Table Of ContentM0001584J
AC SERVO SYSTEM
BL
Super Series
PY2
PY2 Servo Amplifier Instruction Manual
Released September 1999
Revision F April 2001
Revision J August 2003
E
SANYO DENKI CO.,LTD
English
This product does not qualify as strategic goods as specified by the Foreign Exchange
and Foreign Trade Control Law. Accordingly, applying for an export permit from the
Ministry of Economy, Trade & Industry is not required. For customs purposes, however,
an explanation may be required. So, please ask us for the material explaining that this
product is not applicable. In addition, when this product is incorporated into other
equipment, the applicable regulations must be complied with.
PREFACE
The "PY" series Servo Amplifier is applicable to a wide range of applications from small to medium
capacity thanks to its multiple functions, high performance, downsizing and high cost performance.
The "PY2" was developed as an upgraded version of this "PY" series to satisfy customer needs for
further downsizing.
The "PY2" Servo Amplifier features the same performance as the "PY" series, on which it is based,
with only the size reduced. The small and high performance "PY2" Servo Amplifier is useful for a
large number of customers in applications requiring space saving.
This User's Manual explains the functions, wiring, installation, operation, maintenance and
specifications of the "PY2" Servo Amplifies and our Servomotors.
To completely utilize all functions of the "PY2" series, read this manual carefully before use to
ensure proper operation.
After reading this manual, keep it handy so that it can be referred to by anyone at anytime.
In this manual,
"AC Servomotor" is sometimes abbreviated to "Servomotor" or "Motor".
"AC Servo Amplifiers" to "Servo Amps." or "Amps.".
Also, "Wiring-saved incremental encoders" and "Request signal-unavailable
absolute encoders" are sometimes abbreviated to "Encoders" and "Wiring-saved
incremental encoders", "Request signal-unavailable absolute encoders" and
"Request-available absolute sensors" to "Sensors".
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International Standard Compliance
The “PY2” Servo Amplifier complies with the following International standards.
International standard Standard No.
TÜV EN50178
UL UL508C
CUL UL508C
Low Voltage Directive EN50178
EMC Directive EN55011
Working Environment
Since the working environment for the “PY2” Servo Amplifiers must be pollution level 2 or above (i.e. level 1
or 2) as specified in EN50178, be sure to use them in a pollution level 1 or 2 environment.
Power Supply
The “PY2” Servo Amplifiers must be used under the conditions specified in overvoltage category II, EN
50178. Use a reinforced insulation transformer conforming to the EN Standard for power supply input.
For the interface, use a DC power supply whose input and output sections have reinforced-insulation.
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CE Marking
At Sanyo Denki, we are executing tests on the “PY2” Servo Amplifier for compliance with the CE marking at
qualifying institutions. The CE mark is required to be attached all end products sold in EU countries.
Only products conforming to the safety standards are permitted to have them. Accordingly, customers are
requested to perform the final conformity test on their machines or systems incorporating our amplifiers.
The CE Marking Conformity Standards
We execute conformity tests for the following standards on the “PY2” Servo Amplifier at qualifying
institutions.
Classification of
Classification Test Test standard
directive
Low Voltage
－ － EN50178
Directive
Terminal interference voltage EN55011
Emission Electromagnetic radiation
EN55011
interference
EN61000-4-3 / 1996
Radiation field immunity
ENV50204 / 1995
EMC Directive Conductivity immunity EN61000-4-6 / 1996
EN61000-4-2
Immunity Electrostatic immunity
EN61000-4-2 : A1 / 1998
EN61000-4-2
Electrostatic immunity
EN61000-4-2 : A1 / 1998
Burst immunity EN61000-4-4 / 1995
File numbers
Low Voltage Directive, Declaration : File No. C0002827C
Low Voltage Directive, Certification : File No. B 01 05 21206 040 (Messrs. TÜV PRODUCT SERVICE)
EMC Directive, Declaration : File No. C0004056
EMC Directive, Certification : File No. E9 99 05 30982 005 (Messrs. TÜV PRODUCT SERVICE)
UL Marking
The “PY2” series products are qualified to have the UL (U.S. version) and cUL (Canada version) marks of
the Underwriters Laboratories attached.
File Numbers
File No.: E179775 Power Conversion Equipment (CCN: NMMS, NMMS7)
Fuse
The “PY2” Servo Amplifiers are not equipped with fuses. Customers are requested to prepare a
UL-approved fast-blown fuse and install it in the input section of the main circuit power supply.
