Sanyo Denki Py 2 Manual
Have a look at the manual Sanyo Denki Py 2 Manual online for free. It’s possible to download the document as PDF or print. UserManuals.tech offer 550 Sanyo manuals and user’s guides for free. Share the user manual or guide on Facebook, Twitter or Google+.
9. SPECIFICATIONS
9－19
(2) Transfer format
(2-1) Start-stop synchronization (9600 bps)
① Configuration in a frame
1 frame (11 bits)
↑ ↑↑
Start
signal
(1 bit) Position
signal
(5 bit)
Address
signal
(5 bit)
Parity
signal
(1 bit)Stop
signal
(1 bit)
Fig. 9-8-1 (1) Frame Configuration of Start-stop Synchronization (9600bps) (ABS-RⅡ)
② Configuration in each frame
Start
signal Position signal Address
signal Parity
signal Stop
signal
･Frame 1 0 D0 D1 D2 D3 D4 0 0 0 0／1 1
(LSB)
･Frame 2 0 D5 D6 D7 D8 D9 1 0 0 0／1 1
･Frame 3 0 D10 D11 D12 D13 D14 0 1 0 0／1 1
･Frame 4 0 D15 D16 D17 D18 D19 1 1 0 0／1 1
･Frame 5 0 D20 D21 D22 D23 D24 0 0 1 0／1 1
･Frame 6 0 D25 0 0 AW0 AW1 1 0 1 0／1 1
Fig. 9-8-1 (2) Start-stop Synchronization (9600 bps) Transfer Format (ABS-RⅡ)
(MSB)
D0 to D12 ................One-revolution absolute value
D13 to D25 ..............Multi-revolution absolute value
(In the case of 8192FMT sensor)
AW0 AW1
Battery alarm 0 1
Sensor error Output low
Normal 0 0
9. SPECIFICATIONS
9－20 (2-2) Manchester coding synchronization (1 Mbps)
① Configuration in a frame
1 frame (25 bits)
↑ ↑ ↑ ↑ ↑ ↑
Start
signal MODEM
address
signal Position signal Frame
address
signalCRC
signalStop
signal
(3 bit) (2 bit) (15 bit) (1 bit) (3 bit) (1 bit)
Fig. 9-8-2 (1) Frame Configuration of Manchester Coding Synchronization (1Mbps)(ABS-RⅡ)
② Configuration in each frame
Fig. 9-8-2 (2) Transfer Format of Manchester Coding Synchronization (1 bps) (ABS-RⅡ)
1 The first 2 bits of the start signal are output as a high (1) signal of the whole bit section.
The remaining 23 bits are all Manchester coded.
2 D0 to D12........... One-revolution absolute value
D13 to D25......... Multi-revolution absolute value
(In the case of 8192FMT sensor)
AW0 AW1
Battery alarm 0 1
Sensor error Output low
Normal 0 0
Data “0” Data “1”
1
01
0
Manchester code
1 1 1 0 0
D0 D1 D2 D3 D4 D5 D6 D7 D8 D9 D10 D11 D12 D13 D14
(LSB)
0 0／10／10／1 0
D15 D16 D17 D18 D19 D20 D21 D22 D23 D24 D25 0 0 AW0 AW1
1
• Frame 1
• Frame 2
Position signal
Frame address signal Start signal MODEM address signal
CRC signal Stop signal
Position signal
Frame address signal (MSB)
The start signal, MODEM signal, CRC signal
and stop signal are the same as those in frame 1. ( 1)
9. SPECIFICATIONS 9－21 (3) Serial PS Transfer Cycle (3-1) Start-stop synchronization (9600 bps) Fig. 9-8-3 (1) Transfer Cycle of Start-stop Synchronization (9600 bps) (ABS-RⅡ) (3-2) Manchester coding synchronization (1 Mbps) Fig. 9-8-3 (2) Transfer Cycle of Manchester Coding Synchronization (1 Mbps) (ABS-RⅡ) The serial output is not specified for about 1 sec after the power is turned on. Communication does not always start with frame 1 in 1 sec. Approx. 1s Control power supply Not specified Serial output Serial transfer H H H 1 23456 12345 6 Approx. 6.9 ms Approx. 9.2 ms Approx. 6.9 ms Approx. 1.1 ms Frame 1 Frame 2 Frame 3 Frame 4 Frame 5 Frame 6 Serial output Frame 2 Frame 1 Frame 2 25 µs 25 µs 16 µs 84 µs±2 µs Frame 1
9. SPECIFICATIONS
9－22
9.1.6.4 Serial Output (When the ABS-E.S1 Absolute Sensor Is Used)
One of the two position signal outputs can be selected using the remote operator. When FUNC5 bit 7 on
Page 6 in Mode 2 of the remote operator is set at 0, start-stop synchronization is selected.
