Sanyo Denki Py 2 Manual
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7. EXPLANATION OF PARAMETERS 7－6 Table 7-5 Parameters for Screen Mode 1 (2/2) Page No. Abbreviation Name Setting range Unit 9 VCI2 Internal velocity command value 2 0 to 32767 min-1 10 VCI3 Internal velocity command value 3 0 to 32767 min-1 11 IILM Internal current limit value 30 to (IP/IR) × 100 % 12 SILM Sequence current limit value 30 to (IP/IR) × 100 % 13 THB Holding brake excitation timing 0 to 1000 mSec 14 VCMS Velocity command scale 0 to 3000 min-1/V 15 TCMS Torque command scale 0 to 400 %/V 16 MENP Motor encoder pulse number 1,2 500 to 65535 P/R 17 EENP* Full close encoder pulse number 1,2,3 500 to 65535 P/R 18 OLWL Over load warning level 2 30 to 100 % 1 Page 16(MENP) and 17(EENP) can be changed after setting Mode2, Func6, bit7 to “1”. 2 Page 16(MENP), 17(EENP) and 18(OLWL) are enabled by turning control power ON again. 3 Page 17(EENP) is available only for the servo system that supports the full close encoder. Table 7-6 Parameters for Screen Mode 2 Page No. Abbreviation Name Setting rangeUnit 0 PMOD Command pulse train format 0, 1 1 Func0 Amplifier function select 0 0, 1 2 Func1 Amplifier function select 1 0, 1 3 Func2 Amplifier function select 2 0, 1 4 Func3 Amplifier function select 3 0, 1 5 Func4 Amplifier function select 4 0, 1 6 Func5 Amplifier function select 5 0, 1 7 Func6 Amplifier function select 6 0, 1 Table 7-7 Parameters for Screen Mode 8 Page No. Abbreviation Name Setting rangeUnit 0 - - - - 1 - - - - 2 - - - - 3 Tn_F Current command user setting value when automatic notch filter tuning 30 to (IP/IR) ×100 % 4 O_JL Observer / load inertia proportion 0 to 3000 %
7. EXPLANATION OF PARAMETERS
7－ 7
● Setting practice
For example, set the speed loop proportional gain to 100 Hz.
According to the basic operating procedure, select 0 from the Mode Select screen, then implement
the following operations:
1 Select page 2 using by or key.
＊
Para. Set1 2 Kvp = # # # # Hz
2 Move the cursor to the position corresponding to the desired number of input digits using
or key.
3 Continuously enter 1 0 0 using the 0 to
9 keys.
＊ Para. Set1 2 Kvp = 100 Hz
4 The set value is stored in the nonvolatile memory using key and the remote
operator operates with the set value.
After completion of the setting, the screen turns as shown in the figure.
If a value out of the setting range is to be stored in memory, the screen to the right appears and
storing is not performed.
In this case, retry setting from step 2.
WR
Completed
2 Kvp = 100 Hz
Invalid
2 Kvp = 3200 Hz
5 Press to return to the initial screen. To set the next page, start with step 1.
The cursor flashes.
When, for instance,
you tried to store 3200 Hz.
0
9
1 0 00
7. EXPLANATION OF PARAMETERS 7－8 7.1.5 Parameter Increment/Decrement Mode (Screen Mode 3) This mode allows you to increment or decrement parameter values using the increment (“1”) and decrement (“0”) keys. Fig. 7-4 Parameter Increment/Decrement Mode Screen Table 7-8 Parameters for Screen Mode 3 Page No. Abbreviation Name Setting rangeUnit 0 - - - - 1 - - - - 2 - - - - 3 Vzero Velocity command zero adjustment ±16383 4 Tzero Torque command zero adjustment ±16383 5 Tn_Lv Real time automatic tuning level ±5 ＊P.Up=1, Down=0# #### ######### Screen page number Set parameter value Abbreviated parameter
7. EXPLANATION OF PARAMETERS 7－9 ● Setting practice The following describes the procedure for selecting, for instance, 100 Hz for the position loop gain. According to the basic operating procedure, select 3 from the Mode Select screen. Then, 1 Select page 0 using by or key. ＊P.UP=1,Down=0 0 Kvp = # # # # Hz 2 Using the or key, move the cursor to the digit(s) to be modified. 3 As needed, increase or decrease the number in each digit using the 1 or 0 key (the value you specify will be immediately reflected in the operation). WR ＊P,Up=1,Down=0 0 Kp = 100 Hz 4 Using the key, store your setting in the non-volatile memory. (Current screen data is also stored in memory if you exit using the or / keys.) Upon completion of the setting, the screen shown to the right appears. (The Completed message does not appear when you use the or / keys.) Completed 0 Kp = 100 Hz 5 Press the to return to the initial screen. For setting another page, repeat the above steps from 1. 3 01 The cursor flashes. In order to store a modified parameter value in the non-volatile memory, you must press either the , , or keys. Otherwise, the modified data will not be stored.
