Sanyo Denki Py 2 Manual

							 
5.  INSTALLATION 
5 - 8   
Table 5-1    P Series Motor Allowable Radial and Thrust Load 
  During assembly During operation 
 Models  Radial load 
(kg) 
Thrust load   
(kg) 
Radial load 
(kg) 
Thrust load   
(kg) 
  FR F  
Direction
F1 
Direction
FR F  
Direction 
F1 
Direction
P1 P10B10030 60 80 80 40 10 10 
 P10B10075 60 80 80 40 10 10 
 P10B13050 100 140 140 50 10 10 
 P10B13100 100 140 140  50  10  10 
 P10B13150 100 140 140 70 10 10 
 P10B18200 230 190 190 150  50  50 
P2 P20B10100 100 30 30 70 30 30 
 P20B10150 100 30 30 70 30 30 
 P20B10200 100 30 30 70 30 30 
P3 P30B04003 10 8 8 5 3 3 
 P30B04005 15 10 10 10 3 3 
 P30B04010 15 10 10 10  3  3 
 P30B06020 40 20 20 20  8  8 
 P30B06040 40 20 20 25 10 10 
 P30B08075 60 40 40 35 20 20 
P5 P50B03003 7 7 7 6 2 2 
 P50B04006 15 10 10 10  3  3 
 P50B04010 15 10 10 10 3 3 
 P50B05005 20 20 15 15  8  8 
 P50B05010 20 20 15 15 8 8 
 B50B05020 25 20 15 15  8  8 
 P50B07020 25 50 20 20 10 10 
 P50B07030 25 50 20 20 10 10 
 P50B07040 25 50 20 25 10 10 
 P50B08040 60 80 30 35 20 20 
 P50B08050 60 80 30 35 20 20 
 P50B08075 60 80 30 35 20 20 
 P50B08100 60 80 30 35 20 20 
P6 P60B13050  65  130  130  35  35  35 
 P60B13100 100 140 140 65 50 50 
 P60B13150 170 190 190  65  50  50 
P8 P80B15075 100 140 140 65 50 50 
 P80B18120 150 140 140  95  50  50 
 
  
						

							 
5.  INSTALLATION 
5 - 9 
LR 
LR/3 
Thrust load 
F direction 
F1 direction 
Point 
loaded
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 5-9    Radially loaded position 
 
 5.3 Cable Installation 
•  Be careful not to give stress or damage to cables. 
•  When the motor and cables are moved by cable bearer, determine a bending radius of each cable by 
the necessary flexure lifetime and type of wire.    It is recommended that the cable of a movable portion 
should have a structure that permits periodic replacement.    When you desire to use a recommended 
cable for a movable portion, consult with our company.     
 
 
 
 
 
 
 
The allowable radial load refers to the maximum load applicable to the point one-third of the 
output shaft length away from the output shaft (see the figure below).  
						

							 
6.  OPERATION 
6－1   
 
 
 
 
 
 
 
OPERATION 
 
 
 
 
 
 
6.1 Operation Sequence.................................................................... 6-2 
6.1.1 Power ON Sequence........................................................ 6-2 
6.1.2 Stop Sequence..................................................................6-3 
6.1.3 Servo OFF Sequence....................................................... 6-5 
6.1.4 Alarm Reset Sequence..................................................... 6-6 
6.1.5 Overtravel Sequence........................................................ 6-7 
6.2 Display ......................................................................................... 6-8 
6.2.1 Status Display................................................................... 6-8 
6.2.2 Alarm Display.................................................................... 6-8 
6.3  Be Sure to Check the Functioning at First ................................... 6-9 
6.3.1 Minimum Wiring................................................................ 6-9 
6.3.2 Jog Operation.................................................................... 6-10 
6.3.3  Reseting and Turning the Power Off ................................. 6-12 
6.4  Encoder Clear Using Remote Operator   
(When Absolute Encoder is Used) ............................................... 6-13 
  
						

							 
6.  OPERATION 
6－2 
 6.1 Operation Sequence 
The frequency of power ON/OFF should be 10 times/H or less, and 50 times/day or less. 
 
