplifier processor possible is malfunctioning. error Alarm code 0,1 indicates: when Func2/ bit7,6 =”0,0”, “0”= output open and “1”= output short. Operating state when alarm occurred POSSIBLE CAUSES Alarm history...
Page 172 8. MAINTENANCE Alarm Status Segment LED Alarm Code Alarm Abbreviation Alarm Name Contents Display ALM8,4,2,1 Clear 0101 RGOH Overheat of Possible Overheating detected in internal built-in regenerative resistor module. regenerative resistor Alarm code 0,1 indicates: when Func2/ bit7,6 =”0,0”, “0”= output open and “1”= output short. Operating state when alarm occurred POSSIBLE CAUSES OPERATING STATE...
Page 173 8. MAINTENANCE Alarm Status Segment LED Alarm Code Alarm Abbreviation Alarm Name Contents Display ALM8,4,2,1 Clear 0101 RGOL Regenerative Possible Overload detected in regenerative error resistor Alarm code 0,1 indicates: when Func2/ bit7,6 =”0,0”, “0”= output open and “1”= output short. Operating state when alarm occurred POSSIBLE CAUSES OPERATING STATE...
Page 174 8. MAINTENANCE Alarm Status Segment LED Alarm Code Alarm Alarm Abbreviation Contents Display ALM8,4,2,1 Name Clear • Amplifier capacity does not match motor 1111 MEME Memory error Possible code • Motor code change alarm • Error detected in the built-in non-volatile memory of amplifier Alarm code 0,1 indicates: when Func2/ bit7,6 =”0,0”, “0”= output open and “1”= output short.
Page 175 8. MAINTENANCE Alarm Status Segment LED Alarm Code Alarm Alarm Abbreviation Contents Display ALM8,4,2,1 Name Clear Absolute 1000 Possible Multiple-rotation data is indefinite due to sensor battery back-up failure of absolute sensor. battery failure Alarm code 0,1 indicates: when Func2/ bit7,6 =”0,0”, “0”= output open and “1”= output short. Operating state when alarm occurred POSSIBLE CAUSES OPERATING STATE...
Page 176 8. MAINTENANCE Alarm Status Segment LED Alarm Code Alarm Alarm Abbreviation Contents Display ALM8,4,2,1 Name Clear 1111 CPUE Amplifier Built-in CPU of amplifier is malfunctioning error Possible (Comes off) Alarm code 0,1 indicates: when Func2/ bit7,6 =”0,0”, “0”= output open and “1”= output short. Operating state when alarm occurred POSSIBLE CAUSES OPERATING STATE...
Page 177: Troubleshooting (Non-Alarm)
The following are the causes and corrective measures for troubleshooting non-alarm malfunctions. Consult your Sanyo Denki dealer should the malfunctions persist even after performing these troubleshooting measures. Please take note that it is dangerous to perform some of these procedures without first switching off the main power supply.
Page 178 8. MAINTENANCE Table 8-2 (2/2) Troubleshooting (Non-Alarm) Causes and corrective Malfunction Inspection measures • Servo tuning at “High” Excessive overshoot/undershoot • Lower velocity loop gain during start/stop • Increase integral time constant • Loosen acceleration / deceleration command pattern • Use position command low pass filter •...
Page 179 8. MAINTENANCE Select Alarm history will be displayed with switch after switching slider on front panel to “HISTORY”. Table 8-2-2 Alarm History Display Switch No. Status Display current alarm and status (Normal setting) Display the last alarm Display the second alarm to the last Display the third alarm to the last Display the fourth alarm to the last Display the fifth alarm to the last...
Page 180: Switching Of Velocity Loop Proportional Gain Using Rotary Switch
8. MAINTENANCE Switching of Velocity Loop Proportional Gain Using Rotary Switch 8.3.1 Overview The PY or PY2 amplifier allows for easy switching of the velocity loop gain with its 8-position rotary switch located on the front of the amplifier. 8.3.2 Setting Procedure Set the slide switch on the front of the amplifier to GAIN.
Page 181 8. MAINTENANCE Maintenance The Servomotor and amplifier do not require any special inspection. To ensure optimum performance over their lifetimes, however, the user is expected to implement a reasonable level of inspection and maintenance, paying attention to the following points . Performing of megger test of the Servo Amplifier may damage the amplifier.
Page 182: Overhaul Parts
8. MAINTENANCE Overhaul Parts The parts listed in Table 8.4 will deteriorate with age. For maintenance, inspect periodically. Table 8-4 Periodical Parts Inspection Average replacement Parts Method of replacement and others interval Capacitors for main circuit 5 years Replace with new one. smoothing Load rate: 50% maximum of the amplifier’s rated...
Page 183: Specifications
9. SPECIFICATIONS SPECIFICATIONS Servo Amplifier................9-3 9.1.1 Common Specifications............. 9-3 9.1.2 Acceleration and Decelerate Time ........9-5 9.1.3 Allowable Repetition Frequency........9-6 9.1.4 Precautions on Load ............9-9 9.1.5 CN1 Input/Output Interface Circuit Configuration ....9-10 9.1.6 Position Signal Output............9-13 9.1.7 Monitor Output ..............
Page 184 9. SPECIFICATIONS Combination Specifications ............9-111 9.3.1 P1 Series (B Coil) + PY2........... 9-111 9.3.2 P1 Series (H Coil) + PY2........... 9-111 9.3.3 P2 Series (H Coil) + PY2........... 9-111 9.3.4 P2 Series (D Coil) + PY2........... 9-112 9.3.5 P3 Series (D Coil) + PY2........... 9-112 9.3.6 P5 Series (H Coil) + PY2...........
Page 185: Servo Amplifier
9. SPECIFICATIONS Servo Amplifier 9.1.1 Common Specifications Table 9-1 Common Specifications Model No. PY2A015 PY2A030 PY2A050 PY2E015 PY2E030 Control function Velocity, torque or position control (through switching of parameters). Control method IGBT PWM control, sine wave drive. • 3-phase, 200 VAC to 230 VAC +10%, ‐15%, •...
Page 186 9. SPECIFICATIONS *1: The supply voltage shall be within the specified range. 200 VAC power supply input type (PY2A) Specified voltage range: 170 to 253 VAC The supply voltage must not exceed 230 VAC+10% (253 V). 100 VAC power supply input type (PY2E) Specified voltage range: 85 to 127 VAC The supply voltage must not exceed 115 VAC+10% (127 V).
Page 187: Acceleration And Deceleration Time
9. SPECIFICATIONS 9.1.2 Acceleration and Deceleration Time The acceleration time (t a ) and deceleration time (t b ) under certain load conditions are calculated using the following expressions. The expressions, however, are for within the rated speed, ignoring the viscosity torque and friction torque of the motor.
Page 188: Allowable Repetition Frequency
9. SPECIFICATIONS 9.1.3 Allowable Repetition Frequency Start and stop repetition is limited by both the Servomotor and Servo Amplifier. Consideration is required to satisfy the requirements of both at the same time. ● Allowable repetition frequency based on the Servo Amplifier For use with a high frequency of starting and stopping, check that it is within the allowable frequency beforehand.
Page 189 9. SPECIFICATIONS (1) When the motor repeats a constant-speed status and a stop status When the operating state is as in Fig. 9-2, use the motor at a frequency in which the effective motor armature current effective value is at the motor rated armature current (I ) or lower.
Page 190 9. SPECIFICATIONS (2) When the motor repeats acceleration, deceleration and stop statuses This operating status is shown in Fig. 9-3, and the allowable value n (time/min) of repetition frequency can be obtained by the following expression. – T n = 2.86 × 10 ×...
Page 191: Precautions On Load
9. SPECIFICATIONS 9.1.4 Precautions on Load (1) Negative load The Servo Amplifier cannot perform such negative load operation as causes the motor to rotate continuously. (Examples) • Downward motor drive (when no counterweight is provided). • Use like a generator, for example, the wind-out spindle of a winder. When applying the amplifier to a negative load, consult us.
Page 192: Cn1 Input/Output Interface Circuit Configuration
9. SPECIFICATIONS 9.1.5 CN1 Input/Output Interface Circuit Configuration Input circuit configuration (1) Type 1 (photocoupler input) 2.2K This type of input circuit is a contactless circuit like the one shown on the right. The input signals of type 1 are Servo ON, alarm reset, forward revolution inhibit, backward revolution inhibit, current limit permit deviation clear, 5V to 3.9K...
