Sanyo Denki PE Series Installation And Operation Manual
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Sanyo Denki PE Series Installation And Operation Manual

Sanyo Denki PE Series Installation And Operation Manual

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###########################################&RQWUROV/#'ULYHV/#DQG#0RWRUV
Sanyo Denki
PE Servo System
Installation and Operation Manual
Sales & Technical Support
8:30 a.m. to 5:30 p.m. EST
Toll Free: 1.888.531.8213
Atlanta Area: 770.497.8086
Fax: 770.497.8666
Support@MotionOnline.com
Automation Intelligence
Motion Products ™ System Integration
2855 Premiere Parkway, Suite A
Duluth, Georgia 30097-4902
Issued: 27-Apr-00
Arrow.com.
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  • Page 1 ######################### <RXU#)LUVW#2QOLQH#5HVRXUFH#IRU ###########################################&RQWUROV/#'ULYHV/#DQG#0RWRUV Sanyo Denki PE Servo System Installation and Operation Manual Sales & Technical Support 8:30 a.m. to 5:30 p.m. EST Toll Free: 1.888.531.8213 Atlanta Area: 770.497.8086 Fax: 770.497.8666 Support@MotionOnline.com Automation Intelligence Motion Products ™ System Integration 2855 Premiere Parkway, Suite A...

  • Page 2: Table Of Contents

    Table of Contents INTRODUCTION ......................5 About this Guide ............................... 5 Safety ..................................7 Technical Support ..............................9 Product Family Overview ............................10 INSTALLATION ......................12 Chapter Overview ..............................12 Unpacking and Inspection Procedure........................13 Inspection Test ................................ 14 Amplifier Installation ......................
  • Page 3 MAINTENANCE AND TROUBLESHOOTING ............100 Chapter Overview ..............................100 Maintenance ................................101 Troubleshooting ..............................101 SPECIFICATIONS ......................111 Chapter Overview ..............................111 Acceleration and Deceleration Time........................112 Dynamic Brake..............................113 Miscellaneous Servo Motor Specifications ......................114 INDEX .........................115 PE Manual Copyright © 2000 Automation Intelligence, Inc. Issued: 27-Apr-00 Arrow.com.
  • Page 4 List of Tables Table 1: Manual Syntax ..............................6 Table 2: Valid Drive Systems ............................. 11 Table 3: Amplifier Environmental Requirements ....................... 20 Table 4: Power Dissipation ............................20 Table 5: Motor Environmental Requirements ......................22 Table 6: Motor IP Rating ............................25 Table 7: Allowable Radial and Thrust Loads......................

  • Page 5: Introduction

    Introduction About this Guide In this Chapter This chapter covers the following topics: About this Guide ......................5 In this Chapter Introduction Manual Organization Syntax Information Safety..........................7 Technical Support ......................9 Online Support E-Mail Support Telephone Support Field Service Product Family Overview.....................

  • Page 6: Table 1: Manual Syntax

    Chapter 4. System Configuration describes how to use the remote operator and then walks you through the configuring and tuning of your system. This chapter concludes with a detailed description of each amplifier parameter. Chapter 5. Operation chapter provides a detailed description of the sequence and timing of operation within the amplifier.

  • Page 7: Safety

    Safety ü ü DANGER Only qualified personnel familiar with the construction and operation of this equipment and the hazards involved should install, adjust, operate, or service this equipment. Read and understand this manual and other applicable manuals in their entirety before proceeding. Failure to observe this could result in severe injury or loss of life.
  • Page 8 ü ü CAUTION Observe all installation directions. Failure to do so may result in injury, damage to equipment, or poor performance. Make sure nothing obstructs or impedes ventilation around the amplifier. Observe all mounting clearance distances around the unit. Never install the system in a location where water, or other fluids, may be splashed, or in a flammable gas atmosphere.

  • Page 9: Technical Support

    Technical Support Online Support The most convenient and effective method for support is online at our web site www.MotionOnline.com In addition to this manual, you may download our Handbook of AC Servo Systems, application notes and answers to frequently asked questions from this site. E-Mail Support Questions can be submitted via e-mail and in most cases our Technical Support staff will reply the same day, but in all cases you will receive a reply before the end of the next...

  • Page 10: Product Family Overview

    Product Family Overview Amplifiers Sanyo Denki designs and manufactures a wide range of servo and stepper drives. Seven models from the PE and PV families are available to you from Automation Intelligence via MotionOnline.com (this manual covers the PE family of drives).

  • Page 11: Table 2: Valid Drive Systems

    Cables To lower life-cycle cost and improve reliability, Automation Intelligence requires customers to use Sanyo Denki motor power and feedback cables. These cables may be ordered in standard or custom lengths. Standard cables are usually available directly from stock.

  • Page 12: Installation

    Installation Chapter Overview This chapter contains a guide for the installation of the amplifier and matching motor, from unpacking the equipment, performing an initial test, to mounting it in panels. Chapter Overview......................12 Unpacking and Inspection Procedure................13 Unpack the Amplifier Inspection Inspection Test ......................

  • Page 13: Unpacking And Inspection Procedure

    Unpacking and Inspection Procedure ƒ Unpack the Before opening packages, verify that the model numbers of the box match your order. Amplifier If they do not, please contact Automation Intelligence, see page 9 Technical Support. ƒ After opening, verify that the model numbers on the product match the box. If they do not, please contact Automation Intelligence, see page 9 Technical Support.

