Sanyo Denki Py 2 Manual
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8. MAINTENANCE 8 - 15 Alarm Status Segment LED Display Alarm Code ALM8,4,2,1 AbbreviationAlarm Name Alarm Clear Contents 1111 DSPE Servo processor error Not possibleBuilt-in servo processor (DSP) of amplifier is malfunctioning. 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 Alarm history OPERATING STATE 1 2 When control power supply is turned on △ ○ DSPE During operation ○ Corrective Measures CAUSE CORRECTIVE MEASURES 1 Faulty amplifier control board Replace servo amplifier 2 Malfunction due to noise • Check that amplifier earth cable should be correctly grounded. • Add ferrite core as noise measure.
8. MAINTENANCE 8 - 16 Alarm Status Segment LED Display Alarm Code ALM8,4,2,1 Abbreviation Alarm NameAlarm Clear Contents 0101 RGOH Overheat of built-in regenerative resistor Possible Overheating detected in internal regenerative resistor module. 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 When control power supply is turned on △ ○ ○ During operation △ ○ ○ ○ Corrective Measures CAUSE CORRECTIVE MEASURES 1 Faulty amplifier internal circuit Replace servo amplifier 2 Regenerative power is too high • Review operating conditions. • Use an external regenerative resistor module 3 Faulty parameter setting (page9 of mode8) regenerative resistor type (RGKD) Check parameter setting: • In case regenerative resistor is not connected; regenerative resistor type (RGKD) = “None/Ext.R” • In case of using external regenerative resistor; regenerative resistor type (RGKD) = “None/Ext.R” • In case of using built-in regenerative resistor; regenerative resistor type (RGKD) = “Built-in R” 4 Faulty wiring of built-in regenerative resistor. Wire according to Chapter 9 Regenerative Resistor. [Amplifier capacity of 15A/ 30A] Connect built-in regenerative resistor wire to P and Y terminals of CND connector. [Amplifier capacity of 50A] Short circuit between P-X terminals of CND connector. Replace Servo Amplifier if malfunction persists. When using regenerative resistor built in Servo Amplifier, make sure to set page9 Regenerative Resistor type (RGKD) to “built-in regenerative resistor (Built-in R). With this setting, validity of overheat protection detection process of built-in regenerative resistor is judged. In case “no regenerative resistor connection or external regenerative resistor (None/ Ext.R) is selected, overheat detection of built-in regenerative resistor will not function. Therefore, built-in regenerative resistor may be burn or smoke occurs.
8. MAINTENANCE 8 - 17 Alarm Status Segment LED Display Alarm Code ALM8,4,2,1 Abbreviation Alarm NameAlarm Clear Contents 0101 RGOL Regenerative error Possible Overload detected in regenerative resistor 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 6 7 8 When control power supply is turned on ○ When main circuit power supply is turned on ○ ○ During operation ○○○○○ ○ △ Corrective Measures CAUSE CORRECTIVE MEASURES 1 • Allowable regeneration power of built-in regenerative resistor is exceeded. • Load inertia is too high, or conducted time (for one cycle) is too short Review load inertia and operational pattern • Use an external regenerative resistor module. • Lower load inertia within specified range • Increase deceleration time • Increase conducted time 2 External regenerative resistor is specified, but bit4 of Func2 is not set properly. Set bit4 of Func0 to “1” by allowable absorbing power of external regenerative resistor. 3 Built-in regenerative resistor module is specified, but faulty wiring. Check and correct wiring. 4 External regenerative resistor module is specified, but faulty wiring. Check and correct wiring. 5 Faulty regenerative resistor. • Replace servo amplifier if using built-in regenerative resistor module. • Replace resistor if using external regenerative resistor module. 6 Resistance value of external regenerative resistor module is too high Change to resistor that meets specification. 7 Input power voltage is over 280V AC Review input power voltage 8 Faulty amplifier control circuit Replace servo amplifier.