When bit 6 is set at 1, Manchester coding synchronization is selected. For details, refer to Func5 in 7.2.3
Parameter List. The specifications are as follows:
(1) Serial output specifications
Table 9-4 (1) Start-stop Synchronization Output (9600 bps) Specifications
Transmission system Start-stop synchronization
Baud rate 9600 bps
Number of transfer frames 6 frames (11 bits/frame)
Transfer format See Fig. 9-9-1.
Transmission error check (1 bit) even parity
Transfer time 6.9 ms (Typ.)
Transfer cycle 9.2 ms (See Fig. 9-9-3 (1).)
Incremental direction Increased at forward revolution
Table 9-4 (2) Manchester Coding Synchronization Output (1 Mbps) Specifications
Transmission system Manchester coding synchronization
Baud rate 2 Mbps
Number of transfer frames 2 frames (25 bits/frame)
Transfer format See Fig. 9-9-2.
Transmission error check (3 bits) CRC error check
Transfer time 25 µs (Typ.)
Transfer cycle 42 µs±2 µs(See Fig. 9-9-3 (2).)
Incremental direction Increase at forward revolution
Specifications for the ABS-E.S1 Wiring-saved Absolute Sensor are as follows:
One revolution: 32768 divisions (15 bits), Mutli-revolution: 65536 rotations (16 bits)
When combined with the PY2 Servo Amplifier, however, the product will be operated in the
following specifications because of the limited communication specifications:
One revolution: 32768 divisions (15 bits), Multi-revolution: 8192 rotations (13 bits)
When the product is used in the application requiring no multi-revolution data under the setting
of Func6 Bit5 = 1 (Mode2 Page7) without battery connected (when used in one-revolution
mode);
• Even if one revolution mode is set, error or warning bit may be set at the data output from
the serial position signal (CM1-9, 10 pins). This causes no problem in the operation of the
Servo system. When one revolution mode is set, make the upper system exclude these bits.
• When one revolution mode is set, multi-revolution data may change suddenly. Do not use
the multi-revolution data at the upper system.
Forward revolution means counterclockwise rotation as viewed from the motor shaft.
9. SPECIFICATIONS
9－23
(2) Transfer format
(2-1) Start-stop synchronization (9600 bps)
① Configuration in a frame
1 frame (11 bits)
↑ ↑↑
Start
signal
(1 bit) Position
signal
(5 bit)
Address
signal
(3 bit)
Parity
signal
(1 bit)Stop
signal
(1 bit)
Fig. 9-9-1 (1) Start-stop Synchronization (9600bps) Frame Configuration (ABS-E.S1)
② Configuration in each frame
Start
signal
Position signal Address
signal Parity
signal Stop
signal
･Frame 1 0 D0 D1 D2 D3 D4 0 0 0 0／1 1
(LSB)
･Frame 2 0 D5 D6 D7 D8 D9 1 0 0 0／1 1
･Frame 3 0 D10 D11 D12 D13 D14 0 1 0 0／1 1
･Frame 4 0 D15 D16 D17 D18 D19 1 1 0 0／1 1
･Frame 5 0 D20 D21 D22 D23 D24 0 0 1 0／1 1
･Frame 6 0 D25 D26 D27 AW0 AW1 1 0 1 0／1 1
Fig. 9-9-1 (2) Start-stop Synchronization (9600 bps) Transfer Format (ABS-E.S1)
(MSB)
D0 to D14 ................ One-revolution absolute value(15bit)
D15 to D27 .............. Multi-revolution absolute value(13bit)
(In the case of 8192FMT sensor)
AW0 AW1
Battery alarm 0 1
1 1 Sensor error
Output low
Battery Warning 1 0
Normal 0 0
9. SPECIFICATIONS
9－24
(2-1) Manchester Coding Synchronization (2 bps)
① Configuration in a frame
1 frame (25 bits)
↑ ↑ ↑ ↑ ↑ ↑
Start
signal
(3 bits)Modem
address
signal
(2 bits)
Position
signal
(15 bits) Frame
address
signal
(1 bit) CRC
signal
(3 bits)Stop
signal
(1 bit)
Fig. 9-9-2 (1) Manchester Coding Synchronization (2 Mbps) Frame Configuration (ABS-E.S1)
② Configuration in each frame
