Sanyo Denki Py 2 Manual

							 
9.  SPECIFICATIONS 
9－49 
9.1.14 Calorific Value 
Table 9-13 shows the calorific values of the PY2 Servo Amplifier under the rated load. 
 
Table 9-13    Calorific Values of PY2 Servo Amplifiers (1/2) 
Amplifier model No. Motor model No. Total calorific values of   
Servo Amplifier   (W) 
P30B04003D 15 
P30B04005D 16 
P30B04010D 19 
P30B06020D 26 
P50B03003D 15 
P50B04006D 16 
P50B04010D 18 
P50B05005D 17 
P50B05010D 19 
P50B05020D 22 
P50B07020D 26 
PY2A015 
P50B07030D 27 
P10B10030H 30 
P10B10075H 48 
P10B13050H 40 
P10B13050B 34 
P10B13100B 50 
P20B10100H 45 
P30B06040D 32 
P30B08075D 45 
P50B07040D 34 
P50B08040D 35 
P50B08050D 39 
P50B08075H 41 
P50B08100H 46 
P60B13050H 43 
PY2A030 
P80B15075H 54 
P10B13100H 78 
P10B13150H 103 
P10B13150B 75 
P10B18200B 97 
P20B10100D 68 
P20B10150D 82 
P20B10150H 70 
P20B10200H 88 
P50B08075D 59 
P50B08100D 67 
P60B13100H 74 
P60B13150H 89 
PY2A050 
P80B18120H 94 
 
 
 
 
 
 
 
1  Since the values in the table do not include the calorific values of an external regenerative 
resistor, they must be added as required. 
2  When an external regenerative resistor is used, change the addition term of the external 
regenerative resistor calorific value depending on the installation place. 
3  Regarding installation, strictly observe the installation procedure described in 5. 
Installation.  
						

							 
9.  SPECIFICATIONS 
9－50 
 
Table 9-13    Calorific Values of PY2 Servo Amplifiers (2/2) 
Amplifier model No. Motor model No. Total calorific values of   
Servo Amplifier (W) 
P30B04003P 19 
P30B04005P 22 
P30B04010P 27 
P50B03003P 19 
P50B04006P 21 
P50B04010P 25 
P50B05005P 23 
PY2E015 
P50B05010P 26 
P30B06020P 43 
P50B05020P 37 
P50B07020P 42 PY2E030 
P50B07030P 48 
 
 
 
 
 
 
 
 
 
 
 
1  Since the values in the table do not include the calorific values of an external regenerative 
resistor, they must be added as required. 
2  When an external regenerative resistor is used, change the addition term of the external 
regenerative resistor calorific value depending on the installation place. 
3  Regarding installation, strictly observe the installation procedure described in 5. 
Installation.  
						

							 
9.  SPECIFICATIONS 
9－51 
9.1.15 Dynamic Brake 
(1)  Slowing-down revolution angle by dynamic brake 
 
 
 
 
 
 
 
 
 
 
Fig. 9-21 N  :  Motor speed (min
-1) 
l
1 :  Slowing-down revolution angle (rad) by AMP 
internal processing time t
D. 
l
2 :  Slowing-down revolution angle (rad) by dynamic 
brake operation. 
t
D :  Delay time (sec) from occurrence of a signal until 
the start of operation. 
(Based on AMP capacity.    Refer to the following 
table.) 
 
 
[Standard expression] Supposing the load torque (T
L) is zero 
 
I = I
1 + I2 
 
  =           + (J
m + JL) × (αN + βN3) × 2 
 
I    :    Overall slowing-down revolution angle (rad) 
J
m :  Motor inertia (kg･m2) 
J
L :    Load inertia (calculated in terms of motor shaft) (kg･m2) 
α•β  :    Constant related to motor.    See Table 9-16. 
 
 
Table 9-14 
Amplifier model No. Delay time  tD (S) 
PY2A015 
PY2E015 10 × 10－３ 
PY2A030 
PY2E030 10 × 10－３ 
PY2A050 24 × 10－３ 
 
 
 
 
 2πN • t
D 
60 
Speed 
Time N 
l
2  l
1 
t
D
The slowing-down revolution angle of the PY2 amplifier is twice that of our conventional PY, 
PZ or PE series in the worst case.  
						

							 
9.  SPECIFICATIONS 
9－52 
(2)  Instantaneous resistance of dynamic brake 
When the load inertia (JL) substantially exceeds the applicable load inertia, dynamic brake resistance 
may abnormally increase, causing an overheating alarm or damage of the dynamic brake resistance. 
Consult with us if such operating conditions are assumed. 
The energy E
RD consumed by the dynamic brake operation at a single time is represented by the 
following expression. 
 
