Sanyo Denki RP-001 Installation And Operation Manual
Sanyo Denki RP-001 Installation And Operation Manual

Sanyo Denki RP-001 Installation And Operation Manual

Py servo system
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Sanyo Denki RP-001
Remote Operator
A l l t r a d e m a r k s , b r a n d n a m e s , a n d b r a n d s a p p e a r i n g h e r e i n a r e t h e p r o p e r t y o f t h e i r r e s p e c t i v e o w n e r s .
• C r i t i c a l a n d e x p e d i t e d s e r v i c e s
• I n s t o c k / R e a d y - t o - s h i p
Artisan Scientific Corporation dba Artisan Technology Group is not an affiliate, representative, or authorized distributor for any manufacturer listed herein.
Limited Availability
Used and in Excellent Condition
Buy Today!
https://www.artisantg.com/80501-1
• We b u y y o u r e x c e s s , u n d e r u t i l i z e d , a n d i d l e e q u i p me n t
• F u l l - s e r v i c e , i n d e p e n d e n t r e p a i r c e n t e r

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Summary of Contents for Sanyo Denki RP-001

  • Page 1 Sanyo Denki RP-001 Remote Operator Limited Availability Used and in Excellent Condition Buy Today! https://www.artisantg.com/80501-1 A l l t r a d e m a r k s , b r a n d n a m e s , a n d b r a n d s a p p e a r i n g h e r e i n a r e t h e p r o p e r t y o f t h e i r r e s p e c t i v e o w n e r s .
  • Page 2 Sanyo Denki PY Servo System Installation and Operation Manual Tel: +86 10 51298818 Fax: +86 10 61746631 China@sanyodenki.net SANYO DENKI Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 3 Stop Sequences ................................57 Servo “OFF” Sequence............................59 Alarm Reset Sequence.............................61 Over-travel Sequence ..............................62 DRIVE SETUP ......................63 Chapter Overview..............................63 PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 4 Chapter Overview..............................128 Acceleration and Deceleration Time ........................129 Dynamic Brake ..............................130 Miscellaneous Servo Motor Specifications ......................132 INDEX ......................... 133 PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 5: Table Of Contents

    Table 20: Quick Setup Steps with Remote Operator ....................76 Table 21: Amplifier Alarm Codes ..........................118 Table 22: Holding Brake Specifications........................132 ℵℑℜ℘ PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 6: About This Guide

    Detailed connector pin assignments are provided as well as a partial schematic for input and output signals. PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 7: Table 1: Manual Syntax

    Earth Gnd Protective conductor terminal, Earth Ground. Chassis Gnd Chassis terminal, Not a protective ground. PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 8 Damaged cables may result in electrical shock which can cause severe bodily injury and damage equipment. PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 9 WARNING During normal operation, the amplifier, motor and peripheral equipment could become hot enough to cause a burn. PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 10: Technical Support

    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. Sanyo Denki America maintains a Technical Support center that is staffed weekdays Telephone (except holidays) between 8:30 AM and 5:30 PM Eastern Standard Time.
  • Page 11: Product Family Overview

    Product Family Overview Sanyo Denki designs and manufactures a wide range of servo and stepper drives. Eight Amplifiers models from the PY family are available to you from Sanyo Denki America via MotionOnline.com. • • PY2A015 PY0A030 • • PY2A030 PY0A050 •...
  • Page 12: Table 2: Valid Drive Systems

    The PC-SETUP software can be used to set/change all parameters in the traditional PY amplifiers (except for power phasing). This item may be purchased instead of the remote operator. PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 13 To lower life-cycle cost and improve reliability, Sanyo Denki America requires Cables customers to use Sanyo Denki motor power and feedback cables. These cables may be ordered in standard (10, 15, 20, 30, 50, 75, or 100 ft) or custom lengths. Standard cables are usually available directly from stock.
  • Page 14: Installation

    Motor Orientation and Cable Routing Connecting the Load to the Motor Bearing Load Specifications Installation Check List ....................27 PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 15 Unpacking and Inspection Procedure Before opening packages, verify that the model numbers of the box match your Unpack the order. If they do not, please contact Sanyo Denki America (see page 9 - Technical Amplifier Support). After opening, verify that the model numbers on the product match the box. If they do not, please contact Sanyo Denki America (see page 9 - Technical Support).
  • Page 16: Amplifier Installation

    PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 17 >197 mm 75 mm >142 mm Only the PY0A050, PY0A100, and PY0A150 are equipped with the “cooling fins”. PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 18 >212 mm 75 mm >142 mm Only the PY0A050, PY0A100, and PY0A150 are equipped with the “cooling fins”. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 19: Table 3: Amplifier Environmental Requirements

    Power dissipation values shown in the table do not include values for the internal regeneration resistor. When using an external regeneration resistor, the internal resistor is disconnected. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 20 = (2DW + 2DH + 2WH) / 144 D = Depth in inches H = Height in inches W = Width in inches PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 21: Motor Installation

    -20 to 65C -4° to 149°F Humidity Maximum 20% to 90% Non-condensing Air Quality Dust-free Oil-free Non-corrosive Non-combustible Non-explosive PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 22 1.524 71.5 57.15 5.207 30 M4 10 -0.051 -0.011 +0.000 +0.000 P50N08100 98.43 73.025 5.588 35 M5 12 -0.051 -0.011 PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 23 165 130 -0.035 -0.013 -0.030 P20B13500 +0.000 +0.000 +0.000 P60B13150 12 145 110 165 130 -0.035 -0.013 -0.030 PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 24: Table 6: Motor Ip Rating

    Install a cover, with a gradient, over the motor to prevent oil or water from splashing directly on the motor. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 25 Note that with a rigid coupling, a slight offset will lead to damage of the output shaft. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 26 Use a bolt on the end of the shaft to pull tight fitting parts together. Bolt Plate Pulley PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 27: Table 7: Allowable Radial And Thrust Loads

    20 → 15 ← P50N05020D 80 → 30 ← P50N08100D P20B10150D P20B10250D P60B13150H P20B13300D P20B13500D (1kg = 2.2lb) PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 28: Installation Checklist

    The radial and thrust loading on the motor shaft have been measured and are within specification. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 29: Chapter Overview

    Selecting the Right External Regen Resistor How to connect a Regen Resistor Regeneration Resistor Mounting Wiring Check List......................53 PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 30: Cable Connection Diagram For Py0

    For 1Φ (single phase) power, do not connect 230VAC to the “S” terminal of the bus power. Leave this terminal unconnected. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 31: Cable Connection Diagram For Py2

    For 1Φ (single phase) power, do not connect 230VAC to the “S” terminal of the bus power. Leave this terminal unconnected. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 32: Wiring Precautions

    6. When a large electrical noise source such as an arc-welder is nearby, install noise filters. 7. Terminate all control signal inputs, digital and analog. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 33: Table 8: Applicable Wire Sizes

    2. To avoid electrical interference, separate the bus circuit wiring (high voltage) from the signal wiring (CN1, CN2). PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 34: Table 9: Power Supply Capacity Requirement

    The table above assumes 2m cables. The leakage current will increase with longer cables and decrease with shorter cables. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 35: Connection Diagram (Py2 With P3/P5 Motor)

    Please note that PY2 drives do not provide RDY signals. Ignore references to this contact on all PY2 drawings. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 36: Connection Diagram (Py2 With P2/P6 Motor)

    Please note that PY2 drives do not provide RDY signals. Ignore references to this contact on all PY2 drawings. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 37: Connection Diagram (Py0 With P3/P5 Motor)

    START READY ON START READY OFF RDY1 CONTROL ZERO DEVIATION CURRENT CLEAR LIMIT VELOCITY SYSTEM ERROR E-STOP RDY2 CLAMP PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 38: Connection Diagram (Py0 With P2/P6 Motor)

    START READY ON START READY OFF RDY1 CONTROL ZERO DEVIATION CURRENT CLEAR LIMIT SYSTEM ERROR E-STOP VELOCITY RDY2 CLAMP PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 39: Table 11: Cna, Cnd, And Cnb Connector Pin Assignments

    H1 and H2. An open circuit indicates an external regeneration resistor overheat condition. Motor power connection and grounding terminal. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 40: Table 12: Cn1 Internal Circuits

    CN1-22 TCOMP/TCMD .047µ Analog Input This input is designed to receive positive analog voltage. 6.8K CN1-18 PIL PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 41 Equivalent to 26LS31 CN1-5 B+ CN1-6 B- CN1-7 C+ CN1-8 C- Analog Output CN1-15 MON1 CN1-16 MON2 1K Ω PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 42: Table 13: Cn1 Pin Assignments

    CCW direction. Load less than 2mA (output resistance 1kΩ). Signal Ground for analog current limits, Pins 18 and 19 PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 43: Parameter Mode - Page

