Sanyo Denki Py 2 Manual

							 
6.  OPERATION 
6－9 
  6.3  Be Sure to Check the Functioning at First 
 
 
 
 
 
 
 
6.3.1 Minimum Wiring 
1  Wire 200 VAC to terminals r and t of connector CNA of the Servo Amplifier   
(hereinafter referred to amplifier). 
 
2  Wire 200 VAC to terminals R, S and T of amplifier connector CNA. 
Ground the PE (protective earth        ) terminal of the amplifier. 
 
3  Wire the motor power lines to the U, V and W terminals as well as to the PE (      ) terminals of the   
amplifier connector CNB.    (For amplifiers having 15 A or 30 A capacity, connect an external 
regenerative resistor between the P and Y (or COM) terminals of the connector CND.) 
 
4  Wire the encoder cable to amplifier connector CN2.     
 
5  Connect the remote operator to the amplifier connector OP.     
 
6  When a brake is fitted with the motor, apply a specified voltage to the brake cable and release the 
brake. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
The parameter setting at the first power ON is assumed to be a standard setting. 
In taking a runaway into consideration, be sure to fasten the motor to a fixing table or the 
like, and also do not apply any load to its shaft side. 
Wire the power supply so that it can be immediately cut off in case of an emergency. 
 
Remote operator 
⑤ 
④ 
U
V
W
P
YCN2
OP
R
S
T
r
t
①
Regenerative 
resistor 
90 VDC or 
24 V
③
②
200 VAC
200 VAC
Servo Amplifier Holding brake power supply
Servomotor  
						

							 
6.  OPERATION 
6－10 
6.3.2 Jog Operation 
7  Turn ON the 200 VAC of r-t (① wires). 
→  The servo amplifier POWER and the right-hand 
figure portion of 7-segment LED are lighted. 
→  When the 7-segment LED displays U, proceed to 
section 6.4.    
 
→  The remote operator screen display becomes the 
[Push Mode Key] screen as shown on the right and 
a beep sound is emitted. 
 
 
 
 
Push
〔MODE
〕key
8  Change the remote operator setting and reset the 
OT (over travel) signal.     
The procedure is as follows: 
 
  Repeat pushing            ,      and      or 
      keys  
until the right screen appears. 
 
  Push the      ,      key twice and the     key 
once so that the right screen will appear. 
 
 
  Push the         key so that the right screen will 
appear.  
 
 
＊Para.  Set3      1
  Func0
　:  00000000
 
 
＊Para.  Set3      1
  Func0
　:  00100000
 
WR
　　Completed
　　  1
  Func0
　:
　00100000
 
9  Make the JOG operation function effective using 
the remote operator. 
  Push the            key a few times until the right 
screen appears. 
 
 
  Push the     and     keys in that order so that 
the right screen will appear. 
 
 
＊Para.  Set3      7
  Func6
　:  00000000
 
 
＊Para.  Set3      7
  Func6
　:  01000000
１ 
2
1 
						

							 
6.  OPERATION 
6－11   
  Push the        key so that the right screen will 
appear. 
(Func6 bit6 “1” described above returns to “0” by 
turning the power on again.) 
WR
　　Completed
　　  7
  Func6
　:
　01000000
 
10  Turn on the 200 VAC (②  wires) of R-S-T. 
 
  The 7-segment LED is light as shown in the right 
figure. 
 
 
11  Start the JOG operation. 
  Push the             and      keys so that the 
right screen will appear. 
 
  Push the      ,     and        keys so that the 
right screen will appear. 
 
 
  The 7-segment LED draws a figure of 8. 
  Continue pushing the      key until the right 
screen appears. 
 
  The remote operator keeps sounding beep, beep 
and the motor rotates counterclockwise (CCW) in   
10 min
−1 when viewed from its shaft side. 
 
  Then continue pushing the      key until the right 
screen appears. 
In this mode, the motor rotates clockwise (CW) in   
10 min
−1. 
 
 
＊Test 
　　　　  
　0
   JOG
　Set  min-1
 
WR
 
＊Test 
　　　　  
　0
   JOG  Set  10min-1
 
 
＊Test 
　　　 
　   0
 JOG  Fwd  Running
 
 
＊Test 
　　　   
　10
 JOG  Rvs  Running
 
 
7
1  
						

							 
6.  OPERATION 
6－12   
12  Return to original mode. 
 
  Push the     and              keys so that the 
right screen will appear. 
 
 
  The      key in the 7-segment LED flickers. 
 
 
  By this, the JOG operation ends. 
 
 
 
＊Mode select 
　   
＊
 Push
〔0
〕to
〔７〕ke
y
 
 
 
6.3.3  Resetting and Turning the Power Off 
13  Change the remote operator setting and reset the 
OT. 
Then, operate the remote operator according to the 
following procedure.  
 
  Repeat pushing the             ,      and      
or       keys until the right screen appears. 
 
 
  Push the      ,      and      keys so that the 
right screen will appear. 
 