7. EXPLANATION OF PARAMETERS 7－10 7.1.6 Parameter Select Mode (Screen Mode 4) This mode allows you to set data according to the screen display. Fig. 7-5 Parameter Select Mode Screen Table 7-9 Parameters for Screen Mode 4 Category Page No. AbbreviationName Number of choices available Normally used 0 M1 Monitor 1 output 19 parameters 1 M2 Monitor 2 output 19 2 Func Servo function select 4 System 3 TYPE Control mode 6 parameters 4 ENKD Encoder type 3 5 ABSF ABS sensor format 11 6 MOT. Motor type X – 42676 7 MOKD Motor configuration Rotary only 8 PSKD Power supply type PY2B050: 1 9 RGKD Regenerative resistor type 2 ＊Para. Select # #### ######### Screen page number Choices available Abbreviated parameter name 1 Modification of a system parameter is available only after you have set Func6 bit7 to “1” from Screen Mode 2 Page 7. 2 Note that modification of a system parameter is enabled only after the control power has been turned off. Make sure to set the page9 regenerative resistor type (RGKD) to “Built-in regenerative resistor (Built-in R). With this setting, validity of overheat protection detecting process of build-in regenerative resistor will be judged. Overheat detection of build-in regenerative resistor will not be executed when “No regenerative resistor connection or external regenerative resistor (Note/Ext.R)” is selected. Therefore, built-in regenerative resistor may smoke or be burnt.
7. EXPLANATION OF PARAMETERS 7－11 ● Setting practice The following describes the procedure for selecting, for instance, the velocity control for the amplifiers control mode. According to the basic operating procedure, select 4 from the Mode Select screen. Then, 1 Set Func6 bit7 to “1” from Mode 2 Page 7. ＊Para. Set3 7 Func6 : 1??????? (?) appears before the setting is down. 2 Select Mode 4. 3 Using the or key, select page 3. ＊Para. Select 3 TYPE : 4 Using the or key, scroll the screen to select Velocity. WR ＊ Para. Select 3 TYPE : Velocity 5 Using the key, store your selection in the non-volatile memory. When the setting is completed, “Completed” is indicated. When you want to correct the setting, repeat the above steps from 4. Completed 3 TYPE : Velocity 6 Press the key to return to the initial screen. For setting another page, repeat the steps from 3. 7 Turn the control power off to validate your setting (with normal parameters, you can validate the change using the key). 4
7. EXPLANATION OF PARAMETERS
7－12
7.1.7 Monitor Mode (Screen Mode 5)
This mode is used for monitoring input/output status, velocity and current on the Servo Amplifier.
Fig. 7-6 Monitor Mode Screen
Table 7-10 Parameters for Screen Mode 5 (1/2)
Page
No.
Abbre-viatio
n Contents
0 STATUS Indicates the internal status of the amplifier:
Power off, servo ready, servo on and alarm.
1 INPUT Indicates the CN1 input status in 1 or 0.
bit 7 6 5 4 3 2 1 0
RST GAIN3 GAIN2GAIN1/
General
purpose
2 CLE - General
purpose
1 SON
Pin No.
31 9 8 27 30 - 32 29
The output becomes active at 1. Bit 2 display is unstable.
2 OUTPUT Indicates the CN1 output status in 1 or 0.
bit 7 6 5 4 3 2 1 0
ALM+
ALM- ACOD3 ACOD2 ACOD1+
ACOD1-- - - COIN1+
COIN1-
Pin No.
36,37 12 40 34,35 38,39
1 indicates the active output status. Displays for Bit 3, 2, 1 are unstable.