6.1.1  Power ON Sequence 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 6-1 
Control power ON (r, t) 
Sequence power ON (CN1) 2.5 Sec
or less
Amplifier ready output (RDY) 
Start ready ON (external switch) 
Main circuit power supply 
(R, S, T) 
Release 
Dynamic brake release 
Approx. 1.0 Sec  1   Start ready complete (SRDY) 
1  The dotted line denotes an option. 
2  RDY1 and RDY2 in the safety circuit are optional. 
3  The thermostat output in the external regenerative resistor can be connected to   
general-purpose input CN1 of the amplifier. 
R
S
T
r
t Install a spark killer   
on the magnetic contactor   
(Okaya Electric Industries Co., 
Ltd.: CRE-50500) 
Safety circuit 
3φ 
200 V to   
230 VAC 
 
50 Hz to 
60Hz
External regenerative resistor:
  Overheating detection thermostat System 
erro
rEmergency 
sto
p 
Input to 
CN1  External regenerative resistor 
Start 
read
y 
DC power supply 
for brake  Holding 
brake 
Fast-blown fuse Prevention against 
common/ normal 
mode noise 
Circuit 
braker 2P Y
RDY1
MC
 RDY2
MC 
MC 
Encoder 
signal 
CN1CN2 MC
 
Controller 
Motor 
U
V
W
E
U
V
W
3
1
24 VDC 
OP
1
MC 
RY 
Noise  
filter 
1  The time period from main circuit power ON to SRDY is approx. 1 sec.    However, in 
case of single phase power of Amplifier with 50A capacity, that will be approx. 1.5 sec.  
						

							 
6.  OPERATION 
6－3 
6.1.2 Stop Sequence 
6.1.2.1  Stop and recovery due to emergency stop input 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1 •  Release emergency stop before inputting start ready. 
2 •  The holding brake timing (standard value 300 ms, in Parameter Mode 1 on page 13) can 
be changed to 0 to 1 sec.    However, when it is set at 0 msec, command ineffective 
(forced zero) status continues for 4 msec after SON. 
 •  The current is limited by the sequence current limit value (standard value 120 %, in 
parameter Mode 1 on page 12) between t2 and t3. 
3 •  It is possible to make commands ineffective (forced zero) during t3 after SON by setting 
Func1 bit5 to 0 when setting parameters.   In case of the position control type, 
however, the command pulse remains as a deviation for t3. 
 •  It is possible to make commands effective immediately after SON by setting Func1 bit5 to 
1 when setting parameters.    However, the sequence current limit value is applied 
when switching from SON to SOFF and is not applied when switching from SOFF to 
SON. 
4 •  If an emergency stop occurs in a heavy load status, MPE (Main circuit Power Error, 
alarm 9) may be activated. 
5 •  It is possible to output the command effectiveness from CN1-39 and 40 pins by using 
parameter Func4. 
6 •  The time period from main circuit power ON to SRDY is approx. 1 sec.    However, in 
case of single phase power of Amplifier with 50A capacity, that will be approx. 1.5 sec. 
7 •  When the alarm generates, assemble the safety circuit outside of the amplifier. 
Running away, injury, burning, fire, and secondary damage may be caused. 
ON 
OFF 
ON 
OFF 
300 mSec   
(   2) 
Contact open 
Start ready ON 
(external switch) 
Emergency stop 
(EMR) 
Main circuit power
supply (R, S, T) 
Amplifier ready 
output (RDY) 
Dynamic brae 
Servo ON 
(SON) 
Holding brake 
excitation timing 
output (HBON) 
Start ready   
complete output 
(SRDY) 
Motor excitation 
Command  
effectiveness 
output (   5) 
(   1)
300 mSec (   2) 
OFF 
OFF 
OFF 
OFF 
(holding brake operation)
ON (operating)
OFF
OFF
OFF
Command ineffective (forced zero)
Approx. 50 to 100 mSec 
ON 
Effective 
ON 
t1t3
t2
ON 
(release) 
ON 
OFF 
ON 
ON ON 
ON 
(   3) 
(release)  
						