Page 193 9. SPECIFICATIONS Output circuit configuration (1) Type 6 (open collector output 1) This type of output circuit is an isolated contactless circuit like the one shown on the right. The signals of type 6 are current limit status, low velocity (deviation zero), start ready complete, holding brake excitation timing signal Regulator 12V to 24V...
Page 194 9. SPECIFICATIONS Type 1 Type 6 2.2K Regulator 12V to 24V 5V to 3.9K 24VDC max50mA(12 to 24V) max10mA(5V) Type 2 Type 7 1.5K 100Ω max10mA 100Ω 26LS32 or equivalent Type 3 Type 8 5.75K 1.8K 3.3K 26LS31 or 0.047 μ F equivalent Type 4 Type 9...
Page 195: Position Signal Output
9. SPECIFICATIONS 9.1.6 Position Signal Output This section explains the position signal output specifications. Chapter Contents Relevant Sensors 9.1.6.1 Pulse output Fig. 9-6 Wiring-saved incremental encoder INC-E Request-signal unavailable absolute encoder ABS-E Request-signal available absolute sensor ABS-RⅡ Wiring-saved absolute sensor ABS-E.S1 9.1.6.2 Serial output Fig.
Page 196 9. SPECIFICATIONS 9.1.6.2 Serial Output (When the ABS-E Absolute Encoder Is Used) One of the two position signal outputs can be selected using the remote operator. When FUNC5 bit 7 on Page 6 in Mode 2 of the remote operator is set at 0, start-stop synchronization is selected. When bit 6 is set at 1, Manchester coding synchronization is selected.
Page 197 9. SPECIFICATIONS (2) Transfer format (9600 bps • 1 Mbps) (2-1) Start-stop synchronization (9600 bps) ① Configuration in a frame 1 frame (11 bits) ↑ ↑ ↑ Start Position Address Parity Stop signal signal signal signal signal (1bit) (5bit) (3bit) (1bit) (1bit) Fig.
Page 198 9. SPECIFICATIONS (2-2) Manchester coding synchronization (1 Mbps) ① Configuration in a frame 1 frame (25 bits) ↑ ↑ ↑ ↑ ↑ ↑ MODEM Frame Stop Start address address signal signal signal signal Position signal signal (3 bit) (2 bit) (15 bit) (1 bit) (3 bit)
Page 199 9. SPECIFICATIONS (3) Transfer cycle (9600 bps • 1 Mbps) (3-1) Start-stop synchronization (9600 bps) Control power supply Approx. Serial transfer Serial Not specified "H" "H" "H" output Approx. 6.9 ms Approx. 9.2 ms Frame 1 Frame 2 Frame 3 Frame 4 Frame 5 Frame 6...
Page 200 9. SPECIFICATIONS 9.1.6.3 Serial Output (When the ABS-RⅡ Absolute Sensor Is Used) One of the two position signal outputs can be selected using the remote operator. When FUNC5 bit 7 on Page 6 in Mode 2 of the remote operator is set at 0, start-stop synchronization is selected. When bit 6 is set at 1, Manchester coding synchronization is selected.
Page 201 9. SPECIFICATIONS (2) Transfer format (2-1) Start-stop synchronization (9600 bps) ① Configuration in a frame 1 frame (11 bits) ↑ ↑ ↑ Start Position Address Parity Stop signal signal signal signal signal (1 bit) (5 bit) (5 bit) (1 bit) (1 bit) Fig.
Page 202 9. SPECIFICATIONS (2-2) Manchester coding synchronization (1 Mbps) ① Configuration in a frame 1 frame (25 bits) ↑ ↑ ↑ ↑ ↑ ↑ Start MODEM Position signal Frame Stop signal address address signal signal signal signal (3 bit) (2 bit) (15 bit) (1 bit) (3 bit)
Page 203 9. SPECIFICATIONS (3) Serial PS Transfer Cycle (3-1) Start-stop synchronization (9600 bps) Control power supply Approx. Serial transfer Serial Not specified "H" "H" "H" output Approx. 6.9 ms Approx. 9.2 ms Frame 1 Frame 2 Frame 3 Frame 4 Frame 5 Frame 6 Approx.
Page 204 9. SPECIFICATIONS 9.1.6.4 Serial Output (When the ABS-E.S1 Absolute Sensor Is Used) One of the two position signal outputs can be selected using the remote operator. When FUNC5 bit 7 on Page 6 in Mode 2 of the remote operator is set at 0, start-stop synchronization is selected. When bit 6 is set at 1, Manchester coding synchronization is selected.
Page 205 9. SPECIFICATIONS Transfer format (2-1) Start-stop synchronization (9600 bps) ① Configuration in a frame 1 frame (11 bits) ↑ ↑ ↑ Start Position Address Parity Stop signal signal signal signal signal (1 bit) (5 bit) (3 bit) (1 bit) (1 bit) Fig.
Page 206 9. SPECIFICATIONS (2-1) Manchester Coding Synchronization (2 bps) ① Configuration in a frame 1 frame (25 bits) ↑ ↑ ↑ ↑ ↑ ↑ Start Modem Position Frame Stop signal address signal address signal signal signal signal (3 bits) (2 bits) (15 bits) (1 bit) (3 bits)
Page 207 9. SPECIFICATIONS (3) Serial PS Transfer Cycle (3-1) Start-stop synchronization (9600 bps) Control power supply Approx. Serial transfer Serial Not specified "H" "H" "H" output Approx. 6.9 ms Approx. 9.2 ms Frame 1 Frame 2 Frame 3 Frame 4 Frame 5 Frame 6 Approx.
Page 208: Monitor Output
9. SPECIFICATIONS 9.1.7 Monitor Output • The contents of outputs from monitor 1 (MON1) and monitor 2 (MON2) can be selected by the remote operator. • Monitor 1 and 2 outputs are convenient for selecting a check pin on the controller. •...
Page 209 9. SPECIFICATIONS (2) Regenerative load factor monitor output The regenerative load factor monitor output is convenient for checking the effective power of the regenerative resistor. Regenerative load factor monitor signals are output as follows: Effective power of regenerative resistor/Monitor reference power (W) = 0.3 V (The monitor reference power is set at the value listed in Table 9-5.) The output voltage is updated every second.
Page 210 9. SPECIFICATIONS (3) Typical monitor applications This section explain typical applications of the velocity and current monitor. Speed and current measurement When connecting a measuring instrument to the velocity or current feedback monitor, use a both-swing type CD voltmeter and connect it as in Fig. 9-12 (5). In this case, use a shielded wire and make the wiring as short as possible.
Page 211: Position Control Type Specifications
9. SPECIFICATIONS 9.1.8 Position Control Type Specifications This section explains how to handle command pulses and other signals for the position control type. (1) Command pulses Three types of signals can be input as command pulses . For motor For motor PMOD in Mode 2 on Command Input pin...
Page 212 9. SPECIFICATIONS (2) Command pulse timing Each command pulse timing is as follows . Command pulse t1, t2 ≤ 0.1 µs t3, t4 > 750 ns t5 > 1.5 µs Backward revolution pulse train Backward revolution Forward revolution pulse Forward train.
Page 213 9. SPECIFICATIONS (3) External analog current limit input Both the forward revolution driving current (positive side current) and the backward revolution driving current (negative current) can be independently limited externally (when parameter Func1 bit0 is set at "1"). Regarding the relationship with the motor armature current, the current is limited to 2 V/rated current (IR) by the applied motor.
Page 214 9. SPECIFICATIONS (5) General specifications of CN1 input/output signals This section explains the general specifications of CN1 input/output signals of the position control type. Fig. 9-16 shows the circuit types of CN1 input/output signals and Tables 9-6 and 9-7 describe the general specifications.
Page 215 9. SPECIFICATIONS Table 9-6 General Specifications of Position Control Type Input Signals (Incremental Encoder) 1/2 Pin No. Circuit type Signal name Abbr. General specification Forward revolution Type 2 Pulse train for forward revolution pulse train command Backward revolution Type 2 Pulse train for backward revolution pulse train command The rated torque (TR) is obtained by inputting ±2V, but...
