Outline Of Servo Function - Sanyo SUPER BL P5 Manual

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.1-2 MODE.0-9
Position
command
pulse
＋
－
Velocity
command
MODE.0-10
voltage
Internal velocity
command
selection
MODE.2-4
Bit.3,2,1,0
MODE.0-11
MODE.1-8 to 10
Position signal
output A, B
Position signal
output C
Note 1: Multiplication by 4 function is effective when encoder is INC-E or ABS-E. For ABS-RⅡ,
1 multiplication will be fixed.
Note 2: Servo system complying with full close is required in order to connect external encoder.
Consult with us. If servo system does not complying with full close, set bit7,6 of Mode 2-1 and
bit4 of Mode2-6 to "0".
Note 3: Each low pass filter and notch filter becomes invalid when set at 1000Hz.
Note 4: Servo parameter of
can be monitored
page 13,14,15,16)
MODE.0-4
MODE.0-5
Position
＋
loop gain
＋
＋
Ｋｐ
＋
KpM:
MODE.5-13
Velocity
addition
MODE.2-2
Bit.7
Servo gain switching
Selection of servo function
Func：MODE.4-2
1 2 3
Position loop encoder
selection
MODE.2-1
Bit.7
Output encoder
multiplier switching
MODE.2-1
Bit.6
MODE.1-4 Divided output
signal switching
Output MODE.2-6
Bit.4
pulse
dividing
Fig. 11-1 Tuning/ Parameter Connection
changes according to set status. Current status of valid set value
KvpM：MODE.5-14
TviM：MODE.5-15
Velocity loop
proportional
gain
Ｋｖｐ
＋
Velocity loop
＋
－
Integra time
＋
constant
１
∫
Ｔｖｉ
Torque
compensation
Torque
Bit.6
command
voltage
＋
＋
1 2 3
Sliding SW
Rotary SW
ation
Multiplic
by remote operator and monitor mode of PC interface (Mode 5
11－2
MODE.0-7 MODE.0-8
Current
command low
pass filter
ＩＬＰＦ
ILPM:
MODE.5-16
Resonance
MODE.7-5
frequency
estimating
MODE.8-3
processing
Automatic notch tuning
Real time・
Automatic tuning
1 2 3
Proper gain
Operation
Servo gain 1
processing
（Non-volatile
memory）
MODE.3-5
MODE.8-4
Ｋｐ
MODE.0-0
Ｋｖｐ
MODE.0-2
Offline・
Ｔｖｉ
MODE.0-3
Automatic tuning
ＩＬＰＦ
MODE.0-6
Proper gain
Operation
Servo gain 2 processing
（Non-volatile
memory）
MODE.7-1
Ｋｐ２
MODE.8-0
Ｋｖｐ２
MODE.8-1
Ｔｖｉ２
MODE.8-2
Velocity loop gain addition
（Non-volatile memory）
ＫｖｐＡ
MODE.0-12
4
multiplier
SM
ｄ
ｄｔ Note 1
4
multiplier
Encoder
External
encoder