  • Page 14: Inspection Test

    Inspection Test WARNING ü The parameter settings at the start of this inspection test are assumed to be factory default settings. If this is not the case, the inspection test may not be successful even though there is nothing wrong with the servo amplifier or motor. Also, at the conclusion of the test, some amplifier parameters may not be returned to the initial state.
  • Page 15 Set Key Motor Type Parameters Turn ON the control power, the 230Vac attached to the r and t terminals. The power LED should turn ON and a dash should appear in the middle of the 7-segment display. The remote Operator Screen should display the [Push Mode Key] screen and a beep should sound.
  • Page 16 Press the key three times to switch to page 13 where you can set the Func3 parameters. ì Press the key and the key to change bit 6 to a 1. Press the [WR] key. Bit 6 will return to 0 when the control power is turned OFF.

  • Page 17: Amplifier Installation

    Amplifier Installation General Requirement Condition Recommended Precautions Amplifier In An The temperature inside an enclosure may be higher than the Enclosure outside temperature, depending on the power loss of internal equipment and the dimensions of the box. Be sure to determine the dimensions of the box, cooling method, and panel layout so that the temperature around the amplifier will be kept lower than 55C.
  • Page 18 Mounting and Install the amplifier vertically as shown in the figure below, with the indicated clearances. Clearance Because the amplifier uses convection cooling it may not be mounted horizontally. Requirements Provide the indicated space above, below and to the side of the amplifier for air flow. If this space cannot be provided, install a fan to increase air flow around the amplifier.
  • Page 19 4-M5 50 mm or more 5 mm or more Front Surface Cut-out 50 mm or more Front Surface Mounting t212mm t62mm PE2A015 225mm 25mm t212mm t62mm PE2A030 225mm 25mm t212mm t127mm PE2A050 225mm 75mm Cooling 4-M5 Air Flow 50 mm or more Front Fins Surface...

  • Page 20: Table 3: Amplifier Environmental Requirements

    Amplifier The amplifier should be installed in an environment that meets these requirements. Environmental Table 3: Amplifier Environmental Requirements Requirements Item Specification Ambient Temperature Operating 0 to 55C 32° to 131°F Non-operating -20 to 65C -4° to 149°F Humidity Maximum 90% Non-condensing Vibration Maximum 0.5G 10 to 55Hz...
  • Page 21 Enclosure Size When sizing a NEMA 12 or equivalent enclosure with no active method for cooling, the following equation approximates the size of enclosure required. § · ò ¨ ¸ © ¹ Where: T = Temperature difference between inside air (130 qF maximum) and outside air [qF] Q = Total amount of heat generated in the enclosure [W] A = Surface area of the enclosure in ft...

  • Page 22: Motor Installation

    Motor Installation Environmental The motor should be installed in an environment that meets these requirements. Requirements Table 5: Motor Environmental Requirements Item Specification Ambient Temperature Operating 0 to 40C 32° to 104°F Non-operating -20 to 65C -4° to 149°F Humidity Maximum 20% to 90% Non-condensing Air Quality Dust-free...
  • Page 23 Motor Mounting P2 Motor Dimension Diagram (all dimensions in mm) 13; 0 ###/& +/*, 70‘< 13; 0 ‘/$ +‘/+, ‘/% ‘6 +./4, 4< +./5, 6(&7,21#+#0#+ +.%4, +.%5, 50/=5 7+528*+07$333,1*#)25#02725 .(<#326,7,21 02725 (1&2'(5 6+$)7#(1'#7+5($'('#+2/( 237,21$/ 418#)#518#.Z###+09/#419#3,7&+/#53#'(37+, %5$.( 613#)#813#.Z###+0;/#4158#3,7&+/#58#'(37+, w/o brake w/ brake Type LL KB2 LL KB2 KB1 KL1 KL2 LG LA LE LH LC LZ2 LR...
  • Page 24 P3 Motor Dimensions Diagram (all dimensions in mm) 13: 0 ##/& 70‘/=4 139 0 ‘/$ ‘/% ‘6 +‘/+, 4(#WDS 4333“433 'HSWK#/7 4333“433 ‘'4 ‘71: 237,21$/ (1&2'(5 %5$.(#&211(&725 &211(&725 $3;1#56[49 $3;1#53[49 02725#&211(&725 $3;1#6<[49 Type LG KL LE LH LC LZ1 LR Q QE LT D1 w/o brake w/ brake...

  • Page 25: Table 6: Motor Ip Rating

    Motor Orientation Cable and Motor Orientation and Cable Routing The servo motor can be installed horizontally or vertically with the shaft pointing down. If the motor is positioned horizontally, rotate the motor so that the cables exit downward. If the motor is mounted vertically, provide a cable trap to prevent oil or water from flowing down the cable to the motor.
  • Page 26 Slacken the cable outside the cover and provide a cable trap so that oil and water may not travel up the cable. Seal with a gasket Cover Do not let cables touch any water or oil reservoir If an oil-filled gearbox is used, make the oil level of the gear box lower than the oil seal lip.
  • Page 27 To check centering, make a measurement at 4 points on the circumference, the difference between maximum and minimum should be 0.03 mm or less. Make 4 measurements around the circumference and verify less than .03 mm (~1 mil) between min and max measurements A precision encoder is directly connected to the motor shaft.
  • Page 28 When installing a gear, pulley, or coupling on the shaft avoid striking the shaft which will damage the motor encoder. Use a bolt on the end of the shaft to pull tight fitting parts together. å é Bolt Plate Pulley When removing the gear, pulley, or coupling from the shaft, use a dedicated extracting tool to avoid damaging the shaft or motor encoder.