Page 216 9. SPECIFICATIONS Table 9-6 General Specifications of Position Control Type Input Signals (Incremental Encoder) 2/2 Pin No. Circuit type Signal name Abbr. General specification － Monitor 1 MON1 15 (14) Type 9 0.5V±20%/1000 min (velocity monitor). Load: less than 2 mA. Output resistance: 1 KΩ. Positive voltage at forward revolution Monitor 2 MON2...
Page 217 9. SPECIFICATIONS (6) General Specifications of CN1 Input/Output Signals (ABS-E Absolute Encoder, ABS-RⅡ Absolute Sensor and ABS-E.S1 Wiring-saved Absolute Sensor) This section explains the general specifications of CN1 input/output signals of the position control type Table 9-7 General Specifications of Position Control Type Input Signal (ABS-E Absolute Encoder, ABS-RⅡ...
Page 218 9. SPECIFICATIONS Table 9-7 General Specifications of Position Control Type Input Signal (ABS-E Absolute Encoder, ABS-RII Absolute Sensor and ABS-E.S1 Wiring-saved Absolute Sensor) 2/2 Pin No. Circuit type Signal name Abbr. General specification Monitor 1 MON1 15 (14) Type 9 0.5 V±20%/1000 min －...
Page 219: Velocity/Torque Control Type Specifications
9. SPECIFICATIONS 9.1.9 Velocity/Torque Control Type Specifications This section explains how to handle input commands and other signals for the velocity/torque control type. (1) Input command specifications ① Torque command input Fig. 9-17 shows the torque command/motor-generated torque characteristics. The torque command voltage is a voltage input from torque terminals CN1 - 22 and 20. Positive motor torque (+) means torque that is generated in the counterclockwise direction when viewed from the load side.
Page 220 9. SPECIFICATIONS (2) External analog current limit input The forward revolution driving current (positive side) and the backward revolution driving current (negative side) can both be independently limited externally (when parameter Func1 bit0 is set at "1"). Regarding the relationship with the motor armature current, the current is limited to 2 V/the rated current (IR) by the applied motor.
Page 221 9. SPECIFICATIONS (4) General specifications of CN1 input/output signals This section explains the general specifications of CN1 input/output signals of the position control type. Fig. 9-20 shows the circuit types of CN1 input/output signals, and Tables 9-8 and 9-9 describe the general specifications.
Page 222 9. SPECIFICATIONS Table 9-8 General Specifications of Velocity Control Type Input Signal (Wiring-saved Incremental Encoder) 1/2 Pin No. Circuit type Signal name Abbr. General specification With a ±2 V input, the velocity becomes 1000 min － Speed command VCMD 21 (20) Type 3 the standard setting (maximum input voltage ±10 V).
Page 223 9. SPECIFICATIONS Table 9-8 General Specifications of Velocity Control Type Input Signal (Wiring-saved Incremental Encoder) 2/2 Pin No. Circuit type Signal name Abbr. General specification 0.5 V±20%/1000 min － (velocity monitor). Monitor 1 MON1 15 (14) Type 9 Load: less than 2 mA. Output resistance: 1 kΩ. Positive voltage at foreword revolution Monitor 2 MON2...
Page 224 9. SPECIFICATIONS (5) General Specifications of CN1 Input/Output Signals (ABS-E Absolute Encoder, ABS-RⅡ Absolute Sensor and ABS-E.S1 Wiring-saved Absolute Sensor) This section explains the general specification of CN1 input/output signals of the velocity control type. Table 9-9 General Specifications of Velocity Control Type Input Signal (ABS-E Absolute Encoder, ABS-RⅡ...
Page 225 9. SPECIFICATIONS Table 9-9 General Specifications of Velocity Control Type Input Signal (ABS-E Absolute Encoder, ABS-RⅡ Absolute Sensor and ABS-E.S1 Absolute Sensor) 2/2 Pin No. Circuit type Signal name Abbr. General specification Monitor 1 MON1 15 (14) Type 9 0.5 V±20%/1000 min －...
Page 226: Switching Of The Control Mode
9. SPECIFICATIONS 9.1.10 Switching of the Control Mode This section explains how to switch the control mode between velocity and torque control, torque and position control, and position and velocity control. This section also provides precautions on implementing the switching. 9.1.10.1 Switching the Control Type CN1 input signal is used for the switching.
Page 227: Internal Velocity Command
9. SPECIFICATIONS 9.1.11 Internal Velocity Command Combining external input signals (3 bits), this command is capable of selecting speed (parameter) and direction. 35 pin 36 pin 34 pin VCMD VCI1 VCI2 VCI3 VCI2 Stop Forward revolution Stop Backward revolution Stop (CCW) (CW) Forward revolution...
Page 228: Power Supply Capacity
9. SPECIFICATIONS 9.1.12 Power Supply Capacity Table 9-10 shows the input power supply capacity under load at the rated output. Table 9-10 Power Supply Capacity (1/2) Power supply capacity per unit Amplifier model No. Motor model No. Main circuit power supply (KVA) Control power supply (VA) P10B10030H...
Page 229 9. SPECIFICATIONS Table 9-10 Power Supply Capacity (1/2) Power supply capacity per unit Amplifier model No. Motor model No. Main circuit power supply Control power supply (KVA) (VA) P30B04003P P30B04005P PY2E015 P30B04010P (When 100 VAC) P50B03003P P50B04006P P50B04010P P50B05005P P50B05010P P30B06020P PY2E030 P50B05020P...
Page 230: Servo Amplifier/Servomotor Leakage Current
9. SPECIFICATIONS 9.1.13 Servo Amplifier/Servomotor Leakage Current Since the PY2 servo amplifier drives the motor under the PWM control of the IGBT, high frequency leakage current can flow through the ground floating capacity of the motor winding, power cable or amplifier, thereby causing a malfunction of the leakage circuit breaker or leakage protective relay installed on the power line on the power supply side.
Page 231: Calorific Value
9. SPECIFICATIONS 9.1.14 Calorific Value Table 9-13 shows the calorific values of the PY2 Servo Amplifier under the rated load. Table 9-13 Calorific Values of PY2 Servo Amplifiers (1/2) Total calorific values of Amplifier model No. Motor model No. Servo Amplifier (W) P30B04003D P30B04005D P30B04010D...
Page 232 9. SPECIFICATIONS Table 9-13 Calorific Values of PY2 Servo Amplifiers (2/2) Total calorific values of Amplifier model No. Motor model No. Servo Amplifier (W) P30B04003P P30B04005P P30B04010P P50B03003P PY2E015 P50B04006P P50B04010P P50B05005P P50B05010P P30B06020P P50B05020P PY2E030 P50B07020P P50B07030P 1 Since the values in the table do not include the calorific values of an external regenerative resistor, they must be added as required.
Page 233: Dynamic Brake
9. SPECIFICATIONS 9.1.15 Dynamic Brake (1) Slowing-down revolution angle by dynamic brake N : Motor speed (min : Slowing-down revolution angle (rad) by AMP internal processing time t Speed : Slowing-down revolution angle (rad) by dynamic brake operation. : Delay time (sec) from occurrence of a signal until the start of operation.
Page 234 9. SPECIFICATIONS (2) Instantaneous resistance of dynamic brake When the load inertia (J ) substantially exceeds the applicable load inertia, dynamic brake resistance may abnormally increase, causing an overheating alarm or damage of the dynamic brake resistance. Consult with us if such operating conditions are assumed. The energy E consumed by the dynamic brake operation at a single time is represented by the following expression.
Page 235 9. SPECIFICATIONS (4) Dynamic brake constant table Table 9-16 Dynamic Brake Constant Table (1/2) α β Amplifier model No. Motor model No. J M (Kg-m 60.5 × 10 0.024 × 10 P30B04003D 114.00 37.3 × 10 0.031 × 10 P30B04005D 66.00 12.2 ×...
Page 236 9. SPECIFICATIONS Table 9-16 Dynamic Brake Constant Table (2/2) α β Amplifier model No. Motor model No. J M (Kg-m 0.39 × 10 0.024 × 10 P30B04003P 159.18 0.26 × 10 0.031 × 10 P30B04005P 117.73 7.63 × 10 0.051 × 10 P30B04010P 49.27 7.50 ×...