 
  Push the         key so that the right screen will 
appear, completing operation. 
 
 
＊Para.
　Set3
　　  1
  Func0
　:
　00100000
 
 
＊Para.
　Set3
　　  1
  Func0
　:
　00000000
 
WR
 
　 Completed
　  
　1
  Func0
　:
　00000000
14  Turn off the 200 VAC of R-S-T. 
15  Turn off the 200 VAC of r-t. 
16  If the brake is fitted with the motor, turn off the brake 
power.  
d 
０ 
2
0 
						

							 
6.  OPERATION 
6－13 
  6.4  Encoder Clear Using Remote Operator   
    (When Absolute Encoder is Used)   
 
 
 
 
 
 
 
 
 
1  Make the test mode effective. 
  Press the            key and the      key, then 
select Func6 and set the bit6 to 1. 
  Press the        key. 
 
2 Perform ECLR. 
  Press the             key and the     key, then 
select ELCR on page 4. 
  Press the        key, and press the     key 
down for 4 seconds or more. 
  Press the     key and the            key to 
terminate the test mode. 
 
3  Turn on the power again. 
  The alarm U will be cleared. 
 
WR
 ＊Para.
　Set3
　　  4
  Func6
　:
　01000000
 
WR
  
＊Test
　　　　　  4
  ECLR Clear
　〔WR
〕
 
３
  
＊Test
　　　　  
　4
  ECLR Rdy    Y=3,N=0
 
 
 
 
 
 
2
7
3
0 
When the power is first turned on after the amplifier and the motor are wired, the alarm U 
(battery alarm) may come on even though a lithium battery is connected.  This is because, 
when an absolute encoder is used, the absolute position is not fixed inside the encoder if the 
battery backup is less than 20 hours, causing an alarm to be output.    The encoder can be 
cleared without wiring for CN1 encoder clear signal by executing ECLR (mode 7, page 4) 
using the remote operator and turning the power on again, which releases the battery alarm. 
1  Our recommendation: Use a Toshiba lithium battery (ER6V: 3.6 V, 2,000 mAh).     
The battery life is estimated at approximately 6 years.   
2  On the ABS-E absolute encoder, alarm 8 (sensor error) may be issued after the power 
is turned on for the first time after the amplifier or motor is wired.    This is because the 
voltage to be supplied to the sensor is lowered due to charging to the capacitor in the 
encoder.    The alarm can be reset by turning the control power on again. 
 
 
In case of use without connecting retium battery in an application not using multiple 
rotational data for wiring-saved absolute sensor (ABS-E.S1), set Func6, bit5 to “1” before 
turning control power ON again.    Thus, alarm “U” (battery alarm) shall not be detected 
when turning control power ON again.    
						

							 
7.  EXPLANATION OF PARAMETERS 
7－1   
 
 
 
 
 
 
 
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 
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).............................................. 7-17 
7.1.9.1 JOG Operation.................................................. 7-18 
7.1.9.2 Offline Automatic Tuning Function .................... 7-20 
7.1.9.3  Automatic Notch Filter Tuning Function ............ 7-22 
7.1.9.4 Automatic Offset Function ................................. 7-24 
7.2 Description of Parameters ........................................................... 7-26 
7.2.1  Block Diagram of Position Control Type Parameters ........ 7-26 
7.2.2 Parameter Summary Table ............................................... 7-27 
7.2.3 Parameter List................................................................... 7-30 
  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－2   
7.1  Remote Operator (Optional) 
This section explains the basic operation of the remote operator.    By using the remote operator, parameter 
change, monitoring of velocity and current, alarm trace and various tests are possible. 
 
7.1.1  Outline of Remote Operator 
The following figure shows the remote operator. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 7-1  Remote Operator 
 
 
 
 
 
Table 7-1    Specifications of Remote Operator 
Item Specification 
Power supply  Supplied from the Servo Amplifier 
Connection method  Connector connection using an exclusive cable   
(cable length: 2 m) 
Ambient temperature  During operation status 
0°C to +50°C (32°F to 122°F)   During storage   
−20°C to +65°C (-4°F to 149°F)   
Working atmosphere  Free from oil mist, corrosive gas and dust 
 