  • Page 29: Table 7: Allowable Radial And Thrust Loads

    Bearing Load When attaching a pulley or gear directly to the motor shaft, do not apply an excessive Specifications thrust or radial load. The thrust and radial loads in the table below are the maximum allowable loads when independently applied to the shaft. LR/3 Thrust Load The allowable radial load is...

  • Page 30: Installation Check List

    Installation Check List Amplifier is mounted in a clean protected environment free from dust, water, oil mist, corrosive gas, and combustible gas. Proper amplifier ventilation has been provided. The ambient temperature near the amplifier does not exceed 55C during operation. The motor has been securely mounted to the machine and the load has been securely attached to the motor shaft.

  • Page 31: Wiring

    Wiring Chapter Overview This chapter contains a guide for wiring of the amplifier and matching motor. Chapter Overview......................31 Cable Connection Diagram Wiring Precautions....................... 33 Applicable Wire Sizes....................34 Input Power ........................35 Leakage Current ......................35 Connection Diagram with P2 Motor ................36 Connection Diagram with P3 Motor ................

  • Page 32: Cable Connection Diagram

    Cable Connection Below is a simplified connection diagram. This diagram shows how to connect a system Diagram using standard cables. A detailed connection diagram follows. PE Drives Interlock System Start Ready ON Set-Up Tool Error RDY1 RP-001 (includes RDY2 2 meter cable) Suppressor Optional External Circuit...

  • Page 33: Wiring Precautions

    Wiring Precautions ü ü Always follow all local, regional, national and international electrical codes! In case of conflicts between regulations and this instruction manual please contact the factory. ü ü Connect ground signals first and remove them last when installing or removing equipment.

  • Page 34: Applicable Wire Sizes

    Applicable Wire Sizes The chart below identifies the recommended wire sizes for all connections. This is only a guide. The installer is responsible for satisfying all applicable codes and regulations. ü DANGER The user is responsible for conforming with all applicable local, regional, national, and international codes.

  • Page 35: Input Power

    Input Power The table below shows the power supply capacity requirements for each of the systems. Table 9: Power Supply Capacity Requirement Bus Circuit Control Circuit Drive Model Motor Model Capacity Capacity In Rush § Capacity Capacity In Rush § @600mS @1mS PE2A015...

  • Page 36: Connection Diagram With P2 Motor

    Connection Diagram with P2 Motor +127(#4, 3(#'5,9( 418N:#$1'#518N: +127(#<, 35#02725 $&#32:(5#6833/< 63+#533#72#5639$& +127(#9, +127(#9, 83293+]#.43(2048( %/$&. %/$&. 0$,1 +2/',1* 32:(5 %5$.( 25$1*( & :+,7( <(//2: 237,21$/ +127(#:, &15 &21752/ %/8( 32:(5 +127(#;, 5'<4 %/$&. (;7(51$/ 6(592 5'<5 5(*(1 *5((1 5($'< 613N:#$1'#813N:#35#02725 <...

  • Page 37: Connection Diagram With P3 Motor

    Connection Diagram with P3 Motor +127(#4, 3(#'5,9( +127(#<, 36#02725 $&#32:(5#6833/< 63+#533#72#5639$& +127(#9, +127(#9, 83293+]#.43(2048( :+,7( 0$,1 +2/',1* 32:(5 %5$.( %/$&. *5((1 237,21$/ +127(#:, &15 &21752/ %/8( 32:(5 +127(#;, 5'<4 %/$&. (;7(51$/ 6(592 5'<5 5(*(1 *5((1 5($'< < %/$&. &20 &20 &...

  • Page 38: Tb Connector

    TB Connector Table 11: TB Connector Pin Assignments Symbol Explanation Input terminal for thermostat of external regeneration resistor. If an external regeneration resistor is not required, a shorting bar is connected between H1 and H2. An open circuit indicates an external regeneration resistor overheat condition.

  • Page 39: Input/Output Internal Circuits

    Input/Output Internal Circuits Table 12: CN1 Internal Circuits Circuit Description Figure Type Photo-coupler Input These inputs share a common user-supplied 5 to 24Vdc supply. They are turned ON by connecting the input pin to ground. The required power specification is 5-24Vdc 2.35K ±10%, 100ma or more.
  • Page 40 Circuit Description Figure Type Analog Input This input is designed to receive negative analog voltage. CN1-19 NIL 9.1V -15V Isolated Open Collector Output All outputs share a common 5 or 12 to 24Vdc supply (5Vdc ±10% 20ma or more, 12-24Vdc ±10% 20mA or more) CN1-39 INP/LTG Regulator...

  • Page 41: Cn1 Control Connector

    CN1 Control Connector Table 13: CN1 Pin Assignments Abbreviation Description Circuit Type None Reserved None Reserved Encoder Positive A Signal Output. Output by line driver (26LS31) after the encoder pulses are divided (ENCR). The divider is set using the Remote Operator, Mode 0 page 7.
  • Page 42 Abbreviation Description Circuit Type Positive Current Limit. The current is limited to the rated current at +2V. This input is effective when the ILM (CN1 pin 31) input is ON. Also, to enable external current limit, Func1 bit 0 must be set to “1” using the remote operator.
  • Page 43 Abbreviation Description Circuit Type Current Limit Permit. Current is limited when this input is ON. The value that current is limited to may come from an internal drive source, IILM, or external inputs PIL (CN1-18) and NIL (CN1-19) as determined by Func1 bit 0.
  • Page 44 Abbreviation Description Circuit Type Output Sequence Power Supply. External power supply for CN1-39, 40, 41, 42, 43, 44, 45, and 46. Use only Pin 38 or 49, NOT both. In Position (Position Mode). This signal indicates that the contents of the deviation counter is within the setting range, OVF.