Page 237: Regenerative Processing
9. SPECIFICATIONS 9.1.16 Regenerative Processing Although the PY2 (15 A/30 A) has a built-in regenerative processing circuit, no regenerative resistor is provided. So, externally connect a regenerative resistor as necessary. It is recommended that one be externally connected when a 300 W or higher motor is to be driven. Mount it between the P and Y (or COM) terminals of connector CND on the front of the amplifier.
Page 238 9. SPECIFICATIONS ② For vertical shaft driving (when a gravitational load is applied) EM = EVUb + EVD + EVDb × N × 3 • KEφ × × tUb – ( × 3 • Rφ × tUb + N × 3 • KEφ × ×...
Page 239 9. SPECIFICATIONS Step 2 : Calculate the effective regenerative power Based on the calculation obtained during regeneration, check the regenerative capacity of the regenerative resistor connected to the PY2 amplifier. ① For horizontal shaft driving PM = Effective regenerative power Regenerative energy at deceleration Cycle time ②...
Page 240: Servomotor
9. SPECIFICATIONS Servomotor 9.2.1 Common Specifications Table 9-17 Common Specifications of P3, P5, P6 and P8 Series Servomotors Series Time rating Continuous Insulation class Class F Dielectric strength 1500 VAC for 1 minute Insulation resistance 500 VDC and 10 MΩ minimum Protective system Totally-enclosed and self-cooling type P50B03,04:IP40...
Page 241: Revolution Direction Specifications
9. SPECIFICATIONS 9.2.2 Revolution Direction Specifications This section explains the direction of revolution for the Servomotor and the encoder respectively. (1) Servomotor The Servomotor rotates counterclockwise (forward revolution) when viewed from the load side after a command to increase a position command is input. Direction of motor forward revolution Fig.
Page 242: Motor Mechanical Specifications
9. SPECIFICATIONS 9.2.3 Motor Mechanical Specifications (1) Vibration resistance Install the Servomotor shaft horizontally as shown in Fig. 9-25 and apply vibration in 3 directions, up/down, left/right and back/forth. At this time, the Servomotor should withstand a vibration acceleration of 2.5G. Up and down Right and left Back and forth...
Page 243 9. SPECIFICATIONS (3) Working accuracy Table 9-18 shows the accuracy of the Servomotor output shaft and installation. Table 9-18 Accuracy (T.I.R) Item Reference diagram Runout of output shaft 0.02 end (α) 0.04 β Eccentricity of the 0.08 external diameter of the 0.06 flange on output shaft M α...
Page 244 9. SPECIFICATIONS (6) Oil seal An S-shaped oil seal as in Table 9-19 is mounted to the output shaft of the Servomotor. Use an oil seal made by NOK or equivalent. Table 9-19 Oil Seals Servomotor model Oil seal model No. (S type) P10B10○○○○□◇▽▽...
Page 245: Holding Brake Specifications
9. SPECIFICATIONS 9.2.4 Holding Brake Specifications An optional holding brake is available for each motor. Since this brake is used for holding, it cannot be used for braking except in an emergency. Turn brake excitation on and off using the holding brake timing signal output.
Page 246 9. SPECIFICATIONS 1. The brake response time was measured in the following circuit. 100VAC 60Hz E DC Brake Brake 2. The brake release and braking delay time refers to those in the Fig. below. Exciting E DC voltage Exciting current 100％...
Page 247: Motor Data Sheet
9. SPECIFICATIONS 9.2.5.1 Motor Data Sheet The following tables show the various constants for each motor. When the motor is used beyond the applicable load inertia, make sure that the dynamic brake instantaneous resistance is not exceeded. P10B10030H Name Symbol Data Unit Data...
Page 248 9. SPECIFICATIONS P10B10075H Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 2000 2000 － 1 Maximum revolution speed 3000 3000 ∗ Rated torque N･m kg･cm ∗ Continuous stall torque N･m kg･cm ∗ Instantaneous maximum stall torque 10.8 N･m kg･cm...
Page 249 9. SPECIFICATIONS P10B13050H Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 2000 2000 － 1 Maximum revolution speed 3000 3000 ∗ Rated torque N･m kg･cm ∗ Continuous stall torque N･m kg･cm ∗ Instantaneous maximum stall torque N･m kg･cm ∗...
Page 250 9. SPECIFICATIONS P10B13100H Name Symbol Data Unit Data Unit ∗ Rated output 1000 1000 － 1 Rated revolution speed 2000 2000 － 1 Maximum revolution speed 3000 3000 ∗ Rated torque N･m kg･cm ∗ Continuous stall torque N･m kg･cm ∗ Instantaneous maximum stall torque 15.2 N･m kg･cm...
Page 251 9. SPECIFICATIONS P10B13150H Name Symbol Data Unit Data Unit ∗ Rated output 1500 1500 － 1 Rated revolution speed 2000 2000 － 1 Maximum revolution speed 3000 3000 ∗ Rated torque N･m kg･cm ∗ Continuous stall torque N･m kg･cm ∗ Instantaneous maximum stall torque 18.6 N･m kg･cm...
Page 252 9. SPECIFICATIONS P10B13050B Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 2000 2000 － 1 Maximum revolution speed 2000 2000 ∗ Rated torque N･m kg･cm ∗ Continuous stall torque N･m kg･cm ∗ Instantaneous maximum stall torque N･m kg･cm ∗...
Page 253 9. SPECIFICATIONS P10B13100B Name Symbol Data Unit Data Unit ∗ Rated output 1000 1000 － 1 Rated revolution speed 2000 2000 － 1 Maximum revolution speed 2000 2000 ∗ Rated torque N･m kg･cm ∗ Continuous stall torque N･m kg･cm ∗ Instantaneous maximum stall torque 15.2 N･m kg･cm...
Page 254 9. SPECIFICATIONS P10B13150B Name Symbol Data Unit Data Unit ∗ Rated output 1500 1500 － 1 Rated revolution speed 2000 2000 － 1 Maximum revolution speed 2000 2000 ∗ Rated torque N･m kg･cm ∗ Continuous stall torque N･m kg･cm ∗ Instantaneous maximum stall torque 19.6 N･m kg･cm...
Page 255 9. SPECIFICATIONS P10B18200B Name Symbol Data Unit Data Unit ∗ Rated output 2000 2000 － 1 Rated revolution speed 2000 2000 － 1 Maximum revolution speed 2000 2000 ∗ Rated torque N･m kg･cm ∗ Continuous stall torque 11.8 N･m kg･cm ∗...
Page 256 9. SPECIFICATIONS 9.2.5.2 Motor Data Sheet P20B10100H Name Symbol Data Unit Data Unit ∗ Rated output 1000 1000 － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 3000 3000 ∗ Rated torque 3.19 N･m 32.5 kg･cm ∗ Continuous stall torque 3.92 N･m kg･cm...
Page 257 9. SPECIFICATIONS P20B10150H Name Symbol Data Unit Data Unit ∗ Rated output 1500 1500 － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 3000 3000 ∗ Rated torque 4.79 N･m 48.8 kg･cm ∗ Continuous stall torque 4.90 N･m kg･cm ∗...
Page 258 9. SPECIFICATIONS P20B10200H Name Symbol Data Unit Data Unit ∗ Rated output 2000 2000 － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 3000 3000 ∗ Rated torque 6.37 N･m kg･cm ∗ Continuous stall torque 7.36 N･m kg･cm ∗...
Page 259 9. SPECIFICATIONS P20B10100D Name Symbol Data Unit Data Unit ∗ Rated output 1000 1000 － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 4500 4500 ∗ Rated torque 3.19 N･m 32.5 kg･cm ∗ Continuous stall torque 3.92 N･m kg･cm ∗...
Page 260 9. SPECIFICATIONS P20B10150D Name Symbol Data Unit Data Unit ∗ Rated output 1500 1500 － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 4500 4500 ∗ Rated torque 4.79 N･m 48.8 kg･cm ∗ Continuous stall torque 4.90 N･m kg･cm ∗...
Page 261 9. SPECIFICATIONS 9.2.5.3 Motor Data Sheet P30B04003D Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 3000 3000 Maximum revolution speed － 1 4500 4500 ∗ Rated torque 0.098 N･m kg･cm ∗ Continuous stall torque 0.108 N･m kg･cm...
