Sanyo Denki Py 2 Manual
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7. EXPLANATION OF PARAMETERS 7－56 Mode Page Abbre- viation Name and description Standard valueUnit Setting range Remarks 3 0 Kp Position loop gain • Proportional gain of the position controller. 45 (30) rad/S 1 to 1000 ( 1) 1 Kvp Velocity loop proportional gain • Proportional gain of the velocity controller (proportional integral controller). Setting unit represents the value when the load inertia is 0. 100 (70) Hz 10 to 3000 ( 2) 2 Tvi Velocity loop integral time constant • Integral time constant of the velocity controller (proportional integral controller). 15 (20) mSec 1 to 1000 ( 3) ( 4) 3 Vzero Velocity command zero adjustment (offset adjustment) • Offset of the velocity command is adjusted. $$$$ ±16383 ( 5) 4 Tzero Torque command zero adjustment (offset adjustment) • Offset of the torque command is adjusted. $$$$ ±16383 ( 5) 5 Tn_Lv Real time automatic tuning level • Setting real time automatic tuning level. For higher set value, estimated proper gain become higher. 0 ±5 * The 1 and 0 keys increase and decrease a value, respectively. * After changing a value, press either the , , or key to store it. * Values in parentheses apply to motors not belonging to the P3 or P5 series. Kvp(1+∫ dt)1 Tvi Velocity loop output Velocity deviation When changing the value, store your setting in the non-volatile memory using either the , , or key. If turning off the control power without this key operation, the setting will not be stored. 1 0 1 It can also be specified from Mode 0 Page 0. 2 It can also be specified from Mode 0 Page 2. 3 It can also be set from Mode 0 Page 3. 4 If you specify 1000 msec, proportional control is selected. 5 The value varies according to the adjustment done at shipment. You can change the setting by executing offset adjustment of the test mode (Pages 2 and 3).
7. EXPLANATION OF PARAMETERS
7－57
Mode Page Abbre-
viation Name and description Standard value Setting
range Remarks
4 0 M1 Monitor output select 1
• The contents of monitor 1 output (CN1-15
pin) can be selected among the following 19
types.
Vm0.5 mV/min-1 19 types
Where,
IR : Rated armature current.
Full : Allowable power of built-in regenerative
resistor.
1 M2 Monitor output select 2
• The monitor 2 output (CN1-16 pin) can be
selected from the 19 types above (M1).
Ic0.5 V/IR 19 types
Indication Contents
Im 2 V/IR Current monitor 2 V/IR peak
Ic 2 V/IR Current command 2 V/IR peak
Vm 2 mV/min-1 Velocity monitor 2 mV/min-1
Vm 1 mV/min-1 Velocity monitor 1 mV/min-1
Vm 3 mV/min-1 Velocity monitor 3 mV/min-1
Vc 2 mV/min-1 Velocity command 2 mV/min-1
Vc 1 mV/min-1 Velocity command 1 mV/min-1
Vc 3 mV/min-1 Velocity command 3 mV/min-1
Per 50 mV/P Position deviation 50 mV/1 pulse
Per 20 mV/P Position deviation 20 mV/1 pulse
Per 10 mV/P Position deviation 10 mV/1 pulse
Rm 0.3 V/Full Regenerative load factor 0.3 V/Full
Im 0.5 V/IR Current monitor 0.5 V/IR peak
Ic 0.5 V/IR Current command 0.5 V/IR peak
Vm 0.5 mV/min-1 Velocity monitor 0.5 mV/min-1
Vc 0.5 mV/min-1 Velocity command 0.5 mV/min-1
Per 5 mV/P Position deviation 5 mV/1 pulse
Im 1V/IR Current monitor 1V/IR peak
Ic 1V/IR Current command 1V/IR peak
The velocity command denotes the velocity loop input stage signal.
This signal is output only at SON. It is affected by the setting specified for the velocity
acceleration/deceleration time and the velocity command low pass filter.
When the position control mode is selected, the position loop velocity command is
7. EXPLANATION OF PARAMETERS
7－58
Mode Page Abbre-
viation Name and description Standard value Setting
range Remarks
4 2 Func Servo function select
• Selectable enabled/ disabled of gain switch
and real time automatic tuning functions.