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CONTENTS
0. SAFETY PRECAUTIONS
0.1 Introduction .....................................................................................................................0-2
0.2 "Warning Label" Location on Product .............................................................................0-2
0.3 Meaning of Warning Indication .......................................................................................0-3
0.3.1 Details of Indications...........................................................................................0-3
0.3.2 Rank of Cautions on Safety.................................................................................0-3
0.3.3 Symbolic Indication..............................................................................................0-4
0.4 Cautions on Safety .........................................................................................................0-5
1. BEFORE OPERATION
1.1 Precaution on Unpacking.................................................................................................1-2
1.2 Confirmation of the Product..............................................................................................1-2
1.3 Precautions on Operation.................................................................................................1-2
1.4 How to Read Model Numbers..........................................................................................1-6
1.4.1 Model Number of Servomotor.............................................................................1-6
1.4.2 Model Number of Servo Amplifier.......................................................................1-7
1.5 "PY2" Servo Amplifier Standard Combination..................................................................1-8
1.6 Flowchart for Determining Servomotor
Model Number..................................................................................................................1-9
2. FUNCTION, CHARACTERISTICS AND CONFIGURATION
2.1 "PY2" Servo Amplifier Built-in Functions..........................................................................2-2
2.2 Characteristics of "PY2" Servo Amplifier..........................................................................2-6
2.3 Characteristics of Servomotor..........................................................................................2-11
3. SERVO SYSTEM CONFIGURATION
3.1 Block Diagram..................................................................................................................3-2
3.2 External Mounting and Wiring Diagram............................................................................3-2
3.3 Names of Servo Amplifier Parts.......................................................................................3-3
3.3.1 PY2A015/030......................................................................................................3-3
3.3.2 PY2E015/030......................................................................................................3-4
3.3.3 PY2A050.............................................................................................................3-5
3.4 Optional Peripheral Equipment List..................................................................................3-6
4. WIRING
4.1 Applicable Wire Sizes.......................................................................................................4-2
4.2 Specifications of Sensor Cable........................................................................................4-3
4.3 External Wiring Diagram...................................................................................................4-4
4.3.1 External Wiring Diagram (200 VAC Input Type).................................................4-4
4.3.2 External Wiring Diagram (100 VAC Input Type).................................................4-6
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4.3.3 Sensor Connection Diagram (INC-E)..................................................................4-8
4.3.4 Sensor Connection Diagram (ABS-E).................................................................4-9
4.3.5 Sensor Connection Diagram (ABS-RII)..............................................................4-10
4.3.6 Sensor Connection Diagram (ABS-E.S1)...........................................................4-11
4.4 Connector Terminal Arrangement Input/Output Signal Diagram.....................................4-12
4.4.1 CN1: Interface Connector....................................................................................4-12
4.4.2 CN2: Sensor Connector......................................................................................4-13
4.5 Wiring Procedure..............................................................................................................4-15
4.6 Precautions on Wiring......................................................................................................4-16
4.6.1 Recommended Surge Protector..........................................................................4-17
4.6.2 CN1 & CN2 Shielding Procedure........................................................................4-18
4.6.3 Typical CN2 Compression Insert Application......................................................4-20
5. INSTALLATION
5.1 Servo Amplifier Installation...............................................................................................5-2
5.1.1 Installation Place.................................................................................................5-2
5.1.2 Installation Procedure..........................................................................................5-3
5.2 Servomotor Installation.....................................................................................................5-4
5.2.1 Installation Place.................................................................................................5-4
5.2.2 Installation Procedure..........................................................................................5-4
5.3 Cable Installation..............................................................................................................5-9
6. 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 Resetting and Turning the Power Off..................................................................6-12
6.4. Encoder Clear Using Remote Operator
(When Absolute Encoder is Used)...................................................................................6-13
7. EXPLANATION OF PARAMETERS
7.1 Remote Operator (Optional).............................................................................................7-2
7.1.1 Outline of Remote Operator................................................................................7-2
7.1.2 Function Table.....................................................................................................7-3
7.1.3 Basic Operation Procedure.................................................................................7-4
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7.1.4 Parameter Setting Mode
(Screen Mode 0 to 2 and 8).................................................................................7-5
7.1.5 Parameter Increment/Decrement Mode
(Screen Mode 3)..................................................................................................7-8
7.1.6 Parameter Select Mode (Screen Mode 4)...........................................................7-10
7.1.7 Monitor Mode (Screen Mode 5)...........................................................................7-12
7.1.8 Alarm Trace Mode (Screen Mode 6)...................................................................7-14
7.1.9 Test Mode (Screen Mode 7)................................................................................7-19
7.1.9.1 JOG Operation..................................................................................................7-18
7.1.9.2 Off Line Auto-tuning Function...........................................................................7-20
7.1.9.3
7.2 Description of Parameters................................................................................................7-25