    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). PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 44 HTG—High Speed (Velocity Mode). When the motor speed becomes ±1000 RPM or more of the set value, this signal goes to low impedance. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 45 38 or 49, NOT BOTH. 12-24 VDC Input sequence power supply 2. External power for CN1-34 and CN1-35. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 46: Table 14: Cn2 Pin Assignments

    Reserved None Reserved None Reserved None Reserved 5 Volt Power Signal Ground 5 Volt Power Signal Ground PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 47: Operator Terminal

    Operator Terminal The operator terminal connector is only intended to be used with the optional cable for the Sanyo Denki Remote Operator or PY Setup Software. This connector is therefore not specified further. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc.
  • Page 48: Table 15: Amplifier Regeneration Power

    = Motor torque constant [Nm / A N = Motor speed [RPM] = Torque during acceleration [Nm] PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 49 = time to decelerate = cycle time N x 3 x K x 3 x R φ 2 x K PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 50 × ⎛ ⎞ ⎜ ⎜ ⎟ ⎟ − × × × ≥ else φ × ⎝ ⎠ PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 51: Table 16: Regeneration Resistor Selection

    When using an external regen resistor, Func2 bit 4 of the remote operator must be set for external resistor. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 52: How To Connect A Regen Resistor

    3. If possible, mount the resistor(s) above the amplifier. The resistors get hot so protect adjacent equipment from the heat generated by the regen resistors. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 53: Regeneration Resistor Mounting

    (for M5) 2-M5 THERMOSTAT 2 @ Ø4.5 UL 1430 wire 0.2mm² white Silicone rubber glass braided wire 2mm² white PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 54: Wiring Check List

    9. Control wires are as short as possible. The command input is 3m or less and the other control wires are 50m or less. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 55: Chapter Overview

    With 300mS Brake Delay With no Brake Delay Alarm Reset Sequence ....................61 Over-travel Sequence....................62 Positive Over-Travel Negative Over-Travel PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 56: Table 17: Amplifier Status Display

    Flashing Code When an alarm occurs then the alarm code is flashed on the 7-segment display. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 57: Power "On" Sequence

    Main Circuit Power Supply (R,S,T) Release Dynamic Brake Release Approximately Start Ready Complete Output (SRDY) 0.7 Seconds PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 58: Stop Sequences

    4. If an interlock condition occurs while moving a heavy load a Bus Circuit Power Error (MPE) alarm may occur. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 59: Stop And Recovery Due To An Internal Error

    300mS. The default value for the sequence current limit (SILM) is 120%. It may be change in Mode 1, Page 12. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 60: Servo "Off" Sequence

    (SILM) is 120%. It may be changed in Mode 1, Page 12. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 61: With No Brake Delay

    Start Ready Complete Output (SRDY) Servo ON (SON) Motor Excitation 12 msec 12 msec PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 62: Alarm Reset Sequence

    2. Sensor Error (DE), DSP Errors (DSPE), Memory Errors (MEME) and CPU Errors (CPUE) cannot be reset unless the control power is cycled “OFF” and back “ON”. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 63: Over-Travel Sequence

    2. Setting the Sequence Current Limit (SILM) parameter using the Remote Operator (Mode 1, Page 12) can change sequence current limit values. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 64: Drive Setup

    Remote Operator PY Setup Software Alarm Trace Screen ......................75 Remote Operator PY Setup Software Quick Setup ........................76 PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 65 Name Value REMOTE OPERATOR MODE Before Next Inc. Dec. Test Points for Cable Meter or Oscilloscope Connector PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 66 5 Items Next SANYO DENKI *Test Jog Set 10min MODE Before REMOTE OPERATOR Auto Tune / Jog Next PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 67 3) New choices will be available on the menu if the connection is successful. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 68 Main Menu. Parameter Values Provide a file name and browse to a desired path to preserve the settings. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 69 Since a position loop deviation may remain after a JOG operation, be sure to perform a “deviation clear” before returning to normal operation. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 70 Connect the computer to the drive and go online using the PY Setup Software. After reaching the Main Menu, complete the following actions. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 71 6) Press and hold the left mouse button on the desired direction button. Releasing the mouse will make the motor decelerate to a stop position. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 72 3. The remote operator internally controls the brake release. 4. Turn ON the bus power (R, S, and T). PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 73 Upon exiting the Test Mode, an OVF (Deviation Over) alarm occurs. However, this alarm is not entered into the alarm history. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 74 If you are using Velocity Control refer to page 79 for a complete list of parameters that affect tuning. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 75: Monitor Screen