Page 262 9. SPECIFICATIONS P30B04005D Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 4500 4500 ∗ Rated torque 0.157 N･m kg･cm ∗ Continuous stall torque 0.167 N･m kg･cm ∗ Instantaneous maximum stall torque 0.49 N･m kg･cm...
Page 263 9. SPECIFICATIONS P30B04010D Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 4500 4500 ∗ Rated torque 0.32 N･m 3.25 kg･cm ∗ Continuous stall torque 0.353 N･m kg･cm ∗...
Page 264 9. SPECIFICATIONS P30B06020D Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 4500 4500 ∗ Rated torque 0.637 N･m kg･cm ∗ Continuous stall torque 0.686 N･m kg･cm ∗ Instantaneous maximum stall torque 1.96 N･m kg･cm...
Page 265 9. SPECIFICATIONS P30B06040D Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 4500 4500 ∗ Rated torque 1.274 N･m kg･cm ∗ Continuous stall torque 1.372 N･m kg･cm ∗ Instantaneous maximum stall torque 3.82 N･m kg･cm...
Page 266 9. SPECIFICATIONS P30B08075D Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 4500 4500 ∗ Rated torque 2.38 N ･ m 24.3 kg ･ cm ∗ Continuous stall torque 2.55 N ･...
Page 267 9. SPECIFICATIONS 9.2.5.4 Motor Data Sheet P50B03003D Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 4500 4500 ∗ Rated torque 0.098 N･m kg･cm ∗ Continuous stall torque 0.108 N･m kg･cm...
Page 268 9. SPECIFICATIONS P50B04006D Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 4500 4500 ∗ Rated torque 0.191 N･m 1.95 kg･cm ∗ Continuous stall torque 0.216 N･m kg･cm ∗...
Page 269 9. SPECIFICATIONS P50B04010D Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 4500 4500 ∗ Rated torque 0.319 N･m 3.25 kg･cm ∗ Continuous stall torque 0.353 N･m kg･cm ∗...
Page 270 9. SPECIFICATIONS P50B05005D Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 4500 4500 ∗ Rated torque 0.159 N ･ m 1.62 kg ･ cm ∗ Continuous stall torque 0.167 N ･...
Page 271 9. SPECIFICATIONS P50B05010D Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 4500 4500 ∗ Rated torque 0.319 N ･ m 3.25 kg ･ cm ∗ Continuous stall torque 0.353 N ･...
Page 272 9. SPECIFICATIONS P50B05020D Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 4500 4500 ∗ Rated torque 0.637 N ･ m kg ･ cm ∗ Continuous stall torque 0.686 N ･...
Page 273 9. SPECIFICATIONS P50B07020D Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 4500 4500 ∗ Rated torque 0.637 N ･ m kg ･ cm ∗ Continuous stall torque 0.686 N ･...
Page 274 9. SPECIFICATIONS P50B07030D Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 4500 4500 ∗ Rated torque 0.931 N ･ m kg ･ cm ∗ Continuous stall torque 0.98 N ･...
Page 275 9. SPECIFICATIONS P50B07040D Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 4500 4500 ∗ Rated torque 1.274 N ･ m kg ･ cm ∗ Continuous stall torque 1.372 N ･...
Page 276 9. SPECIFICATIONS P50B08040D Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 4500 4500 ∗ Rated torque 1.274 N ･ m kg ･ cm ∗ Continuous stall torque 1.372 N ･...
Page 277 9. SPECIFICATIONS P50B08050D Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 4500 4500 ∗ Rated torque 1.589 N ･ m 16.2 kg ･ cm ∗ Continuous stall torque 1.96 N ･...
Page 278 9. SPECIFICATIONS P50B08075H Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 3000 3000 ∗ Rated torque 2.381 N ･ m 24.3 kg ･ cm ∗ Continuous stall torque 2.94 N ･...
Page 279 9. SPECIFICATIONS P50B08100H Name Symbol Data Unit Data Unit ∗ Rated output 1000 1000 － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 3000 3000 ∗ Rated torque 3.185 N ･ m 32.5 kg ･ cm ∗ Continuous stall torque 3.92 N ･...
Page 280 9. SPECIFICATIONS P50B08075D Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 4500 4500 ∗ Rated torque 2.381 N ･ m 24.3 kg ･ cm ∗ Continuous stall torque 2.94 N ･...
Page 281 9. SPECIFICATIONS P50B08100D Name Symbol Data Unit Data Unit ∗ Rated output 1000 1000 － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 4500 4500 ∗ Rated torque 3.185 N ･ m 32.5 kg ･ cm ∗ Continuous stall torque 3.92 N ･...
Page 282 9. SPECIFICATIONS 9.2.5.5 Motor Data Sheet P60B13050H Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 2000 2000 － 1 Maximum revolution speed 3000 3000 ∗ Rated torque N･m kg･cm ∗ Continuous stall torque N･m kg･cm ∗...
Page 283 9. SPECIFICATIONS P60B13100H Name Symbol Data Unit Data Unit ∗ Rated output 1000 1000 － 1 Rated revolution speed 2000 2000 － 1 Maximum revolution speed 3000 3000 ∗ Rated torque N･m kg･cm ∗ Continuous stall torque N･m kg･cm ∗ Instantaneous maximum stall torque 15.0 N･m kg･cm...
Page 284 9. SPECIFICATIONS P60B13150H Name Symbol Data Unit Data Unit ∗ Rated output 1500 1500 － 1 Rated revolution speed 2000 2000 － 1 Maximum revolution speed 3000 3000 ∗ Rated torque N･m kg･cm ∗ Continuous stall torque N･m kg･cm ∗ Instantaneous maximum stall torque 20.0 N･m kg･cm...
Page 285 9. SPECIFICATIONS 9.2.5.6 Motor Data Sheet P80B15075H Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 2000 2000 － 1 Maximum revolution speed 3000 3000 ∗ Rated torque N･m kg･cm ∗ Continuous stall torque N･m kg･cm ∗...
Page 286 9. SPECIFICATIONS P80B18120H Name Symbol Data Unit Data Unit ∗ Rated output 1200 1200 － 1 Rated revolution speed 2000 2000 － 1 Maximum revolution speed 3000 3000 ∗ Rated torque N･m kg･cm ∗ Continuous stall torque N･m kg･cm ∗ Instantaneous maximum stall torque 14.0 N･m kg･cm...
Page 287 9. SPECIFICATIONS 9.2.5.7 Motor Data Sheet P3 (100V Motor) P30B04003P Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 4500 4500 ∗ Rated torque 0.098 N･m kg･cm ∗ Continuous stall torque 0.108 N･m kg･cm...
Page 288 9. SPECIFICATIONS P30B04010P Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 4500 4500 ∗ Rated torque 0.32 N･m 3.25 kg･cm ∗ Continuous stall torque 0.353 N･m kg･cm ∗...
Page 289 9. SPECIFICATIONS 9.2.5.8 Motor Data Sheet P5 (100V Motor) P50B03003P Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 4500 4500 ∗ Rated torque 0.098 N･m kg･cm ∗ Continuous stall torque 0.108 N･m kg･cm...
Page 290 9. SPECIFICATIONS P50B04010P Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 4500 4500 ∗ Rated torque 0.319 N･m 3.25 kg･cm ∗ Continuous stall torque 0.353 N･m kg･cm ∗...
Page 291 9. SPECIFICATIONS P50B05010P Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 4500 4500 ∗ Rated torque 0.319 N･m 3.25 kg･cm ∗ Continuous stall torque 0.353 N･m kg･cm ∗...
Page 292 9. SPECIFICATIONS P50B07020P Name Symbol Data Unit Data Unit ∗ Rated output － 1 Rated revolution speed 3000 3000 － 1 Maximum revolution speed 4500 4500 ∗ Rated torque 0.637 N･m kg･cm ∗ Continuous stall torque 0.686 N･m 17.0 kg･cm ∗...
Page 293 9. SPECIFICATIONS Combination Specifications The velocity and torque characteristics differ depending on the amplifier capacity and power supply of the amplifier. The velocity and torque characteristics when combining Servomotors and PY2 type Servo Amplifiers normally are indicated below. 9.3.1 P1 Series (B Coil) + PY2 速度－トルク特性...