Hand Band 
Liquid crystal panel 
(16 characters × 2 lines) 
Operation keys 
Connector to 
the amplifier  Check pin  Brightness 
adjusting control 
Since the liquid crystal panel may be broken if the remote operator is dropped, handle it with 
care.  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－3 
7.1.2 Function Table 
Table 7-2    Functions of Remote Operator 
Mode Screen 
No. 
Function 
Setting mode  0  Directly enters user parameters by key-in operation. 
  1  Directly enters user parameters by key-in operation. 
  2  Directly enters user parameters by key-in operation. 
Up/down mode  3  Allows values to be incremented or decremented using the 1 
(increment) and 0 (decrement) keys. 
Select mode  4  Allows user parameters to be selected from the screen display. 
Monitor mode  5  Displays various monitors on the screen. 
• Status monitor 
• Input monitor 
• Output monitor 
• Velocity command 
• Velocity 
• Current command 
• Current 
•  Position deviation counter value 
•  U-phase electric angle   
•  Position command frequency 
• Absolute value 
•  Position free-run counter value 
•  Estimated effective torque value 
•  Position loop gain 
•  Velocity loop proportional gain 
•  Velocity loop integral time constant 
• Current command low pass filter setting value 
• Built-in regenerative resistor absorbed power 
Alarm trace mode  6  Display 8 alarms (the current one plus the past seven alarms) 
Test mode  7  Allows various test modes to be operated: 
• JOG operation 
•  Offline automatic tuning 
•  Automatic offset (velocity and torque commands) 
• Encoder clear 
• Automatic notch filter tuning 
8  Allows user parameters to be entered directly from the key pad. Setting mode 
9  Allows user parameters to be entered directly from the key pad. 
Table 7-3    Functions of Remote Operator Check Pin 
Name Description 
VCMD  Monitors the velocity command (CN1 - 21 pin input). 
M1  Monitors the same as the amplifier monitor 1 output. 
M2  Monitors the same as the amplifier monitor 2 output. 
SG  Signal ground.    (Common to amplifier SG) 
DM1  Outputs the internal status to the monitor (motor excitation).    (It goes high when the 
motor is excited.) 
DM2  Outputs the internal status to the monitor (alarm).    (High when the alarm is on.)  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－4 
If a no-operation status continues for about 3 minutes, the liquid crystal display disappears. 
 
To re-start, press the        key. 
7.1.3  Basic Operation Procedure 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 7-2    Basic Operation of Remote Operator 
 
 
 
 
 
Powering on 
Communication 
status 
Communication 
ready complete 
Initial screen 
Mode select screen 
Selected screen 
appears 
Remote Operator
＜Ver.  #.   ##＞
*Mode Select   *
Push[0]to[7]Key
*Para.  Set.  1 
――――――――― *Para.  Set.  3 
――――――――― *Para. Select.－
―――――――――*Alarm    ―――
―――――――――*Para.  Set.  4
―――――――――
*Para.  Set.  2 
――――――――― *P.UP=1,Down=0
―――――――――*Monitor     －
―――――――――*Test    ――― 
――――――――― 
*###-##-#-0#-##*
Push [MODE] Key
(3-phase 200 V 
power supply specification) 
キー入力画Key-in 
screen キー入力画Key-in 
screen キー入力画Key-in 
screen キー入力画Increment/ 
decrement screenキー入力画Select
screen キー入力画Alarm trace 
screen キー入力画Test 
screen キー入力画Key-in
screen キー入力画Monitorscreen 
87 6 5432 1 0 
Motorcode AMP
capacity TYPE CPU 
version DSP
version 
Peep  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－5 
7.1.4  Parameter Setting Mode (Screen Mode 0 to 2 and 8) 
Various Servo Amplifier parameters can be directly set in this mode from the keys. 
 
 
 
 
 
 
 
 
 
 
Fig. 7-3    Parameter Setting Mode Screen 
 
Table 7-4    Parameters for Screen Mode 0 
Page No. Abbreviation Name Setting rangeUnit 
0  KpM  Monitors position loop gain  -  rad/S
1  KffM  Monitors feed forward gain  -  % 
2  KvpM  Monitors velocity loop proportional gain  -  Hz 
3  TviM  Monitors velocity loop integral time constant  -  mSec
4  FLPM  Monitors feed forward LPF  -  Hz 
5  VLPM  Monitors velocity command LPF  -  Hz 
6  ILPM  Monitors current command LPF  -  Hz 
7  BFAM  Monitors current command BEFA  -  Hz 
8  BFBM  Monitors current command BEFB  -  Hz 
9  Tpcm  Position command LPF time constant  0 to 4000  mSec
10  Tvac  Velocity command acceleration time  0 to 9999  mSec
11  Tvde  Velocity command deceleration time  0 to 9999  mSec
12  KvpA  Velocity loop proportional gain addition value  0 to 255  Hz 
 
Table 7-5    Parameters for Screen Mode 1 (1/2) 
Page No. Abbreviation Name Setting range Unit 
0  INP  Positioning complete signal width  1 to 32767  P (+/−)
1  OVF  Excess deviation over value  1 to 32767 ×256P
2  EGER  Electronic gear ratio  1/32767 to 32767/1  
3  PMUL  Command pulse multiplier  1 to 63   
4  ENCR  Output pulse dividing ratio  1 to 8192   
5  LTG  Low speed  0 to 32767  min-1 
6  HTG  High speed  0 to 32767  min-1 
7  SPE  Speed matching width  0 to 32767  min-1 
8  VCI1  Internal velocity command value 1  0 to 32767  min-1 
＊Para.  Set      # 
  ####   ######### 
Screen page 
b
(Any number from   
1 to 4 is entered in “$”.) 
Set parameter 
valueAbbreviated 
parameter name