Sanyo Denki Py 2 Manual
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M0001584J
AC SERVO SYSTEM
BL Super Series
PY2
PY2 Servo Amplifier Instruction Manual
Released September 1999
Revision F April 2001
Revision J August 2003
SANYO DENKI CO.,LTD English
E
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. So, please ask us for the material explaining that this product is not applicable. In addition, when this product is incorporated into other equipment, the applicable regulations must be complied with.
i 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. The PY2 Servo Amplifier features the same performance as the PY series, on which it is based, with only the size reduced. The small and high performance PY2 Servo Amplifier is useful for a large number of customers in applications requiring space saving. This Users Manual explains the functions, wiring, installation, operation, maintenance and specifications of the PY2 Servo Amplifies and our Servomotors. To completely utilize all functions of the PY2 series, read this manual carefully before use to ensure proper operation. After reading this manual, keep it handy so that it can be referred to by anyone at anytime. In this manual, AC Servomotor is sometimes abbreviated to Servomotor or Motor. AC Servo Amplifiers to Servo Amps. or Amps.. Also, Wiring-saved incremental encoders and Request signal-unavailable absolute encoders are sometimes abbreviated to Encoders and Wiring-saved incremental encoders, Request signal-unavailable absolute encoders and Request-available absolute sensors to Sensors.
i International Standard Compliance The “PY2” Servo Amplifier complies with the following International standards. International standardStandard No. TÜV EN50178 UL UL508C CUL 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. Power Supply The “PY2” Servo Amplifiers must be used under the conditions specified in overvoltage category II, EN 50178. Use a reinforced insulation transformer conforming to the EN Standard for power supply input. For the interface, use a DC power supply whose input and output sections have reinforced-insulation.
i 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. The CE Marking Conformity Standards We execute conformity tests for the following standards on the “PY2” Servo Amplifier at qualifying institutions. Classification of directive Classification Test Test standard Low Voltage Directive － － EN50178 Terminal interference voltage EN55011 Emission Electromagnetic radiation interference EN55011 Radiation field immunity EN61000-4-3 / 1996 ENV50204 / 1995 Conductivity immunity EN61000-4-6 / 1996 Electrostatic immunity EN61000-4-2 EN61000-4-2 : A1 / 1998 Electrostatic immunity EN61000-4-2 EN61000-4-2 : A1 / 1998 EMC Directive Immunity Burst immunity EN61000-4-4 / 1995 File numbers Low Voltage Directive, Declaration : File No. C0002827C Low Voltage Directive, Certification : File No. B 01 05 21206 040 (Messrs. TÜV PRODUCT SERVICE) EMC Directive, Declaration : File No. C0004056 EMC Directive, Certification : File No. E9 99 05 30982 005 (Messrs. TÜV PRODUCT SERVICE) 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. File Numbers File No.: E179775 Power Conversion Equipment (CCN: NMMS, NMMS7) Fuse The “PY2” Servo Amplifiers are not equipped with fuses. Customers are requested to prepare a UL-approved fast-blown fuse and install it in the input section of the main circuit power supply.
iv CONTENTS 0. 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 1. BEFORE OPERATION 1.1 Precaution on Unpacking................................................................................................. 1-2 1.2 Confirmation of the Product.............................................................................................. 1-2 1.3 Precautions on Operation................................................................................................. 1-2 1.4 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 1.5 PY2 Servo Amplifier Standard Combination .................................................................. 1-8 1.6 Flowchart for Determining Servomotor Model Number .................................................................................................................. 1-9 2. FUNCTION, CHARACTERISTICS AND CONFIGURATION 2.1 PY2 Servo Amplifier Built-in Functions.......................................................................... 2-2 2.2 Characteristics of PY2 Servo Amplifier.......................................................................... 2-6 2.3 Characteristics of Servomotor .......................................................................................... 2-11 3. SERVO SYSTEM CONFIGURATION 3.1 Block Diagram .................................................................................................................. 3-2 3.2 External Mounting and Wiring Diagram............................................................................3-2 3.3 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 3.4 Optional Peripheral Equipment List ..................................................................................3-6 4. WIRING 4.1 Applicable Wire Sizes .......................................................................................................4-2 4.2 Specifications of Sensor Cable ........................................................................................ 4-3 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
v 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 ...................................................................................... 4-13 4.5 Wiring Procedure .............................................................................................................. 4-15 4.6 Precautions on Wiring ......................................................................................................4-16 4.6.1 Recommended Surge Protector .......................................................................... 4-17 4.6.2 CN1 & CN2 Shielding Procedure ........................................................................4-18 4.6.3 Typical CN2 Compression Insert Application...................................................... 4-20 5. INSTALLATION 5.1 Servo Amplifier Installation ...............................................................................................5-2 5.1.1 Installation Place................................................................................................. 5-2 5.1.2 Installation Procedure.......................................................................................... 5-3 5.2 Servomotor Installation .....................................................................................................5-4 5.2.1 Installation Place................................................................................................. 5-4 5.2.2 Installation Procedure.......................................................................................... 5-4 5.3 Cable Installation .............................................................................................................. 5-9 6. OPERATION 6.1 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 6.2 Display .............................................................................................................................. 6-8 6.2.1 Status Display...................................................................................................... 6-8 6.2.2 Alarm Display...................................................................................................... 6-8 6.3 Be Sure to Check the Functioning at First....................................................................... 6-9 6.3.1 Minimum Wiring................................................................................................... 6-9 6.3.2 Jog Operation...................................................................................................... 6-10 6.3.3 Resetting and Turning the Power Off .................................................................. 6-12 6.4. Encoder Clear Using Remote Operator (When Absolute Encoder is Used) ...................................................................................6-13 7. EXPLANATION OF PARAMETERS 7.1 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