    KvpM Indicates the velocity loop proportional gain (Hz) TviM Indicates the velocity loop integral action time (ms) PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 76: Table 19: Alarm Mode Page Descriptions

    Table 19: Alarm Mode Page Descriptions Page Switch Description ▼▲ Position Current Status or Alarm Previous Alarm Oldest Alarm PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 77: Table 20: Quick Setup Steps With Remote Operator

    In addition to these fundamental setup features, the remote allows configuration for external regen resistor. Please refer to the function lists in the following section. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 78: Chapter Overview

    0 on page 2. A detailed description of each parameters, including Detailed Description of Parameters limits. See page 83 PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 79 Mode 1-4 Torque CMD Voltage Each low pass or notch filter is disabled when set to 1000 Hz. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 80 Limit Permit Enabled (ILM) CN1-31 Externally Current Limit (ILM) Permit Source Always Enabled Func0, Mode 2, Bit 2 PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 81: Velocity Loop Proportional Gain Kvp

    Internal Velocity, Command VCI1 0 to 32767 Value #1 Internal Velocity, Command VCI2 0 to 32767 1000 Value #2 PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 82 Func 4 Ranges Normal models) Control Mode TYPE 6 Ranges $$$$ Encoder Type ENKD 3 Ranges $$$$ PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 83 30 to (IP/IR) X Automatic Notch Filter Tuning Observer – load Inertia Ratio O_JL 0 to 3000 PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 84: Position Loop Gain

    θ θ Position Loop Gain KP Position Velocity Command Command Position Feedback PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 85: Velocity Loop Integral Time Constant

    Integration time constant of the velocity controller (PI control) . Velocity Velocity Regulator Kvp (1+ ∫ 1/Tvi dt) Error Output PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 86 Setting Range: 1 to 1000 Hz Description: • The cut-off frequency of the current command low-pass filter. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 87 The center frequency of the notch filter with the characteristics shown in the following figure is set for the current command in the velocity loop. Gain -3dB .62 f 1.62 f frequency (Hz) PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 88 The time constant for the position loop low-pass filter. When it is set to “0 ms”, no filter is inserted. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 89: Acceleration Time

    This parameter is effective in the velocity control type. Using this when an external closed loop position controller is used introduces a phase delay that may cause instability and vibration. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 90: Deceleration Time

    RSW: A value set on the rotary switch. • Moving the switch on front of the drive to the side labeled “GAIN” enables this. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 91: Following Error Limit

    A setting of 10 would equal the following error limit of 2,560 (10 x 256) encoder pulses. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 92: Electronic Gear Ratio

    A multiplier for the position command pulse can be selected from 1 to 63. • This multiplier is used when the PMUL input terminal is selected by the Func3 parameter. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 93: Low Speed

    • The LTG status can be output to CN1-39 or CN1-40 by setting Function Switch 4. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 94: High Speed

    It is enabled by setting the Func3 parameter bits 3, 2, 1, and 0 to “1010” respectively, and turn the CN1-36 pin “ON” and CN1-35 pin “OFF”. • The drive must be configured for velocity mode operation. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 95 This parameter can be set within the range from 30% to (IP/IR x 100)%. IP: Peak armature current. IR: Rated armature current. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 96 0 to 3000 min Description: • Sets a velocity command scale corresponding to 1V of the command voltage. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 97 When changing this setting, set Func6 Bit 7 to “1” from Mode 2 prior to the change. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 98 Code & Pulse 90 Degree Phase Difference Prohibited Switching of Digital Filter High Speed Low Speed (1/4) PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 99: Function Switch

    When changing the setting of Bit 7 or 6, you must turn the control power “OFF” once prior to making the change. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 100 • The current limit is enabled only after the CN1-31 pins are turned on. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 101 Bit 4 cannot be changed unless the control power is turned “OFF”. • Forward revolution refers to the counterclockwise revolution when viewed from the load (motor shaft) side. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 102 • When the same signal is selected for CN1-35 and CN1-36 pins, the 36 pin take precedence. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 103 OFF at Stat us Output • The standard value is set at 00000100 in the position control mode. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 104 Bit 2 of Func5 and Bit 4 of PMOD both function the same. When 1 is set to both bits, the system is rotated forward at the positive input. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 105 If Bit 0 is set to “1”, and alarm (memory error) will be indicated. After the necessary parameter setting is completed, set Bit 0 to “0”, then turn power “ON”. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 106: Position Loop Gain