Normal 4 choices
3 TYPE Control mode
• You can choose a desired control mode from
position, velocity and torque control.
For the switch type, you can specify a desired
control mode from CN1-36 pin or 35 pin.
When
Func3, bit 7 is 0 : 36 pin is enabled.
1 : 35 pin is enabled.
$$$$ : The standard value varies according to
the specifications employed at the time
of shipment.
$$$$ 6 choices ( )
Indication Contents
Normal Gain switching disabled
Real time automatic tuning disabled
Gain_Sel. Gain switching enabled
Real time automatic tuning disabled
Gain_Tun. Gain switching disabled
Real time automatic tuning enabled
Gsel&Gtun Gain switching enabled
Real time automatic tuning enabled
Indication Contents
Position Position control type
Velocity Velocity control type
Torque Torque control type
Velo ↔ Torq Velocity-to-torque switch type
Posi ↔ Torq Position-to-torque switch type
Posi ↔ Velo Position-to-velocity switch type
Note the following for changes to be conducted on Pages 3 to 6 and 8 (system
parameters):
1 Turn off the control power before change.
2 Change is effective only after Func6 bit7 is set at 1 from Screen Mode 2.
3 If the above operation (Func6 bit7 to 1) is ignored, the parameter change is invalid
Changing Func allows switching the servo gain during operation.
7. EXPLANATION OF PARAMETERS
7－59
Mode Page Abbre-
viation Name and description Standard value Setting
range Remarks
4 4 ENKD Encoder type
• Selects the type of encoder used.
$$$$ 4 types
$$$$ : The standard value varies according to
the specifications employed at the time
of shipment.
5 ABSF ABS sensor format
• A desired format can be selected from the
following.
2048FMT
4096FMT
8192FMT
16384FMT
32768FMT
65536FMT
131072FMT
262144FMT
524288FMT
1048576FMT
2097152FMT $$$$ 11 formats
6 MOT. Motor type
• Selects the motor used (in each series).
• Selectable motor types vary with the amplifier
capacity. $$$$ A motor
from the P1,
P2, P3, P5,
P6 and P8
series.
7 MOKD Motor configuration
• Cannot select except for rotary motor. Rotary Rotary only
Indication Contents
INC.E Incremental encoder with
reduced wiring
ABS.E(1M) Absolute encoder (1 Mbps)
ABS.E(2M) Absolute encoder (2 Mbps)
ABS.E S1.2 Wiring-saved absolute sensor
Note the following for changes to be conducted on Pages 3 to 6 and 8 (system
parameters):
1 Turn off the control power before change.
2 Change is effective only after Func6 bit7 is set at 1 from Screen Mode 2.
3 If the above operation
(Func6 bit7 to 1) is ignored, the parameter change is invalid and,
Encoder type (ENKD) on page 4 may not be able to be displayed or set according to
hardware type.
7. EXPLANATION OF PARAMETERS
7－60
Mode Page Abbre-
viation Name and description Standard value Setting
range Remarks
4 8 PSKD Power supply type
• Selects the type of power supply for the servo
amplifier’s main power supply circuit.
• Selectable power supplies differ depending
on the amplifier series.
PY2A series (200 VAC input type)
200 VAC, 3ph (200 VAC, 3-phase)
↓ ↑
200 VAC, 1ph (200 VAC, single-phase)
PY2E series (100 VAC input type)
Only 100 VAC, 1ph (100 VAC,
single-phase) can be used, and changing
to another power supply is impossible.
• In the case of special motors (motor code: FF),
the type of power supply cannot be selected.
Motor codes are indicated on the initial screen.
(Refer to 7.1.3 Basic Operating Procedure.) $$$$ 2 types
1 type PY2Axxx
PY2Exxx
9 RGKD Regenerative resistor type
• Selecting regenerative resistor to use.
• Selectable Motor differs according to Servo
Amplifier capacity.
None/ Ext.R : Regenerative resistor is not
connected, or external
regenerative resistor.