3 VCMD Indicates the velocity command. [min−1] ( 2)
4 VFBK Indicates the velocity feedback. [min−1]
5 ICMD Indicates the current command. [I/IR × 100%]
6 IFBK Indicates the current feedback. [I/IR × 100%]
7 Pos. E Indicates the position deviation counter value. [pulse]
8 CSU Indicates the U-phase electric angle. [deg]
＊Monitor #
#### #########
Screen page number
DataAbbreviated
monitor name
7. EXPLANATION OF PARAMETERS 7－13 Table 7-10 Parameters for Screen Mode 5 (2/2) Page No. Abbre-vi ation Contents 9 PCMD f Indicates the position command frequency. [pulse/s] 10 PS Indicates the absolute value. [hexadecimal] 11 FCCNT Indicates the position free-run counter value. [hexadecimal]( 1) 12 Trms Indicates the effective torque. [Trms/TR × 100%] 13 - - 14 - - 15 - - 16 - - 17 RegP Indicates the built-in regenerative resistor absorbed power. [W] ( 3) Select a page to be monitored using the or key. Press the key to return to the initial stage. 1 Display of this parameter value is enabled only when the position loop full close encoder is selected. When the motor encoder is selected, 0 will be indicated. 2 It indicates input stage status of the analog velocity command. 3 It indicates the power when built-in regenerative resistor is selected at screen Mode4, page9 regenerative resistor type selection (RGKD) in Servo Amplifier with built-in regenerative resistor. It will not indicate in case of no regenerative resistor connection or external regenerative resistor.
7. EXPLANATION OF PARAMETERS
7－14
7.1.8 Alarm Trace Mode (Screen Mode 6)
This mode is used for displaying the alarm history.
Fig. 7-7 Alarm Trace Mode Screen
Table 7-11 Screen Mode 6
Page
No.
History
No.
Abbre-viati
on Name
0 Now Current alarm
None No alarm
OC Power element error
AOH Amplifier overheating
EXOH External overheating
OV Overvoltage
RGOH Built-in regenerative resistor overheating
PE Control power supply voltage
DE1 Sensor error
DE2 Sensor error
OL Overload
OS Over-speed
SE Velocity control error
OVF Excessive deviation
MPE Main power error
FP Main power open-phase
RGOL Regenerative error
DSPE Servo processor error
MEME Memory error
DE3 Sensor error
DE4 Sensor error
IFBE Current FB error
1 Last 1 The last alarm
2 Last 2 The alarm second to last
3 Last 3 The alarm third to last
4 Last 4 The alarm fourth to last
5 Last 5 The alarm fifth to last
6 Last 6 The alarm sixth to last
7 Last 7 The alarm seventh last
＊Alarm #
#### #########
Screen page number
History
numberAbbreviated
alarm name
7. EXPLANATION OF PARAMETERS 7－15 ● Tracing method The alarm history can be seen by using or key. Press the key to return to the initial screen. ○ Viewing the alarm history on the amplifier 7-segment LED. • Set the GAIN/HISTORY selector switch located on the front of the amplifier to HISTORY. • Using a small screwdriver, rotate the switch on the front of the amplifier. • The numbers 1 and 2 on the switch correspond to the last alarm and the second to the last alarm, respectively. • Selected alarm number is indicated on the [7-segment LED]. Its abbreviated name will appear in the adjacent [ALARM BLINK]. Fig. 7-8 Displaying the Alarm History The following table lists the abbreviated alarm names and corresponding errors. Table 7-12 Abbreviated Alarm Names 7-seg. Abbre-viation How to read 7-seg.Abbre-viation How to read 1 OC Power element error C SE Speed control error 2 OL Overload d OVF Excessive deviation 3 AOH Amplifier overheating E EXOH External overheating 5 OV Overvoltage F DSPE Servo processor failure 6 OS Over-speed H RGOH Built-in regenerative resistor overheating 7 PE Control power supply error J RGOL Regenerative error 8 DE Sensor error P MEME Memory error 9 MPE Main power error U AEE Low battery A FP Main power open-phase No light CPUE CPU error Set the switch to HISTORY to display the alarm history. As long as the alarm history is present on the 7-segment LED, display of the battery warning . is not available. When the selector switch is set to HISTORY, the rotary switch must be positioned at 0.