  • Page 45: Cn2 Motor Encoder Connector

    CN2 Motor Encoder Connector The motor encoder is connected to the amplifier via the CN2 connector. The figure below identifies the pin assignment for this connector. Table 14: CN2 Pin Assignments Abbreviation Description Circuit Type None Reserved None Reserved Encoder Positive A Signal Input Encoder Negative A Signal Input Encoder Positive B Signal Input Encoder Negative B Signal Input...

  • Page 46: Operator Terminal

    Operator Terminal The operator terminal connector is only intended to be used with the Sanyo Denki Remote Operator and cable. This connector is therefore not specified further. PE Manual Copyright © 2000 Automation Intelligence, Inc. Issued: 27-Apr-00 Arrow.com. Arrow.com. Arrow.com.

  • Page 47: External Regeneration Resistors

    External Regeneration Resistors When to use an When operating, servo systems transform electrical energy to mechanical energy to External accelerate the motor and to overcome system losses such as friction. When a moving load Regeneration is decelerated, or another system is “pulling” the load, the servo system converts this mechanical energy into electrical energy which is then dissipated as heat in a resistor.
  • Page 48 = Armature Resistance [Ohms] = Deceleration time = Up deceleration time = Down drive time = Down deceleration time = Cycle time Motor Model [Nm / A [V / RPM] [Ohms] P30B04010D 0.292 0.0102 4.30 P30B06040D 0.533 0.0186 1.40 P30B08075D 0.565 0.0197 0.52...
  • Page 49 Vertical Load Motor Speed and Torque Profile with Vertical Load Motor Speed = N Going Down Going Up = torque to accelerate = load torque due to gravity = torque to decelerate = friction torque + torque against gravity due to offset gravity = torque to drive = torque to decelerate...

  • Page 50: Table 16: Regeneration Resistor Selection

    Selecting the If the calculated regeneration power is greater than the capacity of the internal resistor, an Right External external regeneration resistor is required. The table below provides details on the factory Regen Resistor external regen options. There is a low, medium and high power option for amplifiers up through 100A.

  • Page 51: How To Connect A Regen Resistor

    How to connect a Remove shorting bars from the H1, H2 terminals and the X, COM terminals of the main Regen Resistor power barrier strip. See figure below. Regeneration Servo Resistor Remove the Amplifier Jumper Bars Using the Table 16: Regeneration Resistor Selection above, determine the proper circuit configuration, type D, S, P or SP.

  • Page 52: Regeneration Resistor Mounting

    Regeneration Resistor Mounting REGIST-220W100B and REGIST-220W50B (dimensions in mm) 220±0.4 Ø4.3 60±0.4 42.7 Silicone rubber glass braided wire 0.75mm² black Silicone rubber glass braided wire 0.5mm² white (Thermostat) REGIST-500W20B, REGIST-500W10B or REGIST-500W7B (dimensions in mm) Ground mark Press-fitting terminal (for M5) 2-M5 THERMOSTAT 2 @ Ø4.5 UL 1430 wire 0.2mm²...

  • Page 53: Wiring Check List

    Wiring Check List The shortest possible factory-supplied cables have been used for motor power, encoder feedback, control signals and remote operator. All local electrical and safety regulations have been satisfied. All screw terminals are tight. The motor power and motor encoder cables are routed separately. All ground connections are secure.

  • Page 54: System Configuration

    System Configuration Chapter Overview In this chapter, you will be introduced to setting parameters, viewing alarm history, tuning and monitoring the amplifier with the Remote Operator. Chapter Overview......................54 Using the Remote Operator ..................55 Overview Remote Operator Modes Navigation Quick Setup ........................

  • Page 55: Using The Remote Operator

    Alarm Trace In the Alarm Trace mode, the operator can review the current and previous 7 alarms. Test In the test mode, the operator can jog the servo motor and run the auto-tuning algorithm. Page Mode SANYO DENKI *XXXXX zzzzzz #### Parameter Parameter Name...
  • Page 56 Modes Navigation numbered mode 0 through 4 respectively. The diagram below shows how to navigate through these modes. The up and down arrows are used to scroll through the elements within a mode. SANYO DENKI *Para. Set Kp = 120rad/S MODE...

  • Page 57: Quick Setup

    Quick Setup The amplifiers are factory configured for the most common applications. Therefore, no setup is required in most cases. The most common configuration changes include the following: the selection of an alternative command mode, such as position or torque mode (velocity mode is the default) for a PE2A030 amplifier with a P30B06040 motor, and a PE0A100 amplifier with a P20B10250 motor, the proper motor must be selected...

  • Page 58: Table 17: Quick Setup Steps

    Table 17: Quick Setup Steps Step Procedure Select the proper Turn ON the control power, the 230Vac attached to the r motor and the desired and t terminals. The power LED should turn ON and a control type. dash should appear in the middle of the 7-segment display. The Remote Operator screen should display the [Push Mode Key] screen and a beep should Velocity Mode...