Fig. 9-9-2 (2) Manchester Coding Synchronization (2 Mbps) Transfer Format (ABS-E.S1)
1 1 1 0 0
D0 D1 D2 D3 D4 D5 D6 D7 D8 D9 D10 D11 D12 D13 D14
(LSB)
0 0／10／10／1 0
D15 D16 D17 D18 D19 D20 D21 D22 D23 D24 D25 D26 D27 AW0 AW1
1
• Frame 1
• Frame 2
Position signal
Frame address signal Start signal MODEM address signal
CRC signal Stop signal
Position signal
Frame address signal (MSB)
The start signal, MODEM signal, CRC signal
and stop signal are the same as those in frame 1. ( 1)
1 The first 2 bits of the start signal are output as a high (1) signal of the whole bit section.
The remaining 23 bits are all Manchester coded.
2 D0 to D14 ...........One-revolution absolute value
D15 to D27 .........Multi-revolution absolute value
AW0 AW1
Battery alarm 0 1
1 1 Sensor error
Output low
Battery warning 1 0
Normal 0 0
Data “0” Data “1”
1
01
0
Manchester code
9. SPECIFICATIONS 9－25 (3) Serial PS Transfer Cycle (3-1) Start-stop synchronization (9600 bps) Fig. 9-9-3 (1) Transfer Cycle of Start-stop Synchronization (9600 bps) (ABS-E.S1) (3-2) Manchester coding synchronization (2 Mbps) Fig. 9-9-3 (2) Transfer Cycle of Manchester Coding Synchronization (2 Mbps) (ABS-E.S1) The serial output is not specified for about 1 sec after the power is turned on. Communication does not always start with frame 1 in 1 sec. Approx. 1s Control power supply Not specified Serial output Serial transfer H H H 1 23456 12345 6 Approx. 6.9 ms Approx. 9.2 ms Approx. 6.9 ms Approx. 1.1 ms Frame 1 Frame 2 Frame 3 Frame 4 Frame 5 Frame 6 Serial output Frame 2 Frame 1 Frame 2 12.5 µs 12.5 µs 1 µs 42 µs±2 µs Frame 1
9. SPECIFICATIONS 9－26 9.1.7 Monitor Output • The contents of outputs from monitor 1 (MON1) and monitor 2 (MON2) can be selected by the remote operator. • Monitor 1 and 2 outputs are convenient for selecting a check pin on the controller. • Outputs can be changed on Page 3 in Mode 2 (Func2) or Page 0 or 1 in Mode 4 of the remote operator. See Pages 1 and 2 in Mode 4 in 7.2.3 Parameter List. (1) Velocity, torque and position deviation monitor Refer to Fig 9-12 (1) to (3). The velocity command outputs internal data of the amplifier, which are different from the values generated by the VCMD monitor of the remote operator. In the SOFF state, the monitor output value is zero. When the control power is turned on or off, the monitor output is unfixed. Velocity command / velocity feedback monitor output The scale can be changed among 0.5 V/1000 min−1, 3 V/1000 min−1, 1 V/1000 min−1 and 2 V/1000 min−1. Fig. 9-12 (1) Current command / current feedback monitor output The scale can be changed among 0.5 V/IR,2 V/IR, and 1 V/IR. Fig. 9-12 (2) Position deviation monitor output The scale can be changed among 5 mV/pulse, 50 mV/pulse, 10 mV/pulse and 20 mV/pulse. Fig. 9-12 (3) Forward revolution 1000min −1 Forward revolution Forward revolution Backward revolution 1000min −1 1000min−1 0.5 V Output voltage Output voltage Output voltage 0 Backward revolution 0 Backward revolution −0.5 V 0.5 V −0.5 V 0.5 V 1000min −11000min−1 0 1000min−1 Backward revolution Backward revolution Armature current Forward revolution Armature current Armature current Forward revolution Forward revolution Output voltage Output voltage Output voltage 0.5 V Backward revolution 0 − IRIR 00.5 V −0.5 V IR IR 0.5 V 0 −0.5 V − IR IR (Rated current) Forward revolution Forward revolution Output voltage 0.5 V Backward revolution Forward revolution Pulse 0 100 100 Output voltage 0.5 V 0 Backward revolution −0.5 V 100 100 Pulse Output voltage 0 Backward revolution 0.5 V −0.5 V 100 100 Pulse