							 
6.  OPERATION 
6－4 
6.1.2.2  Stop and recovery due to an internal error 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1 •  In an internal error status, inputting emergency stop has no effect.     
However, release it before inputting start ready. 
2 •  As per the alarm reset sequence. 
3 •  The holding brake timing (standard value 300 ms, in Parameter Mode 1 on page 13) can 
be changed to 0 to 1 sec.    However, when it is set at 0 msec, command ineffective 
(forced zero) status continues for 4 msec after SON. 
 •  The current is limited by the sequence current limit value (standard value 120 %, in 
parameter Mode 1 on page 12) within 300 msec. 
4 •  It is possible to make commands ineffective (forced zero) for 300 msec after SON by 
setting Func1 bit5 to 0 when setting parameters.    In case of the position control type, 
however, the command pulse remains as a deviation for 300 msec. 
 •  It is possible to make commands effective immediately after SON by setting Func1 bit5 to 
1 when setting parameters.    However, the sequence current limit value is applied when 
switching from SON to SOFF and is not applied when switching from SOFF to SON. 
5 •  It is possible to output the command effectiveness from CN1-39 and 40 pins by using 
parameter Func4. 
6 •  The time period from main circuit power ON to SRDY is approx. 1 sec.    However, in case 
of single phase power of Amplifier with 50A capacity, that will be approx. 1.5 sec. 
Contact 
open 
Start ready ON 
(external switch) 
Emergency stop 
(EMR) 
Main circuit power
supply (R, S, T) 
Amplifier ready 
output (RDY) 
Dynamic brae 
Internal abnormality 
(ALM) 
Servo ON 
(SON) 
Holding brake 
excitation timing 
output (HBON) 
Start ready 
complete output 
(SRDY) 
Motor excitation 
Command  
effectiveness 
output (   5) 
(   1)
 
 
 
OFF OFF 
OFF 
(holding brake operation)
ON (operating)
OFF
ON 
Command ineffective 
(forced zero) 
OFF 
OFF 
OFF 
300 mSec   
(   2) 
ON 
Effective 
ON 
ON 
ON 
t3
ON 
ON 
ON 
ON 
(   4) 
(   2) 
						

							 
6.  OPERATION 
6－5 
6.1.3  Servo OFF Sequence 
6.1.3.1  When holding brake timing THB is set at 300 msec (standard) 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
6.1.3.2  When holding brake timing THB is set at 0 msec (      1) 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1 •  The current is limited by the sequence current limit value (standard value 120%, 
which is changed in Parameter Mode 1 on Page 12) for 300 mSec.   
2 •  It is possible to make commands ineffective (forced zero) for 300 msec after SON by 
setting Func1 bit5 to 0 when setting parameters.    In case of the position control 
type, however, the command pulse remains as a deviation for 300 msec. 
 •  It is possible to make commands effective immediately after SON by setting Func1 
bit5 to 1 when setting parameters.    However, the sequence current limit value is 
applied when switching from SON to SOFF and is not applied when switching from 
SOFF to SON. 
3 •  It is possible to output the command effectiveness from CN1-39 and 40 pins by using 
parameter Func4. 
1  This setting cannot prevent a self-weight fall by using holding brake excitation timing 
output.    Secure command input timing that does not hold off braking. 
2  It is possible to make commands effective immediately after SON regardless of THB 
setting, by setting Func1 bit5 to 1 when setting parameters. 
ON 
(   2) 
ON 
Effective 
Start ready   
complete output (SRDY) 
Servo ON (SON) 
Holding brake excitation 
timing output (HBON) 
Motor excitation 
Command effectiveness 
output (   3) 12 mSec or less  OFF
(holding brake operation)
300 mSec (   1)  300 mSec or less  12 mSec or less ON 
(release)
ON ON ON
Command ineffective
(forced zero) OFF OFFON  ON  OFFOFF  ON 
ON 
Effective 
Start ready   
complete output (SRDY) 
Servo ON (SON) 
Motor excitation 
Command effectiveness   
out
put 12 mSec or less (      2) 12 mSec or less
ON ON ON
Command ineffective 
(forced zero) OFF OFFON  ON 
OFF OFFOFF  ON 
4 mSec  
						