  • Page 59: Amplifier Parameters

    Amplifier Parameters Summary The PE Amplifier family has many features and functions. The behavior of those functions are controlled and configured by amplifier parameters. The descriptions of these parameters have been arranged in several ways for easy reference. Position Loop Pictorial reference of all the parameters associated See page 60 with tuning a controller that is configured for position...
  • Page 60 Position Control Position Loop Parameter Block Diagram No.0-12 bit 7 Torque Compensating Voltage No.0-15 No.0-16 No.0-18 No.0-1 No.0-2 No.0-3 No.0-17 No.0-20 No.0-19 No.0-9 No.1-5 No.0-6 No.0-0 Command Pulse Motor Current No.0-11 bit 2 No.0-11 bit 1 No.1-0 No.1-1 MON1 Encoder “Page Number”...
  • Page 61 Velocity Control Velocity Loop Parameter Block Diagram No.0-12 bit 7 Torque Compensating Voltage/ This area is not active No.0-3 Torque in torque mode No.0-16 No.0-18 Command Voltage No.1-2 No.0-19 Velocity No.0-17 Command No.0-2 Voltage Current Motor No.0-11 bit 2 No.0-11 bit 1 No.1-0 No.1-1...
  • Page 62 Current Limiting Internal and external current limit parameters diagram External Internal to Drive Positive Current Limit (PIL) Positive CN1-18 Internal Current Current Limit (IILM) Limit Mode 0 Page 14 Current Limit Control Method (IMOD) Func1, Bit 0 100% 0=Internal Value 1=External Value Negative 30 - 400%...
  • Page 63 Name Abbrev Range Default Units Func Mode- Page Function Switch 1 Func1 00000000 0-11 Function Switch 2 Func2 00100000 0-12 Function Switch 3 Func3 00000000 0-13 Function Switch 4 Func4 00000000 0-22 In-Position Window 1 to 255 Alarm P(r) Monitor Low Velocity Threshold 10 to 9999 Monitor...
  • Page 64 Name Abbrev Range Default Units Func Mode- Page Motor Encoder Type ENKD 2 Different INC.E Values Encoder Pulse Count ENPL 13 Different 2000P/R Motor Values Feed Forward, Low Pass FLPF 1 to 990 Tune 0-15 Filter Function Switch 1 Func1 00000000 0-11 Function Switch 2...
  • Page 65 Name Abbrev Range Default Units Func Mode- Page Velocity Command, Zero Vzero -127 to +127 Adjustment CMD = Command Signal, Tune = Tuning Functions, I/O = Input and output functions, Fdbk = Feedback Parameter The table below contains a list of all the amplifier parameters arranged by mode and page Summary, by as they appear in the remote operator.
  • Page 66 Name Abbrev Range Default Units Func Mode- Page Monitor Monitor 2 Output 9 Different Ic 2V/IR (IR = Rated Current) Values Velocity Command, VCMD 3 Different 2mV/min Tune Coarse Scale Adjustment Values Velocity Command, Zero Vzero -127 to +127 Adjustment Velocity Command, Fine Vscal -127 to +127...
  • Page 67 Control Type TYPE Remote Operator Mode: Page: Default Value: Velocity Function: Setting Range: 3 diff. Values Description: Control mode Either the position, velocity or torque control types can be selected. Display Contents Position Position Control Type Velocity Velocity Control Type Torque Torque Control Type Note:...
  • Page 68 Current Command, Low Pass Filter ILPF Remote Operator Mode: Page: Default Value: 450 Hz Function: Tune Setting Range: 1 to 990Hz Description: Current command LPF The cut-off frequency of the current command low-pass filter. Current Limit, Internal Value IILM 100 % Remote Operator Mode: Page: Default Value:...
  • Page 69 Electronic Gear Ratio EGER Remote Operator Mode: Page: Default Value: Function: Setting Range: 1/10000 to less than 32 Description: Electronic gear ratio is applied to incoming position commands. F in Frequency into the amplifier F out Frequency out of the gear function 1 to 10000 EGER 1 to 10000...
  • Page 70 Encoder Pulse Number ENPL Remote Operator Mode: Page: Default Value: 2000P/R Function: Motor Setting Range: 13 diff. Values Description: Encoder pulses per motor revolution. The standard value is 2000 counts per revolution before quadrature (4X) multiplication. The 2000 line encoder is the only one available from Automation Intelligence (MotionOnline.com) and it provides 8000 counts per revolution inside the drive at all times.
  • Page 71 Feed Forward Gain Remote Operator Mode: Page: Default Value: Function: Tune Setting Range: 0 to 100% Description: Position loop feed forward gain. When set to 100%, the following error becomes “0” when a constant speed is commanded. Higher values of Kff reduce the following error of the position loop. However, too high of a value may cause the system to become unstable and vibrate.
  • Page 72 Following Error Limit Remote Operator Mode: Page: Default Value: Function: Alarm Units: X256 pulses Setting Range: 1 to 32767 Description: The following error limit is the absolute difference between the commanded position and the actual position. If the following limit is exceeded an OVF alarm occurs. A setting of 10 would equal following error limit of 2,560 (10 x 256) encoder pulses.
  • Page 73 Function Switch 2 Func2 Remote Operator Mode: Page: Default Value: 00100000 Bit Function: Setting Range: Description: Function switch number 2 TCOP HOFF SEIH RGOL Monitor 1 Output Polarity 0 = Positive output with forward motion 1 = Negative output with forward motion Monitor 2 Output Polarity 0 = Positive output with forward motion 1 = Negative output with forward motion...
  • Page 74 Function Switch 3 Func3 Remote Operator Mode: Page: Default Value: 00000000 Bit Function: Setting Range: Description: Function switch number 3 This switch can set CN1-35 and 36 pins to desired terminals (bits 0-3). Bit 6 enables test mode Jogging and auto-tuning. Bit 7 enables system parameters to be changed. TEST ZCLP bit 1...
  • Page 75 In-Position Window Remote Operator Mode: Page: Default Value: ±64 pulse Function: Alarm Setting Range: 1 to 255 Description: Width of in-position window (CN1-39.) When the absolute value of the difference between the command position and the actual position is less than the In-Position Window (INP) the In-Position Output (CN1-39) is turned The standard value is the encoder pulse multiplied by 4, irrespective of the electronic gear function, encoder dividing ratio, or the command multiplier setting.
  • Page 76 Monitor 1 Output Remote Operator Mode: Page: Default Value: Vm 2mV/rpm Function: Monitor Setting Range: 9 diff. Values Description: Monitor 1 output The contents of monitor 1 output (CN1-15 pin and Remote Operator check pin M1) can be selected from the following 9 different values. Display Contents Im 2V/IR...
  • Page 77 Motor Type Remote Operator Mode: Page: Default Value: $$$$ Function: Motor Setting Range: Within the P3 & P2 series motors Description: Type of Motor Set the amplifier motor type to match actual motor (Example) Display Contents P30B04010D The P3 series 100W motor is selected. $$$$: Varies with specifications on shipment from factory.
  • Page 78 Position Command, Low Pass Filter Time Tpcm Constant 0 mS Remote Operator Mode: Page: Default Value: Function: Tune Setting Range: 0 to 4000 Description: Position command LPF time constant The time constant for the position loop low-pass filter. When it is set to “0,” no filter is inserted.
  • Page 79 Position Command, Pulse Train Pattern PMOD Remote Operator Mode: Page: Default Value: 00000000 Bit Function: Setting Range: Description: Position command pulse train form DFC1 DFC0 00=500kHz maximum frequency 0.8PS minimum pulse width 01=Prohibited 10=Prohibited 11=300kHz maximum frequency 1.6PS minimum pulse width Positive Position counts 0 = Count at the rising edge, 1 = Count at the falling edge Negative Position counts...
  • Page 80 User Interface Functions Remote Operator Mode: Page: Default Value: 00000000 Bit Function: Setting Range: Description: Selection of user I/F functions Selects whether external signals are made effective. If not, they are turned ON internally. Also selects an overtravel input logic and serial signal output method. PROT NROT CN1-36...
  • Page 81 Velocity Command, Fine Scale Adjustment Vscal Remote Operator Mode: Page: Default Value: Function: Tune Setting Range: -127 to +127 Description: To make fine adjustment to the velocity command scale, press the ] or [ while observing the revolution of the motor. (Example) When setting the scale to 2 V/1000 min Set the VCMD parameter (Remote Operator Mode 1 page 2) to 2 mV/min...
  • Page 82 Velocity Loop, Integral Time Constant Remote Operator Mode: Page: Default Value: 20 - PE2A015 20 - PE2A030 15 - PE2A050 15 - PE0A100 15 - PE0A150 Function: Tune Setting Range: 2 to 1000mS Description: Velocity loop integral time constant Integration time constant of the velocity controller (PI control) . Velocity Velocity Regulator Kvp (1+ ³...