9. SPECIFICATIONS 9－27 (2) Regenerative load factor monitor output The regenerative load factor monitor output is convenient for checking the effective power of the regenerative resistor. Regenerative load factor monitor signals are output as follows: Effective power of regenerative resistor/Monitor reference power (W) = 0.3 V (The monitor reference power is set at the value listed in Table 9-5.) The output voltage is updated every second. The effective power of the regenerative resistor is typically calculated as follows: Fig. 9-12 (4) When the power is measured as in the figure above, the following calculation is possible: Effective power of regenerative resistor (W) = × Monitor reference power (W) The result is acceptable if it is within the allowable effective power of the regenerative resistor. The regenerative resistor load factor monitor assumes that the regenerative resistor values are as in the table below. Table 9-5 Regenerative Resistor Value and Monitor Reference Power of Each Amplifier Capacity Type of amplifier PY2A015 PY2E015 PY2A030 PY2E030 PY2A050 Resistance value (Ω) 100 Ω 50 Ω 20 Ω Func2 bit 4 = 0 5 W 5 W 20 W Monitor reference power Func2 bit 4 = 1 10 W 10 W 40 W * For the allowable effective power of an external regenerative resistor, refer to Table 9-21 External Regenerative Resistor Combination Table. * After switching, Func2 bit 4 is enabled by turning on the control power supply again. V1 + V2 + V3 T × 0.3 V2V1 V3 1 1 1 T (1 cycle) (Sec) 1 When T (1 cycle) is 1 second or shorter, measure the effective power by repeating cycles for more than 1 second. 2 Since the maximum output voltage of the analog monitor is 3 V, if the power consumption with a regenerative resistor in a second exceeds 10 times of the reference power, it will continue for the next 1 second. 3 The regenerative load factor monitor may cause errors of ±30%. 4 The monitor reference power changes depending on the regenerative resistor OL time select in Func2 bit 4. 5 When the built-in regenerative resistor is used, use the built-in regenerative resistor absorbing power monitor RegP (Mode5 Page17) of the remote operator.
9. SPECIFICATIONS 9－28 (3) Typical monitor applications This section explain typical applications of the velocity and current monitor. Speed and current measurement When connecting a measuring instrument to the velocity or current feedback monitor, use a both-swing type CD voltmeter and connect it as in Fig. 9-12 (5). In this case, use a shielded wire and make the wiring as short as possible. Fig. 9-12 (5) Typical Connection of Monitor and Measuring Instrument • Current feedback monitor output (CN1 - 16) ±0.5 V±20%/rated armature current. • Velocity feedback monitor output (CN1 - 15) ±0.5 V±20%/1000 min -1. • The maximum monitor output voltage is ±3 V. 1 When the contents of the monitor output are changed using the remote operator or PC interface, the contents of CN1-15 and CN1-16 are also changed. So, When the above use is employed for CN1-15 and CN1-16, change the contents carefully so as not to damage the measuring instrument. 2 For measuring the velocity/current monitor, use a DC voltmeter (both-swing type) of 10 kΩ or more. 3 When the control power is turned on or off, the monitor output becomes unfixed, outputting about ±5.5 V. When any measuring instrument is connected, be careful not to damage it. ( 2) Tachometer min−1 A Servo Amplifier side Ammeter R R CN1-15 CN1-16 CN1-14 SG (MON1) (MON2)Velocity feedback monito r Current feedback monitor R : 1 K Ω ± 1%