Page 294 9. SPECIFICATIONS 9.3.4 P2 Series (D Coil) + PY2 速度トルク特性速度－トルク特性速度－トルク特性 Velocity-torque P20B10100D （ 1.0kW ）＋ＰＹ２Ａ０５０ P20B10150D （ 1.5kW ）＋ＰＹ２Ａ０５０ characteristics 瞬時領域瞬時領域３φ ３φ １φ Instantaneous zone １φ 瞬時領域連続領域 Continuous zone 連続領域連続領域－ 1 速度(min － 1 1000 2000 3000...
Page 295 9. SPECIFICATIONS 9.3.7 P5 Series (D Coil) + PY2 速度－トルク特性速度－トルク特性速度－トルク特性速度－トルク特性 P50B03003D （ 30W ）＋ＰＹ２Ａ０１５ P50B04006D （ 60W ）＋ＰＹ２Ａ０１５ P50B04010D （ 100W ）＋ＰＹ２Ａ０１５ P50B05005D （ 50W ）＋ＰＹ２Ａ０１５３φ ３φ ３φ ３φ １φ １φ 0.35 １φ １φ 瞬時領域瞬時領域瞬時領域...
Page 296 9. SPECIFICATIONS 9.3.8 P6 Series (H Coil) + PY2 速度－トルク特性速度－トルク特性速度－トルク特性 P60B13050H （ 500W ）＋ＰＹ２Ａ０３０ P60B13100H （ 1.0kW ）＋ＰＹ２Ａ０５０ P60B13150H （ 1.5kW ）＋ＰＹ２Ａ０５０３φ 瞬時領域３φ 瞬時領域瞬時領域１φ ３φ １φ １φ 連続領域連続領域連続領域 1000 2000 3000 4000 1000 2000 3000...
Page 297 9. SPECIFICATIONS 9.3.10 P3 Series (P Coil) + PY2 速度－トルク特性速度－トルク特性速度－トルク特性速度－トルク特性 P30B04003P （ 30W ）＋ＰＹ２Ｅ０１５ P30B04005P （ 50W ）＋ＰＹ２Ｅ０１５ P30B04010P （ 100W ）＋ＰＹ２E０１５ P30B06020P （ 200W ）＋ＰＹ２Ｅ０３０１φ １φ １φ １φ 瞬時領域瞬時領域瞬時領域瞬時領域連続領域連続領域連続領域連続領域...
Page 298: External Views
9. SPECIFICATIONS External Views 9.4.1 Servo Amplifier Servo Amplifier model numbers: PY2A015A2 • PY2A015A3 PY2A015H2 • PY2A015H3 PY2A015P2 • PY2A015P3 Note 5 70max. Note 2 Direction of installation Main nameplate Note 1 Note 5 Notes : 1. Earth terminal screw : M4 3.
Page 299 9. SPECIFICATIONS Servo Amplifier model numbers: PY2A030A2 • PY2A030A3 PY2A030H2 • PY2A030H3 PY2A030P2 • PY2A030P3 Note 6 Note 5 70max. Direction Note 2 of wind Direction Main nameplate Direction of wind Note 1 Note 5 Notes : 1. Earth terminal screw : M4 3.
Page 300 9. SPECIFICATIONS Servo Amplifier model numbers: PY2A050A6 • PY2A050A7 PY2A050H6 • PY2A050H7, PY2A050P6 • PY2A050P7 Direction Note 6 of wind 70max. Note 2 Note 5 Main nameplate Direction of installation Note 5 Note 1 Notes : 1. Earth terminal screw : M4 3.
Page 301 9. SPECIFICATIONS Servo Amplifier model numbers: PY2E015A3 • PY2E015H3 • PY2E015P3 Note 5 70max. Note 2 Direction of installation Main nameplate Note 1 Note 5 Notes : 1. Earth terminal screw : M4 3. Main nameplate Tightening torque : 1.18N m 2.
Page 302 9. SPECIFICATIONS Servo Amplifier model numbers: PY2E030A3 • PY2E030H3 • PY2E03P3 Note 6 Note 5 Direction Note 2 of wind Direc- tion of installa- tion Main nameplate Direction of wind Note 1 Note 5 3. Main nameplate Notes: 1. Earth terminal screw: M4 The design of the main Tightening torque: 1.18 N･m nameplate may change...
Page 303 9. SPECIFICATIONS Servo Amplifier model numbers: PY2A015A6 • PY2A015A7 PY2A015H6 • PY2A015H7 PY2A015P6 • PY2A015P7 Main nameplate 9－121...
Page 304 9. SPECIFICATIONS Servo Amplifier model numbers: PY2A030A6 • PY2A030A7 PY2A030H6 • PY2A030H7 PY2A030P6 • PY2A030P7 Main nameplate 9－122...
Page 305: Servomotor
9. SPECIFICATIONS 9.4.2 Servomotor Servomotor model No.: P1 motor Incremental encoder (INC-E) Absolute sensor (ABS-RII) Incremental･ Connector (motor) Unit: mm ABS-RII W/O brake With brake Motor earth B (Type with B only) MODEL MS3102A KL1 KL2 MS3102A KL1 KL2 P10B10030△□◇ 18-10P 20-15P 95-0.035...
Page 306 9. SPECIFICATIONS Servomotor model No.: P1 motor Absolute encoder (ABS-E type) ABS - E Connector Unit: mm W/O brake With brake Motor earth B (Type with B only) MODEL MS3102A KL1 KL2 MS3102A KL1 KL2 P10B10030△□◇ 18-10P 20-15P 95-0.035 P10B10075△□◇ P10B13050△□◇...
Page 307 9. SPECIFICATIONS Servomotor model No.: P2 motor Incremental encoder (INC-E type) With Unit: mm Connector brake brake MODEL MS3102A KL1 KL2 P20B10100△□◇ P20B10150△□◇ 20-15P 130 100 95-0.035 P20B10200△□◇ P20B10250△□◇ P20B13300△□◇ 24-11P 165 130 P20B13400△□◇ 110-0.035 P20B13500△□◇ MODEL P20B10100△□◇ P20B10150△□◇ － 22-0.013 6-0.030 P20B10200△□◇...
Page 308 9. SPECIFICATIONS Servomotor model No.: P2 motor Absolute sensor (ABS-E type) With Unit: mm Connector brake brake MODEL MS3102A KL1 KL2 P20B10100△□◇ P20B10150△□◇ 20-15P 130 100 95-0.035 P20B10200△□◇ P20B10250△□◇ P20B13300△□◇ 24-11P 165 130 P20B13400△□◇ 110-0.035 P20B13500△□◇ MODEL P20B10100△□◇ P20B10150△□◇ － 22-0.013 6-0.030 P20B10200△□◇...
Page 309 9. SPECIFICATIONS Servomotor model No.: P2 motor Absolute sensor (ABS-RII type) With Unit: mm Connector brake brake MODEL MS3102A KL1 KL2 P20B10100△□◇ P20B10150△□◇ 20-15P 130 100 95-0.035 P20B10200△□◇ P20B10250△□◇ P20B13300△□◇ 24-11P 165 130 P20B13400△□◇ 110-0.035 P20B13500△□◇ MODEL P20B10100△□◇ P20B10150△□◇ － 22-0.013 6-0.030 P20B10200△□◇...
Page 310 9. SPECIFICATIONS Servomotor model No.: P3 motor Incremental encoder (INC-E type) Absolute sensor (ABS-RII type) Incremental encoder (INC-E type) With Unit: mm brake brake MODEL LG KL LA LH LC LZ LR QE LT D1 D2 P30B04003△□◇ 102.5 －－ 6-0.008 30 46 40 4.5 25...
Page 311 9. SPECIFICATIONS Servomotor model No.: P3 motor Absolute encoder (ABS-E type) QE tapping Depth LT Teflon lead wire (For fix) Shield cable (For fix) (Motor, Ground, Brake) (Sensor) 04003-06040 Unit: mm With brake brake MODEL KL LA Q QE LT D1 D2 P30B04003△□◇...
Page 312 9. SPECIFICATIONS Servomotor model No.: P5 motor Incremental encoder (INC-E type) D2＝4.7 mm Unit: mm With brake brake MODEL LL LG KL LA LC LZ LR W T U Slotted, 2 places P50B03003△□◇ 67.5 98 4.5 27.5 40 35 3.5 15 －...