  • Page 83: Amplifier Tuning

    Amplifier Tuning Auto-Tuning General The auto-tuning function operates the motor using the Remote Operator and estimates the load inertia by moving the load and measuring amplifier currents. With this information, the tuning parameters are automatically set. The four (4) parameters that are set include position loop gain (Kp), velocity loop gain (Kvp), velocity loop integration time constant (Tvi) and current command low pass filter (ILPF).
  • Page 84 Enter Tuning, Page 1 Enter Test Mode Before SANYO DENKI *Test Tune Set Low MODE Next REMOTE OPERATOR Set Rigidity Inc. SANYO DENKI *Test Save Setting Tune Set Low Dec. REMOTE OPERATOR Abort SANYO DENKI *Test Tune Rdy Y=3,N=0 Start Auto-Tuning...
  • Page 85 For Position Mode operation, also turn on the Deviation Clear input to clear any position error that may remain after tuning. If a position controller is being used, a position error in that controller may have accumulated during the jogging operation. This error results in a command signal from the position controller to the amplifier.

  • Page 86: Jogging

    Jogging The motor can be rotated forward and backward using the Remote Operator. The jogging speed may also be set using the Remote Operator. Jogging is one of two operations that can be performed in the test mode. The other is auto-tuning. Jogging is on page 0 and tuning is on page 1.
  • Page 87 Since a position loop deviation may remain after a JOG operation, be sure to perform a “deviation clear” before returning to normal operation. Jogging Operation Procedure Enter Jogging, Page 0 Enter Test Mode Before SANYO DENKI *Test Jog Set 10min MODE Next...

  • Page 88: Monitor Screen

    Monitor Screen The Remote Operator may be used to monitor inputs, outputs, velocity, current, etc., of ë the servo amplifier. The monitor mode is mode SANYO DENKI *Monitor Input : 00000000 MODE REMOTE OPERATOR Table 18: Monitor Mode Page Descriptions...