Built-in R : Built-in regenerative resistor
Refer to 9.5 Built-in Regenerative resistor
(Built-in R) for detail of parameter setting on
regenerative resistor.
$$$$ : The standard value varies according to
the specifications employed at the time
of shipping.
$$$$ 2 types
Note the following for changes to be conducted on Pages 3 to 6 and 8 (system parameters):
1 Turn off the control power before change.
2 Change is effective only after Func6 bit7 is set at 1 from Screen Mode 2.
3 If the above operation (Func6 bit7 to 1) is ignored, the parameter change is invalid
and, thus, the change does not take place.
Page 7 (motor configuration) is for reference only and cannot be edited or changed.
When using regenerative resistor built-in the Servo Amplifier, make sure to set
regenerative resistor type (RGKD) on page 9 to “built-in regenerative resistor (built-in R)”.
With this parameter setting, enable/ disable of built-in regenerative resistor overheat
protection detection processor is judged. In case that “regenerative resistor is not
connected or external regenerative resistor (None/ Ext.R)” is selected, overheat detection
of built-in regenerative resistor will not be executed. Consequently, built-in regenerative
resistor may be burn or smoke occurs.
7. EXPLANATION OF PARAMETERS 7－61 Mode Page Abbre- viation Name and description Standard value Setting range Remark s Mode 8 0 Kp2 Position loop gain 2 • Proportional gain of the position controller. • Enabled during gain switching. 45 (30) rad/S 1 to 1000 Position control 1 Kvp2 Velocity loop proportional gain 2 • Proportional gain of the velocity controller (proportional integral controller). Setting unit represents the value when the load inertial is 0. • Enabled during gain switching. 100 (70) Hz 10 to 3000 Position/ Velocity control 2 Tvi2 Velocity loop integral time constant 2 • Integral time constant of the velocity controller (proportional integral controller). • Enabled during gain switching. 15 (20) mSec 1 to 1000 Position/ Velocity control ( ) 3 Tn_F User setting value of current command when automatic notch filter tuning: • User setting value of current command when executing automatic notch filter tuning at test mode. Selecting Ic=Ist on Tune IBEF setting screen enables automatic notch tuning execution at current command of user setting value (Tn_F). 100 % 30 to (IP/IR) ×100 4 O_JL Observer・load inertia ratio • Parameter to estimate load torque used for real time automatic tuning processor. • Setting the value of “load inertia / motor inertia ×100”. Refer to chapter 11 for detail. 100 % 0 to 3000 Kvp(1+∫ dt)1 Tvi Velocity loop output Velocity deviation If 1000 msec is specified, the proportional control is turned on. Values in parentheses apply to motors not belonging to the P3 or P5 series.
8. MAINTENANCE ８－1 MAINTENANCE 8.1 Troubleshooting (Alarm).............................................................. 8-2 8.2 Troubleshooting (Non-Alarm)....................................................... 8-21 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
8. MAINTENANCE 8 - 2 8.1 Troubleshooting In the following pages, explanations will be provided on the possible causes of each alarm and malfunction, and of the investigative methods and corrective measures. To avoid injury, please ensure that the cause is rectified and safety is ensured before attempting to resume operation in the event of an alarm or malfunction. When an alarm occurs, the 7-segment LED status display at the front panel of the servo amplifier will start blinking, and an alarm outputs from CN1. When an alarm occurs, execute the corrective measures indicated for each alarm display in the following procedure. 1. See the consensus status in the “Operating State when Alarm Occurred” and find the circle under the possible cause number. 2. Execute the corrective measures in the “Corrective Measures” corresponding to the number above (with circle). 3. If the malfunction persists after the process above, execute the corrective measures of number with triangle. 4. If the malfunction still persists after No.3 above, consult with us. When alarm status “8”, “F” or “P” is displayed, the alarm cannot be reset. Rectify the cause first and turn on the control power in this case. It is highly dangerous to proceed with an investigation into the causes of a malfunction without ensuring the safety of the servo amplifier, motors, mechanical devices and the surrounding area. Understanding the conditions prevailing at the time of a malfunction will help in narrowing down the possible causes of the malfunction and shorten the troubleshooting process. Ensure that it is safe to do so before attempting to reenact the malfunction, and pay close attention to the prevailing conditions during the reenactment. In replacing Servo Amplifier and Servomotor, confirm that there should be no external parameter causing any trouble to prevent dual breakage. Please consult your Sanyo Denki dealer should the malfunction persist even after following the troubleshooting procedures recommended in this guide.