Page 313 9. SPECIFICATIONS Servomotor model No.: P5 motor Absolute encoder (ABS-E type) QE tapping Oil seal Depth LT (Type S) Shield cable (for fix) (Sensor) Teflon lead wire (for fix) (Motor, Ground, Brake) Shaft section Unit: mm With brake brake MODEL F G H W T U seal...
Page 314 9. SPECIFICATIONS Servomotor model No.: P5 motor Absolute sensor (ABS-RII type) D2＝4.7 mm Unit: mm With brake brake MODEL LL LG KL LA LC LZ LR W T U Slotted, P50B03003△□◇ 73 103.5 4.5 27.5 40 35 3.5 15 －－ 11 2 places －...
Page 315 9. SPECIFICATIONS Servomotor model No.: P6 motor Incremental encoder (INC-E type) Absolute sensor (ABS-RII type) Unit: mm Incremental･ Connector Since the connector must be waterproof when ABS-RII engaged, use a waterproof connector for the B (Type With brake Motor earth plug on the receiving side when IP67 is applied.
Page 316 9. SPECIFICATIONS Servomotor model No.: P6 motor Absolute encoder (ABS-E type) Unit: mm ABS - E Connector Since the connector must be waterproof when engaged, use a waterproof connector for the B (Type with W/O brake With brake Motor earth plug on the receiving side when IP67 is applied.
Page 317 9. SPECIFICATIONS Servomotor model No.: P8 motor Incremental encoder (INC-E type) Absolute sensor (ABS-RII type) Unit: mm With brake brake MODEL KB2 LG P80B15075△□◇ 130-0.040 P80B18120△□◇ 13.5 114.3-0.035 P80B22250△□◇ 13.5 P80B22350△□◇ 200-0.046 P80B22450△□◇ MODEL Ｗ P80B15075△□◇ －－－－ 22-0.013 6-0.030 P80B18120△□◇...
Page 318 9. SPECIFICATIONS Servomotor model No.: P8 motor Absolute encoder (ABS-E type) Unit: mm W/O brake With brake MODEL P80B15075△□◇ 130-0.040 P80B18120△□◇ 13.5 114.3-0.035 P80B22250△□◇ 13.5 P80B22350△□◇ 200-0.046 P80B22450△□◇ MODEL Ｗ P80B15075△□◇ －－－－ 22-0.013 6-0.030 P80B18120△□◇ －－－...
Page 319: Remote Operator (Option)
9. SPECIFICATIONS 9.4.3 Remote Operator (Option) Approx.φ90 Note6 Note1 Note5 Note2 Note4 Note3 Unit : mm Liquid crystal display (Two line display) Key (16 keys, Control Element) Check pins (DM1, DM2, SG, M1, M2 and VCMD from the left) Volume knob (for adjusting liquid crystal brightness) Main nameplate Hand band 9－137...
Page 320: External Regenerative Resistor (Optional)
9. SPECIFICATIONS Regenerative Resistor 9.5.1 Built-in Regenerative Resistor Some PY2 Servo Amplifiers have built-in regenerative resistors. When the regenerative power is lower than the permissible absorbing power of the built-in regenerative resistor, the system configuration can be simplified by using a regenerative resistor built-in Servo Amplifier (Amplifier of 50A has built-in regenerative resistor as standard).
Page 321 9. SPECIFICATIONS When reconnecting or changing the regenerative resistor, observe the table 9-22, Parameter for Regenerative Resistor, to ensure correct settings of parameters. 1) Regenerative Resistor Type (RGKD) When absorbing power of the built-in regenerative resistor exceeds the permissible absorbing power over a long time period (ten seconds to several minutes), abnormal overheating is detected.
Page 322: How To Connect And Set External Regenerative Resistor (Optional)
9. SPECIFICATIONS 9.5.3 How to Connect and Set External Regenerative Resistor (Optional) Select an external regenerative resistor according to the regenerative power calculated in "9.1.16 Regenerative Processing". The following explains how to use the resistor. Regenerative resister Servo Amplifier Y / COM Input sequence power 2 (input sequence power 1)
Page 323 9. SPECIFICATIONS Operational precautions For the details of how to connect an external regenerative resistor, refer to "Fig. 9-29 Detailed Connecting Methods of External Regenerative Resistors". 2. Some terminals to be connected differ depending on the amplifier capacity. • Amplifier capacity of 15A to 30 A Connect an external regenerative resistor between the P and Y (or COM) terminals.
Page 324: External Regenerative Resistor Combination Table
9. SPECIFICATIONS 9.5.4 External Regenerative Resistor Combination Table Referring to Table 9-23, determine the type, number of pieces and connecting method of the external regenerative resistor based on the effective regenerative power obtained by the operation pattern and the Servo Amplifier type. Table 9-23 External Regenerative Resistor Combination Table Up to Up to...
Page 325: Detailed Connecting Methods Of External Regenerative Resistor
9. SPECIFICATIONS 9.5.6 Detailed Connecting Methods of External Regenerative Resistors The following figures describe detailed connecting methods of external regenerative resistors. When changing connections of the regenerative resistor, make sure to change the relevant parameters, too. Without regenerative resistor Connection (I) One external regenerative resistor Regenerative processing not required (Thermostat : b-contact)
Page 326: External Regenerative Resistor Outline Drawings
9. SPECIFICATIONS 9.5.7 External Regenerative Resistor Outline Drawings 122 0.4 Silicone rubber glass fiber cable 0.5mm (thermostat) , White Silicone rubber glass fiber cable 0.75mm , Black Model No. Thermostat 1 REGIST-80W100B NC-contact 2 REGIST-80W50B NC-contact Fig. 9-30 172 0.9 Silicone rubber glass fiber cable 0.5mm (thermostat) , White Silicone rubber glass fiber cable...
Page 327 9. SPECIFICATIONS Earth mark Crimped terminal(for M5) A 2- 4.5 UL 1430 electric cable 0.2mm , White Silicone rubber glass fiber cable 2mm , White Model No. Thermostat Fig. 9-33 1 REGIST-500W20B NC-contact 2 REGIST-500W20 None 3 REGIST-500W10B NC-contact 4 REGIST-500W10 None Crinp style terminal A=M５...
Page 328 9. SPECIFICATIONS Warning Output 9.6.1 Overtravel Warning For position control and velocity control types (including control mode switching type at the time of position control or velocity control), this function controls motor revolution in accordance with the external signal status. Motor operation is controlled separately for forward revolution and backward revolution by overtravel signal.
Page 329 9. SPECIFICATIONS 9.6.2 Battery Warning This warning is issued when the battery power for keeping sensor data is lowered on the absolute encoder (ABS-E) and absolute sensor (ABS-RII). A dot in the 7-segment LED will be lighted when the warning is issued.
Page 330 9. SPECIFICATIONS Table 9-25-2 Output when overload warning is effective (e.g. OLWL = 80%) (Alarm output sequence = BIT *¹) Estimated CN-1 pin number for alarm output 7-segment Alarm/Warning motor Abbreviation LED display Name temperature (ALM8) (ALM4) (ALM2) (ALM1) Up to 80% of No alarm overload alarm No warning...
Page 331 9. SPECIFICATIONS Table 9-26-2 Output when overload warning is ineffective (e.g. OLWL = 100%) (Alarm output sequence =BIT *²) Estimated CN-1 pin number for alarm output 7-segment Alarm/Warning motor Abbreviation LED display Name temperature (ALM8) (ALM4) (ALM2) (ALM1) Up to 80% of overload alarm level No alarm...
Page 332 10. INTERNATIONAL STANDARDS INTERNATIONAL STANDARDS 10.1 International Standard Compliance..........10-2 10.1.1 Working Environment ............10-2 10.1.2 Power Supply..............10-2 10.2 CE Marking .................. 10-3 10.2.1 The CE Marking Conformity Standards ......10-3 10.2.2 How to Install the EMC ............ 10-4 10.2.3 Structure of the Control Panel .........