  • Page 89: Alarm Trace Screen

    Using the Remote Operator, you may view the current alarm and the previous 7 alarms. Refer to Maintenance and Troubleshooting on page 100, for assistance determining and correcting the conditions that led to the alarms. ê The monitor mode is mode SANYO DENKI *Alarm Last1 : EXOH MODE REMOTE OPERATOR...

  • Page 90: Table 20: Amplifier Alarm Codes

    Table 20: Amplifier Alarm Codes 7-Segment Abbreviation Description Overcurrent Overload Amplifier Overheating Overvoltage Overspeed Control Power Supply Error Detector Error – Encoder Error Bus power (R, S, and T) Error Fail Phase - bus power (R, S, and T) is missing a phase Speed Control Error Position Deviation Overflow...

  • Page 91: Operation

    Operation Chapter Overview This chapter contains a guide for the operation of the amplifier. Included in this section are timing diagrams showing the state of inputs and outputs during normal and alarm operation. Chapter Overview......................91 Pre-Operation ....................... 92 Amplifier Status Display Power On Sequence .....................

  • Page 92: Pre-Operation

    Pre-Operation Amplifier Status The amplifier has a 7-segment display, a power LED and a Charge LED on the face that Display is used to indicate the operating status and alarm conditions. Use the table below to decode the 7-segment display. Table 21: Amplifier Status Display Display Status...

  • Page 93: Power On Sequence

    Power On Sequence The timing diagram and circuit diagram below details the proper sequence of operation for turning on the power to the amplifier. ‹ Control Power ON (r,t) ‹ Sequence Power ON (CN1) 1 Second ‹ Amplifier Ready Output (RDY) or less ‹...

  • Page 94: Stop Sequences

    Stop Sequences Stop and recovery During normal operation, bus power (R, S, and T) may be removed from the amplifier due to loss of bus without removing the control power. For example, this may be done to create a safe power (interlock) environment so the operator may remove a product sample mid-process for quality control or to clear a product jam.
  • Page 95 Stop and recovery If an error occurs during operation, the amplifier signals the alarm and stops motion. due to an internal When the cause of the alarm is corrected and the amplifier alarm is reset, normal error operation can continue. The following timing diagram defines the sequence of operation during a stop following an alarm and the restart after it is reset.

  • Page 96: Servo Off Sequence

    Servo OFF Sequence With 300mS Brake During normal operation, the Servo ON (SON) input may be used to enable and disable Delay the amplifier. The timing diagram below defines the sequence of operation. In this configuration there is a 300mS delay from the time the brake is released and the motor excitation begins.
  • Page 97 With no Brake As noted in the section above, the standard amplifier configuration has a 300mS delay Delay between the release of the brake and motor excitation. During this time, the command is internally clamped to 0, but position commands are still being counted. In the case where the load may force the motor to move during this short time, the motor will jump on motor excitation.

  • Page 98: Alarm Reset Sequence

    Alarm Reset Sequence Should an alarm occur, it must be reset before normal operation can continue. The timing diagram below defines the sequence of operation for an Alarm Reset. 40 msec or more ‹ Reset Input CN1-30 (23:Common) (RST) ‹ Alarm Code Output or Alarm Bit Output (ALM) No Output ‹...

  • Page 99: Overtravel Sequence

    Overtravel Sequence Overtravel limit inputs are provided on CN1. The positive rotation overtravel (PROT) limit input is on pin CN1-32 and the negative rotation overtravel (NROT) limit is on pin CN1-33. This condition is not an alarm. The timing diagrams below define the sequence of operation for overtravel conditions.

  • Page 100: Maintenance And Troubleshooting

    Maintenance and Troubleshooting Chapter Overview This chapter contains a maintenance and troubleshooting guide for installation of amplifiers and matching motors. Chapter Overview....................... 100 Maintenance ....................... 101 Troubleshooting ......................101 Power Element Error Overload Amplifier Overheating Overvoltage Overspeed Control Power Supply Error Sensor Error Bus Power Supply Failure Bus Power Phase Missing...