8. MAINTENANCE 8 - 3 Alarm Status Segment LED Display Alarm Code ALM8,4,2,1 AbbreviationAlarm NameAlarm Clear Contents OC (MOC)Power element error (Over current)Possible• Error detected in internal power module (IPM) of Amplifier • Abnormal value detected in current detection module of Amplifier. 0001 IFBE Current detector error Possible• Current detector error of Servo Amplifier was detected. Alarm code 0,1 indicates: when Func2/ bit7,6 =”0,0”, “0”= output open and “1”= output short. Operating state when alarm occurred POSSIBLE CAUSES OPERATING STATE 1 2 3 4 5 When control power supply is turned on △ ○ △ When servo ON is inputted ○ ○ ○ △ When motor is started or stopped △ △ △ ○ After operating for a short period △ △ △ ○ Corrective Measures CAUSES CORRECTIVE MEASURES 1 • U, V, W phases of wiring between amplifier and motor is short-circuited or grounded. • UVW phases between amplifier and motor is not connected, or contact failure. Check wiring between amplifier and motor. Correct or replace wiring. 2 U, V, W phases of servomotor is short-circuited or grounded. Replace servomotor. 3 Faulty PC board Faulty power module Replace amplifier. 4 Incorrect combination of amplifier and motor Check if servomotor conforms to motor code. Replace with correct motor if necessary. 5 Overheating of power module (IPM) • Check if cooling fan in amplifier is rotating. Replace amplifier if fan is not operating. • Check if temperature of control board (ambient temperature of amplifier) is exceeding 131°F (55℃). If exceeding, review installation and cooling methods of amplifier to ensure temperature stays below 55℃.
8. MAINTENANCE
8 - 4
Alarm Status
Segment LED
Display Alarm Code
ALM8,4,2,1 AbbreviationAlarm
NameAlarm
Clear Contents
0010 OL Overload Possible• Overload was detected in servo amplifier
and motor combination
Alarm code 0,1 indicates: when Func2/ bit7,6 =”0,0”, “0”= output open and “1”= output short.
Operating state when alarm occurred
POSSIBLE CAUSES OPERATING STATE
123456 7 8 9
When control power supply is turned on ○
When servo ON is inputted ○○
○
After position command input (when motor is not
rotating) ○
○○ ○
○
After position command input (after operating for
a short period) ○○○
△ ○
Corrective Measures
CAUSES CORRECTIVE MEASURES
1 Faulty amplifier control board or
power module Replace servo amplifier.
2 Faulty servomotor sensor circuit Replace servomotor.
3 Effective torque is exceeding
rated torque • Monitor torque generated by motor using the estimated effective
torque (Trms) of MODE5/ page12 of remote operator to check if
effective torque is exceeding rated torque.
• Or, calculate effective torque of motor from the load and
operating conditions
→ If effective torque is higher than rated torque, review
operating or load conditions, or replace with larger capacity
motor.
4 Incorrect combination of amplifier
and motor. • Check if motor code of Mode4/ page6 of remote controller
conforms to servomotor. Correct if necessary.
5 Holding brake of servomotor is
not released Check brake wiring for errors. Replace servomotor if brake wiring
is found to be correct (and voltage is applied as specified),
6 Incorrect wiring of U, V, W phases
between amplifier and motor Check and correct wiring.
7 One or all of the U, V, W phase
wirings between amplifier and
motor is disconnected Check and correct wiring.
8 Mechanical interference Review operating conditions and limit switch.
9 Encoder pulse does not meet motor Set to encoder pulse number of motor
Repeatedly turning the control power OFF→ON may cause the servomotor to burn.
While investigating this cause, please ensure that sufficient time is allowed for cooling down
after power OFF (30 minutes or more).