E
RD =           × {    (Jm + JL) ×        N  – I • TL } 
 
Rφ  :  Motor phase winding resistance (Ω) 
J
m  :  Motor inertia (kg･m2)  
J
L  :  Load inertia (calculated in terms of motor shaft) (kg･m2)  
N  :  Motor speed at the feed speed V (min
－1)  
I    :  Overall slowing-down revolution angle (rad)   
T
L  :  Load torque (N･m)  
 
Be sure to keep E
RD below the value in the following table. 
 
Table 9-15 
Amplifier model No. ERD (J) 
PY2A015 
PY2E015 360 
PY2A030 
PY2E030 360 
PY2A050 1330 
 
 
 
 
 
 
 
 
(3)  Allowable frequency of dynamic brake 
The allowable frequency (frequency of turning main circuit power supply on or off) of the dynamic brake 
should be a maximum of 10 times per hour and 50 times per day under the applicable load inertia and at 
the maximum speed. 
 
 
 
 
 
 
 
As a rule of thumb, a six-minute interval shall be provided between the preceding and 
succeeding dynamic brake operations.    If more frequent use is anticipated, the motor 
speed must be substantially reduced.     
The following expression can be used to compute an appropriate speed. 
6 minutes 
(Rated motor speed/ Maximum motor speed when operating)
2
When the energy consumed by dynamic brake resistance during one dynamic braking 
exceeds the specified value indicated in Table 9-15, the dynamic brake may be damaged.   
Consult us if such operating conditions are anticipated. 
(The dynamic brake will not be damaged if the load is within the range of the applicable load 
inertia.) 
2π 
60 2.5 
Rφ + 2.51 
2 2  
						

							 
9.  SPECIFICATIONS 
9－53 
(4)  Dynamic brake constant table 
Table 9-16    Dynamic Brake Constant Table (1/2) 
Amplifier model No. Motor model No. α β J
M (Kg-m2) 
P30B04003D 114.00 60.5 × 10-7 0.024 × 10-4 
P30B04005D 66.00 37.3 × 10-7 0.031 × 10-4 
P30B04010D 25.00 12.2 × 10-7 0.051 × 10-4 
P30B06020D 12.70 17.2 × 10-7 0.144 × 10-4 
P50B03003D 170.00 9.20 × 10-7 0.02 × 10-4 
P50B04006D 43.90 8.00 × 10-7 0.054 × 10-4 
P50B04010D 27.00 5.01 × 10-7 0.079 × 10-4 
P50B05005D 59.20 22.8 × 10-7 0.060 × 10-4 
P50B05010D 23.00 9.29 × 10-7 0.098 × 10-4 
P50B05020D 9.78 3.86 × 10-7 0.173 × 10-4 
P50B07020D 13.00 6.14 × 10-7 0.398 × 10-4 
PY2A015 
P50B07030D 7.27 4.41 × 10-7 0.507 × 10-4 
P10B10030H 4.29 3.08 × 10-7 3.9 × 10-4 
P10B10075H 1.69 0.75 × 10-7 14 × 10-4 
P10B13050H 1.29 1.65 × 10-7 12 × 10-4 
P10B13050B 0.58 2.41 × 10-7 12 × 10-4 
P10B13100B 0.54 1.06 × 10-7 25 × 10-4 
P20B10100B 1.61 3.59 × 10-7 1.55 × 10-4 
P30B06040D 4.32 6.80 × 10-7 0.255 × 10-4 
P30B08075D 2.97 3.68 × 10-7 0.635 × 10-4 
P50B07040D 5.63 2.08 × 10-7 0.74 × 10-4 
P50B08040D 6.34 2.95 × 10-7 0.828 × 10-4 
P50B08050D 4.84 1.44 × 10-7 1.17 × 10-4 
P50B08075H 2.36 0.88 × 10-7 1.93 × 10-4 
P50B08100H 1.49 0.62 × 10-7 2.66 × 10-4 
P60B13050H 2.37 4.74 × 10-7 2.8 × 10-4 
PY2A030 
P80B15075H 1.54 3.39 × 10-7 5.3 × 10-4 
P10B13100H 1.69 0.46 × 10-7 25 × 10-4 
P10B13150H 1.29 0.27 × 10-7 35 × 10-4 
P10B13150B 0.58 0.61 × 10-7 35 × 10-4 
P10B18200B 0.54 0.48 × 10-7 73 × 10-4 
P20B10100D 3.33 1.81 × 10-7 1.55 × 10-4 
P20B10150D 2.19 1.05 × 10-7 2.04 × 10-4 
P20B10150H 1.44 1.59 × 10-7 2.04 × 10-4 
P20B10200H 1.28 0.93 × 10-7 2.83 × 10-4 
P50B08075D 4.61 0.49 × 10-7 1.93 × 10-4 
P50B08100D 2.99 0.30 × 10-7 2.66 × 10-4 
P60B13100H 1.57 1.19 × 10-7 5.6 × 10-4 
P60B13150H 1.08 0.60 × 10-7 8.3 × 10-4 
PY2A050 
P80B18120H 1.63 2.06 × 10-7 12.1 × 10-4 
 