  • Page 101: Maintenance

    Maintenance Normally, the only maintenance required is the removal of superficial dust and dirt from the amplifier. To clean the amplifier, use low-pressure, oil-free compressed air. Periodically inspect all cables, verifying they are free from damage and ensuring that the connections to the amplifier are tight. Investigate any unusual vibrations or noises immediately.
  • Page 102 Overload Symbol 7-Segment Display Alarm code CN1- [46,45,44,43] 0010 Operating Condition Cause Corrective Action Alarm occurs when the Faulty PC board Replace servo control power supply is amplifier turned ON Alarm occurs while the The motor is operating Review the load motor is in operation over the rated torque requirements and the...
  • Page 103 Overvoltage Symbol 7-Segment Display Alarm code CN1- [46,45,44,43] 0101 Operating Condition Cause Corrective Action Alarm occurs when the Faulty PC board Replace servo control power supply is amplifier turned ON Alarm occurs after the bus The input power Lower the line voltage power (R, S, and T) supply voltage is high below the specification...
  • Page 104 Control Power Supply Error Symbol 7-Segment Display Alarm code CN1- [46,45,44,43] 0111 Operating Condition Cause Corrective Action Alarm occurs when the The input power supply Raise the line voltage control power supply is is below 170VAC to within the turned ON specification The ±15V power is Replace servo...
  • Page 105 Bus Power (R, S, and T) Supply Failure Symbol 7-Segment Display Alarm code CN1- [46,45,44,43] < 1001 Operating Condition Cause Corrective Action Alarm occurs when the Faulty PC board Replace servo control power supply is amplifier turned ON Alarm occurs when the bus The bus power (R, S, Bring input power power (R, S, and T) supply...
  • Page 106 Velocity Control Error Symbol 7-Segment Display Alarm code CN1- [46,45,44,43] & 1100 Operating Condition Cause Corrective Action Alarm occurs when the Faulty PC board Replace servo control power supply is amplifier turned ON Alarm occurs with Servo The motor oscillates Perform servo tuning (vibrates) Replace servo...
  • Page 107 External (Regeneration Resistor) Overheating Symbol 7-Segment Display Alarm code CN1- [46,45,44,43] EXOH 0011 Operating Condition Cause Corrective Action Alarm occurs when the Faulty PC board Replace servo control power supply is amplifier turned ON The H1 and H2 Correct wiring terminals are open Faulty external Replace external...
  • Page 108 Internal Regeneration Resistor Overheating Symbol 7-Segment Display Alarm code CN1- [46,45,44,43] RGOH 0101 Operating Condition Cause Corrective Action Alarm occurs when the Faulty PC board Replace servo control power supply is amplifier turned ON Faulty Thermostat Replace servo amplifier Alarm occurs during motor Capacity of the internal Review application operation...
  • Page 109 Memory Error Symbol 7-Segment Display Alarm code CN1- [46,45,44,43] MEME 1111 Operating Condition Cause Corrective Action Alarm occurs when the Faulty PC board Replace servo control power supply is amplifier Memory IC failure turned ON Improper combination Use the Remote of motor and amplifier Operator to check and set parameter MOT...
  • Page 110 CPU Error Symbol 7-Segment Display Alarm code CN1- [46,45,44,43] No Lights CPUE 1111 Operating Condition Cause Corrective Action Lights remain OFF after the The CPU has failed Replace servo control power is applied amplifier The 5V power supply is low Faulty PC board Lights go off during motor The CPU has failed...

  • Page 111: Specifications

    Specifications Chapter Overview This chapter contains specifications for the system, amplifiers and motors that are not in the Product Catalog and Business Policies. Chapter Overview....................... 111 Acceleration and Deceleration Time ................112 Dynamic Brake......................113 Stopping Time Miscellaneous Servo Motor Specifications ..............114 Direction of Rotation Holding Brake Specification PE Manual...

  • Page 112: Acceleration And Deceleration Time

    Acceleration and Deceleration Time The acceleration time (t ) and deceleration time (t ) of the motor under certain conditions are calculated by the following expressions. These expressions are for rated speed or less and ignore viscosity torque, and friction torques of the motor. N 2 N 1 ï...

  • Page 113: Dynamic Brake

    Dynamic Brake This servo amplifier is designed with an internal dynamic brake for stopping. The brake is activated when an alarm is detected. The following explains the dynamic brake characteristics and allowable operating frequency. Stopping Time Speed Time 2 S N ï t D ï...

  • Page 114: Miscellaneous Servo Motor Specifications

    Miscellaneous Servo Motor Specifications Direction of For the standard setting, the servo motor revolves counterclockwise, as viewed from the Rotation shaft when a positive velocity command or forward position (pulse) command is applied. By changing parameters with the Remote Operator, the direction of rotation with the same positive command can be reversed (Velocity command -- Func1 bit 5, Position command -- PMOD bit 4).

  • Page 115: Index

    Index 7-Segment Display ..........92 B Encoder Input CN2-5 .......... 45 B Encoder Output CN1-5........41 Brake..........See Holding Brake Bus Power (R, S, and T) A Encoder Input CN2-3 .......... 45 Capacity Requirements ........35 A Encoder Output CN1-3........41 Phase Missing ...........
  • Page 116 Corrosive Gas Environment ........17 Error ............See Alarm CPU Error ............. 110 EXOH Error Code..........107 CPUE Error Code ..........110 Explosive Gas Environment........17 Current Command External (Regeneration Resistor) Overheating..107 Band Eliminate Filter.......... 67 BEF Enable............72 Low Pass Filter ........... 68 Fault ............See Alarm Current Limit Feed Forward Gain..........
  • Page 117 Input sequence power supply ........42 Connecting the Load ........... 26 In-Rush Current............35 Couplings ............26 Inspection Procedure..........13 Encoder..........See Encoder Inspection Test ............14 Environmental Requirements ......22 Installation Humidity.............. 22 Installation ............22 Drive ..............17 Motor ..............
  • Page 118 Remote Operator ............. 11 Modes..............56 PCON Bit Parameter..........74 Operation ............55 PCON Input CN1-35..........43 Remote Operator Connector ....See Connectors PE Error Code............104 Remote Operator Terminal ........46 PIL Input CN1-18 ........... 42 REV Bit Parameter..........72 Pin Assignments........See Connectors RGOH Error Code ..........
  • Page 119 Thrust Load Limits..........29 Coarse Scale Adjustment ........80 Torque Command ........... 42 Fine Scale Adjustment......... 81 Torque Command Polarity........72 Low Pass Filter ........... 81 Torque Comp Input (CN1-22) effectiveness... 73 Low Pass Filter Enable........72 Torque Compensation ..........42 Polarity ...............

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