							 
6.  OPERATION 
6－6 
6.1.4  Alarm Reset Sequence 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
40 mSec or more 
ON OFF 
OutputNot output
ON OFF 
Display/alarm output clear 
Reset input CN1-30 
(23: common) 
(RST) 
Alarm code output or 
alarm bit output 
(ALM) 
Amplifier ready 
output (RDY) 
1  Regarding the upper controller, turn off reset input after checking that no alarm occurs 
by watching the alarm output. 
2  When the alarm status continues in spite of reset input, the alarm output is not cleared.   
It is necessary to set a time-out period of 40 mSec or more to return reset input to the 
original status. 
3  Sensor error (DE), servo processor error (DSPE), memory error (MEME) and CPU error 
(CPUE) cannot be reset unless the control power supply is turned off. 
4  The battery alarm (AEE) output will not be cleared unless encoder clear is operated. 
When turning the control power on or off to reset an alarm, allow a sufficient control power 
off time.    If the time is too short, another alarm may be issued.  
						

							 
6.  OPERATION 
6－7 
6.1.5 Overtravel Sequence 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 ONForward revolution 
side overtravel 
(PROT) OFF 
Backward revolution 
side overtravel 
(NROT) 
Input command 
Internal command Backward revolution 
command  Forward revolution 
command 
Input command 
effective  Input command 
effective 
Current limit 
Normal limit  Normal limit 
12 mSec or less  12 mSec or less OFF 
OFF 
Command ineffective 
(forced zero) 
Sequence current limit 
value (   2) 
ON
OFF 
OFF 
OFF 
Forward revolution 
side overtravel 
(PROT) 
Backward revolution 
side overtravel 
(NROT) 
Input command 
Internal command 
Current limit 
12 mSec or less  12 mSec or lessNormal limit  Normal limit 
Sequence current limit 
value (   2) 
Input command 
effective  Input command 
effective Command ineffective 
(forced zero) 
Forward revolution 
command  Backward revolution 
command 
1  Operation of command invalidation (forced zero) differs between the position and 
velocity control types.    For the position control type, command pulses are inhibited, and 
for the velocity control type, the velocity command becomes zero (VCMD = 0).     
These settings are validated when the acceleration/deceleration time (Tvac, Tvde) or 
low pass filter (VLPF) parameter is set.   
2  Sequence current limit value can be changed by SILM in the Parameter Mode 1 on 
Page 12.    
						

							 
6.  OPERATION 
6－8 
 6.2 Display 
The Servo Amplifier status and alarms are displayed by LED and 7-segment LED. 
 
6.2.1 Status Display 
Table 6-1  Status Display  
Display Explanation of status 
LED POWER ON 
 The control power supply of +5 V is set up. 
7-segment LED 
 The control power supply (r, t) is set up and the 
amplifier ready output (RDY) signal is ON. 
 
7-segment LED 
 The main power supply (R, S, T) is being turned on 
or set up but the start ready complete signal is 
OFF. 
7-segment LED 
 The main power supply (R, S, T) is set up and the 
start ready complete signal is ON. 
 
7-segment LED 
 
Rotates in the form of the figure 8. The Servo ON signal is ON. 
7-segment LED 
 This indicates a battery warning status due to the 
lowering of the external battery power when an 
absolute encoder is used.   
(Replace the external battery.) 
7-segment LED 
 In the position/velocity control type, the forward 
revolution side is in an overtravel status. 
 
7-segment LED 
 In the position/velocity control type, the backward 
revolution side is in an overtravel status. 
 
LED CHARGE ON 
 The smoothing capacitor of the main power supply 
is being charged. 
 
 
 
 
 
 
6.2.2 Alarm Display 
For alarm display, refer to the paragraph pertaining to troubleshooing in Maintenance. 
 
When the alarm history is displayed by 7-segment LED, the battery warning . is not 
displayed.