vi 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)................................................................................7-19
7.1.9.1 JOG Operation.................................................................................................. 7-18
7.1.9.2 Off Line Auto-tuning Function ...........................................................................7-20
7.1.9.3
7.2 Description of Parameters ................................................................................................ 7-25
7.2.1 Block Diagram of Position, Velocity and
Torque Control Type Parameters ........................................................................7-25
7.2.2 Parameter Summary Table ................................................................................. 7-26
7.2.3 Parameter List..................................................................................................... 7-29
8. MAINTENANCE
8.1 Troubleshooting (Alarm) ................................................................................................... 8-2
8.2 Troubleshooting (Non-Alarm) ........................................................................................... 8-20
8.3 Switching of Velocity Loop Proportional Gain Using Rotary Switch.................................8-23
8.3.1 Overview.............................................................................................................. 8-23
8.3.2 Setting Procedure................................................................................................ 8-23
8.4 Maintenance ..................................................................................................................... 8-24
8.5 Overhaul Parts.................................................................................................................. 8-25
9. SPECIFICATIONS
9.1 Servo Amplifier ................................................................................................................. 9-3
9.1.1 Common Specifications....................................................................................... 9-3
9.1.2 Acceleration and Deceleration 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..................................................................................................... 9-17
9.1.8 Position Control Type Specifications ...................................................................9-20
9.1.9 Velocity/Torque Control Type Specifications...................................................... 9-28
9.1.10 Switching of the Control Mode ............................................................................9-35
9.1.11 Internal Velocity Command .................................................................................9-36
9.1.12 Power Supply Capacity ....................................................................................... 9-37
9.1.13 Servo Amplifier/Servomotor Leakage Current.................................................... 9-39
9.1.14 Calorific Value..................................................................................................... 9-40
9.1.15 Dynamic Brake.................................................................................................... 9-42
9.1.16 Regenerative Processing ....................................................................................9-45
9.2 Servomotor ....................................................................................................................... 9-48
vii 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)...................................................................................9-140
9.4 External Regenerative Resistor (Optional) ..................................................................... 9-141
9.4.1 How to Connect and Set External Regenerative Resistor (Optional) ................. 9-141
9.4.2 External Regenerative Resistor Combination Table ......................................... 9-144
9.4.3 External Regenerative Resistor List ....................................................................9-147
9.4.4 Detailed Connecting Methods of External Regenerative Resistor ...................... 9-148
9.4.5 External Regenerative Resistor Outline Drawings.............................................. 9-149
9.5 Full Close Function (Option)............................................................................................. 9-151
9.5.1 Rough Diagram of Full Close Function (Option) ..................................................9-151
9.5.2 Hardware of Full Close Function (Option)............................................................9-152
9.5.3 Parameter of Full Close Function (Option) ..........................................................9-153
10. INTERNATIONAL STANDARDS
10.1 International Standard Conformity.................................................................................... 10-2
10.1.1 Outline................................................................................................................. 10-2
10.1.2 International Standard Conformity for PYR Servo System ................................. 10-2
10.2 Cautions for International Standard Conformity............................................................... 10-3
10.2.1 Cautions Common to UL/TUV Conformity.......................................................... 10-3
10.3 UL/cUL/TUV Standard Conformity ................................................................................... 10-4
10.3.1 UL/cUL Conformity and File Numbers................................................................ 10-4
10.3.2 TUV Conformity and File Numbers .....................................................................10-5
10.4 Conformity with EC Directives .......................................................................................... 10-5
10.4.1 Outline................................................................................................................. 10-5
10.4.2 Conformity with EC Directives ............................................................................10-5
10.4.3 CE Marking Conformity Standard .......................................................................10-6
10.4.4 Cautions for EMC Directive Conformity.............................................................. 10-7
11. PY PC INTERFACE
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 ......................................................................................... 11-9
11.7 Full Close Function ........................................................................................................... 11-10
0. SAFETY PRECAUTIONS 0－1 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 This chapter summarizes the precautions to ensure safe operation of the PY2 Servo Amplifier. Be sure to read this chapter before operation.