8. MAINTENANCE 8 - 18 Alarm Status Segment LED Display Alarm Code ALM8,4,2,1 AbbreviationAlarm NameAlarm Clear Contents 1111 MEME Memory error Not Possible• Amplifier capacity does not match motor code • Motor code change alarm • Error detected in the built-in non-volatile memory of amplifier 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 When control power supply is turned on ○ △ During remote controller operation △ ○ Corrective Measures CAUSE CORRECTIVE MEASURES 1 CPU is unable to read correct value from built-in non-volatile memory in amplifier. Replace servo amplifier 2 Faulty amplifier control board Replace servo amplifier 3 Bit0 of Func6 was changed to “1” from remote controller. • Reset remote controller and turn ON power again → Confirm no alarm occurs.
8. MAINTENANCE 8 - 19 Alarm Status Segment LED Display Alarm Code ALM8,4,2,1 AbbreviationAlarm NameAlarm Clear Contents 1000 AEE Absolute sensor battery failure Possible Multiple-rotation data is indefinite due to battery back-up failure of absolute sensor. 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 When control power supply is turned ON ○ ○ ○ △ During operation ○ △ Corrective Measures CAUSE CORRECTIVE MEASURES 1 Weak battery (Lithium battery) Replace the (lithium) battery →Encoder clear over 4 seconds 2 • No current flow over 20 hrs while battery is not connected to sensor. • Battery wiring is faulty Check and correct wiring, or connect battery. →Encoder clear over 4 seconds 3 Faulty servo motor sensor Replace servomotor 4 Faulty amplifier control board Replace amplifier At the initial setting of motor with absolute sensor (initial current flow), battery failure alarm will be displayed even in case of not week battery. Input encoder clear over 4 seconds to release the failure. In case of wiring-saved absolute sensor (ABS-E.S1) with application not using multiple rotational data without connecting lithium battery, set bit5 of Func6 to “1” and turn on the control power again. Then alarm “U” (battery error) will not be detected in turning on the control power.
8. MAINTENANCE 8 - 20 Alarm Status Segment LED Display Alarm Code ALM8,4,2,1 AbbreviationAlarm NameAlarm Clear Contents (Comes off) 1111 CPUE Amplifier error Not PossibleBuilt-in CPU of amplifier is malfunctioning 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 When control power supply is turned on △ ○ ○ During operation △ ○ ○ Corrective Measures CAUSE CORRECTIVE MEASURES 1 Faulty amplifier control circuit Replace servo amplifier 2 Weak internal 5V power due to short-circuit of input/output wiring of signal line of amplifier Disconnect all connectors and turn power supply on → If 7 segment LED blinks, check and repair short-circuit on signal line. 3 Faulty operation due to noise • Check if earth cable of amplifier is correctly grounded. • Add ferrite core as noise measure. 4 In maintenance mode. • Maintenance mode SW on the front of Amplifier (see Chapter 3 front view of Servo Amplifier) is at maintenance mode. → Shut down the control power and return the SW to normal mode.
8. MAINTENANCE 8 - 21 8.2 Troubleshooting (Non-Alarm) The following are the causes and corrective measures for troubleshooting non-alarm malfunctions. Consult your Sanyo Denki dealer should the malfunctions persist even after performing these troubleshooting measures. Please take note that it is dangerous to perform some of these procedures without first switching off the main power supply. Table 8-2 (1/2) Troubleshooting (Non-Alarm) No Malfunction Inspection Causes and corrective measures (1) Check voltage of control power input terminals • Check power supply if voltage is low • Check wiring and tightening of screws if there is no voltage 1 7-segment LED does not display“≡ “ after control power supply is switched on (2) Check if red “CHARGE” LED is on • Faulty power supply circuit → Replace servo amplifier (1) Check if position command is inputted • Input position command. (2) Check if servo lock is on • Check tightening of screw as motor power line is not connected (3) Check if current limit is inputted • Motor does not rotate, since current limiter is on and motor cannot output the torque over load torque. 2 7 segment LED is displaying a flashing “8” (servo ON status), but motor is not rotating (4) Check if deviation clear remains on • Chancel the deviation clear input (CN1-34 pin) (1) Check if proportional control is on • Switch off proportional control (2) Check if current limiter is on • Switch off current limiter 3 Unstable servomotor rotation. Lower than command. (3) Check if 7 segment LED is displaying “ = ”• EMR of serial communication line is on → Remove EMR (1) Check motor power lines • One of the power lines is disconnected. 4 Servomotor rotates momentarily before stopping (2) Check sensor dividing number setting • Correct the setting and turn on the power. 5 Motor vibrates at frequencies over 200Hz • Reduce velocity loop gain • Set current command low pass filter and notch filter.