 
 
 
 
The α and β values are obtained on the assumption that the resistance value of the power 
line is 0 Ω. 
If the combination with the amplifier is not listed in the above table, a different constant 
applies.    In this case, consult with us.  
						

							 
9.  SPECIFICATIONS 
9－54 
 
Table 9-16    Dynamic Brake Constant Table (2/2) 
Amplifier model No. Motor model No. α β J
M (Kg-m2) 
P30B04003P 159.18 0.39 × 10-7 0.024 × 10-4 
P30B04005P 117.73 0.26 × 10-7 0.031 × 10-4 
P30B04010P 49.27 7.63 × 10-7 0.051 × 10-4 
P50B03003P 210.53 7.50 × 10-7 0.02 × 10-4 
P50B04006P 63.32 5.55 × 10-7 0.054 × 10-4 
P50B04010P 40.15 3.42 × 10-7 0.079 × 10-4 
P50B05005P 86.16 0.16 × 10-7 0.060 × 10-4 
PY2E015 
P50B05010P 39.20 5.45 × 10-7 0.098 × 10-4 
P30B06020P 39.68 5.45 × 10-7 0.144 × 10-4 
P50B05020P 22.20 1.67 × 10-7 0.173 × 10-4 
P50B07020P 30.48 2.57 × 10-7 0.398 × 10-4 PY2E030 
P50B07030P 24.25 1.29 × 10-7 0.507 × 10-4 
 
 
 
 
 
 
 
 
 
The α and β values are obtained on the assumption that the resistance value of the power 
line is 0 Ω. 
If the combination with the amplifier is not listed in the above table, a different constant 
applies.    In this case, consult with us.  
						

							 
9.  SPECIFICATIONS 
9－55 
9.1.16 Regenerative Processing 
Although the PY2 (15 A/30 A) has a built-in regenerative processing circuit, no regenerative resistor is 
provided.    So, externally connect a regenerative resistor as necessary.    It is recommended that one be 
externally connected when a 300 W or higher motor is to be driven. 
Mount it between the P and Y (or COM) terminals of connector CND on the front of the amplifier.     
The PY2 (50 A) has a built-in regenerative resistor.   However, regenerative power that cannot be absorbed 
by the built-in resistor may occur depending on the load inertia or the operating pattern.    In such cases, 
connect an external regenerative resistor. 
 
 
 
 
 
 
 
 
 
 
 
 
 
Available external regenerative resistors are introduced in 9.5.  Select according to your specifications by 
referring to the following method of calculating regenerative power PM. 
 
(1)  Calculation of regenerative power PM 
Step 1 :  Calculate the regenerative energy 
  The following is an example of how to calculate regenerative energy EM. 
 
①  For horizontal shaft driving 
 
  EM = EHb =      × N × 3 • KEφ ×      × tb – (     )
2 × 3 • Rφ × tb 
 
EM  :  Regenerative energy at horizontal shaft driving  [J] 
EHb  :  Regenerative energy at deceleration  [J] 
KEφ  :  Induced voltage constant  [Vrms/min
－1] (motor constant) 
KT :  Torque constant  [N･m/Arms] (motor constant) 
N : Motor speed  [min
-1] 
Rφ :  Armature resistance  [Ω] (motor constant) 
tb : Deceleration time  [s] 
Tb  :  Torque at deceleration  [N･m] (Tb = Tc – TF) 
Tc :  Acceleration/deceleration torque  [N･m] 
TF :  Friction torque  [N･m] 
 1
2
Tb
KTTb
KT
If inertia is large and sudden starting or stopping is applied without a regenerative resistor, 
an overvoltage alarm (5 displayed in the 7-segment LED, alarm code 05H) may be 
issued.    In this case, externally connect a regenerative resistor (the Servo Amplifier will not 
break even if an overvoltage alarm is issued). 
On the Servo Amplifier without an external regenerative resistor, the main circuit power 
smoothing electrolytic capacitor is not instantaneously discharged when the R, S or T 
terminal of the main circuit power is turned off.    In this case, allow more than five minutes 
after the main circuit power is turned off and make sure that the red LED on the front of the 
amplifier, which indicates whether the main circuit power is charged or not, is turned off 
(discharged) before removing the amplifier.  
						