    The setting indicates the value when the load inertia is 0. • Parameter can also be changed from Mode 0 Page 2. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 107 The value varies according to the adjustments done at shipment. You can change the setting by executing offset adjustment of the test mode (Page 2 and 3). PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 108 IR is the “Rated Armature Current”. • Full is the “allowable power of the built-in regenerative resistor”. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 109 Choosing “Select” allows you to switch between Kp, Kvp, and Tvi from screen Mode 8 (use CN1-36 or CN1-35 pin for switching). PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 110: Ilpf

    Position loop gain Kvp2 Velocity loop proportional gain Tvi2 Velocity loop integral time constant ILPF Current command LPF PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 111: Control Mode

    Incremental Encoder with Reduced Wiring ABS.E (1M) Absolute Encoder (1 Mbps) ABS.E (2M) Absolute Encoder (2 Mbps) PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 112 If the above operation (Func6, Bit 7 to “1”) is ignored, the parameter change is invalid, thus, does not take place. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 113: Motor Type

    Selects the type of power supply for user connection. Setting Description AC 200V 3P 200-240 VAC, 3 Phase AC 200V 1P 200-240 VAC, 1 Phase PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 114: Position Loop Gain Kp2

    1 to 1000 rad/S Description: • Proportional gain of the position controller • Enabled during gain switching PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 115 Integration time constant of the velocity controller (proportional integral controller). Velocity Velocity Regulator Kvp (1+ ∫ 1/Tvi dt) Error Output PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 116 This parameter estimates load torque used for real time automatic tuning processor • O_JL (%) = load inertia JL / motor inertia JM * 100 PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 117 PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 118: Maintenance And Troubleshooting

    Acceleration and Deceleration Time ................129 Dynamic Brake ......................130 Stopping Time Miscellaneous Servo Motor Specifications..............132 Direction of Rotation Holding Brake Specification PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 119: Maintenance

    No Light CPUE CPU Error The table below outlines possible causes and corrective actions for each alarm. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 120 Use the Remote motor starts or stops of motor and amplifier Operator to check and set parameter MOT. PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 121 55C • • Excess heat generated Replace servo due to an amplifier amplifier failure PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 122 Alarm occurs when the Velocity overshoot is Reset servo tuning motor starts excessive • Increase the acceleration time PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 123: Sensor Error

    Replace servo motor motor has moved slightly • • Incorrect or Correct encoder wiring disconnected encoder wiring PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 124 Bus power (R, S, and Tighten terminals R, S, T) connections are not and, T on main tight terminal strip PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 125 Lower the frequency frequency, resulting in within specification high acceleration rate • Make the commanded velocity lower PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 126 Alarm occurs during motor The 5V power supply Replace servo operation is low amplifier • The DSP is malfunctioning PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 127 Reduce the load inertia large within specification • Make the deceleration time longer • If possible, lower the current limit PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 128: Memory Error

    Lights go off during motor • The CPU has failed Replace servo operation amplifier • The 5V power supply is low PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 129: Specifications

    Acceleration and Deceleration Time ................129 Dynamic Brake ......................130 Stopping Time Miscellaneous Servo Motor Specifications..............132 Direction of Rotation Holding Brake Specification PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 130: Acceleration And Deceleration Time

    Final Speed [RPM] Maximum Stall Torque [Nm] Load Torque [Nm] Motor Inertia [kg m Load Inertia [kg m Time PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 131: Dynamic Brake

    Reduction in distance traveled as a result of a load torque T ω ω Total distance traveled [revolutions] α Motor Constant β Motor Constant PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 132 P20B10250D 0.0240 2.87 0.26×10 3.71×10 PY0A100 P20B13300D 0.0240 2.02 0.25×10 7.14×10 PY0A150 P20B13500D 0.0240 1.54 0.07×10 12.58×10 PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 133: Table 22: Holding Brake Specifications

    20 (200) P20B10150D 7.84 50 (200) P20B10250D 30 (140) P20B13300D 11.4 30 (140) P20B13500D 18.1 50 (150) PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 134 AOH Error Code ........120 CPU Error..........127 CPUE Error Code ........127 Current Command Band Eliminate Filter..... 86, 87 PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 135 Fluids, Prevention Against ....... 23 Following Error Limit ......90 Jogging ............. 69 FP Error Code......... 123 PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 136 Wire Size ..........32 Motor Type ........112, 113 MPE Error Code........123 Radial Load Limits ........26 Regeneration Resistor PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 137 Torque Comp Input (CN1-22) effectiveness ............100 ZCLP Bit Parameter ..101, 102, 103, 104 Torque Compensation ......42 Torque Loop PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

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