8. MAINTENANCE 8 - 22 Table 8-2 (2/2) Troubleshooting (Non-Alarm) No Malfunction Inspection Causes and corrective measures 6 Excessive overshoot/undershoot during start/stop • Servo tuning at “High” • Lower velocity loop gain • Increase integral time constant • Loosen acceleration / deceleration command pattern • Use position command low pass filter (1) Check for mechanical faults • Operate servomotor by itself • Check centering and balance on coupling 7 Abnormal noise (2) Operate at low speed and check for random abnormal noise • Check if sensor signal line is pair-twisted and shielded. • Check if sensor and power lines are connected to the same duct • Check if power supply voltage drops
8. MAINTENANCE
8 - 23
Alarm history will be displayed with switch after switching slider on front panel to “HISTORY”.
Table 8-2-2 Alarm History Display
Switch No. Status
0 Display current alarm and status (Normal setting)
1 Display the last alarm
2 Display the second alarm to the last
3 Display the third alarm to the last
4 Display the fourth alarm to the last
5 Display the fifth alarm to the last
6 Display the sixth alarm to the last
7 Display the seventh alarm to the last
Select
• In case that alarm occurred when select switch was set at other than “0”, current
alarm will be displayed. Return to “0” before setting to see alarm history.
• If there is no alarm in the alarm history, will be displayed.
• Battery warning . cannot be displayed during alarm history is displayed on
segment LED. When slider switch is at “HISTORY” side, set rotary switch at “0” as
standard.
8. MAINTENANCE 8 - 24 8.3 Switching of Velocity Loop Proportional Gain Using Rotary Switch 8.3.1 Overview The PY or PY2 amplifier allows for easy switching of the velocity loop gain with its 8-position rotary switch located on the front of the amplifier. 8.3.2 Setting Procedure Set the slide switch on the front of the amplifier to GAIN. Then, set the following parameters. Operator Mode0-12 Velocity loop proportional gain add value (KvpA) This parameter sets a weight per rotary switch 1. The following shows the velocity loop gain actually set: Kvp + (KvpA × RSW) or Kvp 2 + (KvpA × RSW). Where, RSW is a rotary switch position. You can check the Kvp actually set on the Kvp monitor (KvpM) for operator mode5-14. Switching of Gain Using External Input Signal Using external input signal (CN1-36 pin or 35 pin), this function performs switching of the position loop gain, velocity loop proportional gain and velocity loop integral time constant. Input signal OFF : Kp, Kvp and Tvi are valid. Input signal ON : Kp2, Kvp2 and Tvi2 are valid. This function is enabled when the parameter servo function select (Mode 4, Page 2) is set to Gain_sel. The Func3 bit6 parameter is used for selecting the CN1 input signal (0: 36 pin and 1: 35 pin). Note 1: There is a 2 msec maximum time lag between switching of the input signal and that of the gain. Note 2: The gain automatically set by the test mode servo tuning function is set at Kp, Kvp, Tvi and ILPF irrespective of the above selection. Note that setting the slide switch to HISTORY clears your setting and returns to the original one.