							 
9.  SPECIFICATIONS 
9－56  ②  For vertical shaft driving (when a gravitational load is applied) 
 
  EM  = EVUb + EVD + EVDb 
 
    =       × N × 3 • KEφ ×       × tUb – (       )
2 × 3 • Rφ × tUb   
 
   + N × 3 • KEφ ×       × tD – (       )
2 × 3 • Rφ × tD 
 
    +      × N × 3 • KEφ ×       × tDb – (       )
2 × 3 • Rφ × tDb   
 
EM  :  Regenerative energy at vertical shaft driving  [J] 
EVUb :  Regenerative energy at decelerated upward driving  [J]   
EVD  :  Regenerative energy at downward driving  [J] 
EVDb :  Regenerative energy at decelerated downward driving  [J] 
TUb  :  Torque at decelerated upward driving  [N･m] 
tUb  :  Decelerated upward drive time  [s] 
TD  :  Torque at downward driving  [N･m] (TD = TM – TF) 
tD  :  Downward drive time  [s] 
TDb  :  Torque at decelerated downward move  [N･m]  
      (TDb = TC – TF + TM) 
tDb  :  Downward drive time  [s] 
TM  :  Gravitational load torque  [N･m] 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 9-22 
 1 
2 
TUb
KTTUb
KT
TD
KTTD 
KT 
1 
2 TDb
KTTDb
KT
If EVUb, EVD or EVDb becomes negative as a result of calculation, calculate EM after 
changing the value 0. 
TC + TF + TM 
Motor output 
shaft torque 
T Db 
TM  TM + TF 
TM  TC + TF 
− TM
TD 
TUb
t Db 
tD  tUb 
to  N 
 
O 
 
N Upward drive 
Downward drive  
						

							 
9.  SPECIFICATIONS 
9－57   
Step 2 :  Calculate the effective regenerative power 
  Based on the calculation obtained during regeneration, check the regenerative capacity of the 
regenerative resistor connected to the PY2 amplifier. 
 
①  For horizontal shaft driving 
 
 PM =  
 
PM  :  Effective regenerative power  [W]   
EM  :  Regenerative energy at deceleration  [J]   
t o  :  Cycle time  [s] 
 
②  For vertical shaft driving 
 
 PM =  
 
PM  :  Effective regenerative power  [W]   
EM  :  Regenerative energy at upward driving, downward 
    driving and decelerated downward driving  [J] 
t o  :  Cycle time  [s] 
 
 
(2)  Selection of external regenerative resistor 
Compare the regenerative effective power obtained in steps 1 and 2 in (1) with the values in 9.5   
External Regenerative Resistor Combination Table and select an appropriate resistor. 
 EM 
t o 
EM 
t o  
						

							 
9.  SPECIFICATIONS 
9－58 
 9.2 Servomotor 
9.2.1 Common Specifications 
Table 9-17    Common Specifications of P3, P5, P6 and P8 Series Servomotors 
Series P1 P2 P3 P5 P6 P8 
Time rating  Continuous 
Insulation class  Class F 
Dielectric strength  1500 VAC for 1 minute 
Insulation resistance  500 VDC and 10 MΩ minimum 
Protective system  Totally-enclosed and self-cooling type 
 IP67 IP40 P50B03,04:IP40
Other than the 
above: IP55 IP67 
Sealing Provided Not 
providedP50B03,04: Not 
provided 
Other than the 
above: 
Provided Provided 
Ambient temperature 0 to +40°C 
Storage temperature − 20 to 65°C 
Ambient humidity  20% to 90% (no condensation) 
Vibration class  V10  V15 
Coating color  Munsell N1.5 equivalent (outside) 
Excitation system  Permanent magnet type 
Installation method  Flange type 
 
 
 
 
 
 
 
 
 
Conforms to IP67 using a waterproof connector, conduit, shell, clamp, etc. for the other side.