Page 333: International Standard Compliance
10. INTERNATIONAL STANDARDS 10.1 International Standard Compliance The "PY2" Servo Amplifier complies with the following international standards. International standard Standard No. TÜV EN50178 UL508C UL508C Low Voltage Directive EN50178 EMC Directive EN55011 10.1.1 Working Environment Since the working environment for the "PY2" Servo Amplifiers must be pollution level 2 or above (i.e. level 1 or 2) as specified in EN50178, make sure to use them in a pollution level 1 or 2 environment.
Page 334: Ce Marking
10. INTERNATIONAL STANDARDS 10.2 CE Marking At Sanyo Denki, we are executing tests on the "PY2" Servo Amplifier for compliance with the CE marking at qualifying institutions. The CE mark is required to be attached all end products sold in EU countries.
Page 335: How To Install The Emc
10. INTERNATIONAL STANDARDS 10.2.2 How to Install the EMC PY2A (Note 1) (Note 2) Connect to CN1 Connect to the PE (protective earth) terminal ( (Note 1) Noise filter (Note 2) Zero-phase reactor (Note 3) Cable clamp 感電注意感...
Page 336: Structure Of The Control Panel
10. INTERNATIONAL STANDARDS 10.2.3 Structure of the Control Panel 1. A metallic material is used for the control panel and its cover. 2. The joint of the roof and the side board shall be masked and welded. 3. The joint fixed with screws shall be welded to prevent noise from leaking from the gap in the joint. 4.
Page 337: Installation Inside The Control Panel
10. INTERNATIONAL STANDARDS 10.2.4 Installation Inside the Control Panel 1. Install the noise filter frame on the control panel. 2. Apply a coating mask on the control panel where the noise filter is installed. 3. The Servo Amplifier box must be grounded. 4.
Page 338: Wiring
10. INTERNATIONAL STANDARDS 10.2.5 Wiring 1. The motor power line shall be clamped on both the control panel and Servomotor sides. 2. The sensor signal line shall be clamped on both the control panel and the Servomotor sides. 3. Perform wiring of the motor power and sensor signal lines separately. Motor power line Clamp Clamp...
Page 339 10. INTERNATIONAL STANDARDS 6. Wind the zero-phase reactor four turns around the primary side of the noise filter. 7. Perform wiring from the secondary side of the noise filter to the Servo Amplifier, keeping it as short as possible. 8. The wiring for the primary and secondary sides of the noise filter must keep a certain distance apart. Four turns Noise filter Secondary side...
Page 340: Parts For Emc Countermeasures
10. INTERNATIONAL STANDARDS 10.2.6 Parts for EMC Countermeasures We recommend the following parts for EMC countermeasures. Noise filter Model Maker Specifications Rated voltage: Line-Line 440 - 550V RF3020-DLC RASMI ELECTRONICS LTD. Rated current: 20 A Rated voltage: Line-Line 550V 3SUP-HK30-ER-6B Okaya Electric Industry Co., Ltd.
Page 341: Ul Marking
10. INTERNATIONAL STANDARDS 10.3 UL Marking The "PY2" series products are qualified to have the UL (U.S. version) and cUL (Canada version) marks of the Underwriters Laboratories attached. 10.3.1 File Numbers File No.: E179775 Power Conversion Equipment (CCN: NMMS, NMMS7) In case you need certification of the Servo Amplifiers for your machines or systems when obtaining UL standards, let our sales representative know the above file number so that it can be obtained.
Page 342: Outline
11. SPECIAL SERVO FUNCTION SPECIAL SERVO FUNCTION 11.1 Outline of Servo Function ............11-2 11.2 Control Mode Switch ..............11-3 11.3 Gain Switch.................. 11-4 11.4 Real Time Automatic Tuning............11-5 11.5 Additional Function of Velocity Loop Proportional Gain ....11-9 11.6 P-PI Control Automatic Switch .............
Page 343: Outline Of Servo Function
11. SPECIAL SERVO FUNCTION 11.1 Outline of Servo Function "PY2" Servo Amplifier has variety of servo and tuning functions. 11.1.1 Tuning /Parameter Connection MODE.0-1 MODE.0-4 KvpM：MODE.5-14 TviM：MODE.5-15 Velocity loop MODE.1-2 MODE.0-9 Position proportional MODE.0-5 command Position ＋ gain pulse ＋ MODE.0-7 MODE.0-8 loop gain...
Page 344: Control Mode Switch
11. SPECIAL SERVO FUNCTION 11.2 Control Mode Switch "PY2" Servo Amplifier has “Control Mode Switch” function that can switch control mode to the most suitable one according to application requirements during operation. 11.2.1 Parameter Setting (1) Control Mode (TYPE: Mode 4, Page 3) Remarks TYPE Setting Control Type...
Page 345: Gain Switch
11. SPECIAL SERVO FUNCTION (2) Switching of Position control→Velocity control When switching to velocity control mode, velocity command value changes inconsecutively. Therefore, if control mode is switched during motor operation, the operation may become unstable after switch. Be careful to switch modes during operation. Having velocity command LPF (VLPF: page5 of Mode0) effective (not at 1000Hz) will reduce the inconsecutiveness of velocity command value.
Page 346: Real Time Automatic Tuning
11. SPECIAL SERVO FUNCTION (1) In case of Func = “Gain_Sel.” When gain switch input is OFF, “Servo gain switch (3 SWs)” in the middle of figure 11-1 will be at the position of “1”. The following parameters will be valid: Position loop gain : Kp Mode0 –...
Page 347 11. SPECIAL SERVO FUNCTION (2) Real time automatic tuning level (Tn_Lv: Mode3 page5) Setting level when executing tuning according to the device rigidity. Tn_Lv setting Procedure Device rigidity High rigidity Equivalent to “High” of offline automatic tuning ↓ ↓ Middle rigidity Equivalent to “Middle”...
Page 348 11. SPECIAL SERVO FUNCTION 11.4.2 Operation when real time automatic tuning is valid “Servo gain switch (3SWs)” in the middle of figure 11-1 will be at the position of “3”. Then proper gain will be estimated according to the Servo Amplifier and Motor operational status, and servo gain will be changed at real time.
Page 349 11. SPECIAL SERVO FUNCTION (3) When alarm occurs In case of parameter setting which enables real time automatic tuning, “Servo gain switch (3 SWs)” in the middle of figure 11-1 will be at the position of “3”. However, estimated gain cannot be judged whether it is proper or not when alarm occurs.
Page 350: Additional Function Of Velocity Loop Proportional Gain
11. SPECIAL SERVO FUNCTION 11.5 Additional Function of Velocity loop Proportional Gain Velocity loop proportional gain can be easily changed by setting rotary and sliding switches on Servo Amplifier front. With using this function together with real time automatic tuning, the estimated proper gain Kvp with additional value can be used.
Page 351: P-Pi Control Automatic Switch
11. SPECIAL SERVO FUNCTION 11.6 P-PI Control Automatic Switch The function that automatically switches between velocity loop proportional control and proportional integrate control according to the Motor speed is available. This function can shorten positioning time in position control. 11.6.1 Parameter setting (1) P-PI automatic switch function (Func6 bit1: Mode2 page7) Setting Contents...
Page 352: Full Close Function
11. SPECIAL SERVO FUNCTION 11.7 Full Close Function In this function, set external encoder for position control. As the hardware for this function is different from that for standard PY2 amplifier, need to decide whether or not to require this function before purchase. 11.7.1 Outline of full close function (optional) (1) Full close specification (for reference) External...
Page 353 11. SPECIAL SERVO FUNCTION (2) Additional connector Connector CN3 will be added for connection with full close encoder. The wiring is as follows. Full close encoder, connector (HDEB-9P) and power supply should be prepared by customer. Fig. 11-4 Full Close Additional Wiring Diagram (3) Maximum input frequency The maximum input frequency from full close encoder output to Amplifier is 2MHz (the frequency before multiplied by 4).
Page 354 SANMOTION P series PY2 Instruction Manual M0001584J Release: September, 1999 Rev.J: August,2003 Copyright 2002, SANYO DENKI Co., Ltd. All Rights Reserved. http://www.sanyodenki.co.jp SANYO DENKI CO., LTD. JAPAN SANYO DENKI CO., LTD. 1-15-1, Kita-Otsuka Toshima-KU Tokyo 170-8451, Japan PHONE: +81 3 3917 5151...

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