7.2.1 Block Diagram of Position, Velocity and
Torque Control Type Parameters........................................................................7-25
7.2.2 Parameter Summary Table.................................................................................7-26
7.2.3 Parameter List.....................................................................................................7-29
8. MAINTENANCE
8.1 Troubleshooting (Alarm)...................................................................................................8-2
8.2 Troubleshooting (Non-Alarm)...........................................................................................8-20
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
9. SPECIFICATIONS
9.1 Servo Amplifier.................................................................................................................9-3
9.1.1 Common Specifications.......................................................................................9-3
9.1.2 Acceleration and Deceleration Time...................................................................9-5
9.1.3 Allowable Repetition Frequency..........................................................................9-6
9.1.4 Precautions on Load...........................................................................................9-9
9.1.5 CN1 Input/Output Interface Circuit Configuration................................................9-10
9.1.6 Position Signal Output.........................................................................................9-13
9.1.7 Monitor Output.....................................................................................................9-17
9.1.8 Position Control Type Specifications...................................................................9-20
9.1.9 Velocity/Torque Control Type Specifications......................................................9-28
9.1.10 Switching of the Control Mode............................................................................9-35
9.1.11 Internal Velocity Command.................................................................................9-36
9.1.12 Power Supply Capacity.......................................................................................9-37
9.1.13 Servo Amplifier/Servomotor Leakage Current....................................................9-39
9.1.14 Calorific Value.....................................................................................................9-40
9.1.15 Dynamic Brake....................................................................................................9-42
9.1.16 Regenerative Processing....................................................................................9-45
9.2 Servomotor.......................................................................................................................9-48
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9.2.1 Common Specifications.......................................................................................9-48
9.2.2 Revolution Direction Specifications ...................................................................9-49
9.2.3 Motor Mechanical Specifications.........................................................................9-50
9.2.4 Holding Brake Specifications...............................................................................9-53
9.2.5 Motor Data Sheet................................................................................................9-55
9.3 External Views..................................................................................................................9-125
9.3.1 Servo Amplifier....................................................................................................9-125
9.3.2 Servomotor..........................................................................................................9-126
9.3.3 Remote Operator (Option)...................................................................................9-140
9.4 External Regenerative Resistor (Optional) .....................................................................9-141
9.4.1 How to Connect and Set External Regenerative Resistor (Optional).................9-141
9.4.2 External Regenerative Resistor Combination Table .........................................9-144
9.4.3 External Regenerative Resistor List....................................................................9-147
9.4.4 Detailed Connecting Methods of External Regenerative Resistor......................9-148
9.4.5 External Regenerative Resistor Outline Drawings..............................................9-149
9.5 Full Close Function (Option).............................................................................................9-151
9.5.1 Rough Diagram of Full Close Function (Option)..................................................9-151
9.5.2 Hardware of Full Close Function (Option)............................................................9-152
9.5.3 Parameter of Full Close Function (Option)..........................................................9-153
10. INTERNATIONAL STANDARDS
10.1 International Standard Conformity....................................................................................10-2
10.1.1 Outline.................................................................................................................10-2
10.1.2 International Standard Conformity for PYR Servo System.................................10-2
10.2 Cautions for International Standard Conformity...............................................................10-3
10.2.1 Cautions Common to UL/TUV Conformity..........................................................10-3
10.3 UL/cUL/TUV Standard Conformity...................................................................................10-4
10.3.1 UL/cUL Conformity and File Numbers................................................................10-4
10.3.2 TUV Conformity and File Numbers.....................................................................10-5
10.4 Conformity with EC Directives..........................................................................................10-5
10.4.1 Outline.................................................................................................................10-5
10.4.2 Conformity with EC Directives............................................................................10-5
10.4.3 CE Marking Conformity Standard.......................................................................10-6
10.4.4 Cautions for EMC Directive Conformity..............................................................10-7
11. PY PC INTERFACE
11.1 Outline of Servo Function.................................................................................................11-2
11.2 Control Mode Switch........................................................................................................11-3
11.3 Gain Switch......................................................................................................................11-4
11.4 Real Time Automatic Tuning............................................................................................11-5
11.5 Additional Function of Velocity Loop Proportional Gain...................................................11-9
11.6 P-PI Control Automatic Switch.........................................................................................11-9
11.7 Full Close Function...........................................................................................................11-10
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0. SAFETY PRECAUTIONS
SAFETY PRECAUTIONS
This chapter summarizes the precautions to ensure safe operation of
the PY2 Servo Amplifier.
Be sure to read this chapter before operation.
0.1 Introduction ................................................................................0-2
0.2 "Warning Label" Location on Product .........................................0-2
0.3 Meaning of Warning Indication ...................................................0-3
0.3.1 Details of Indications.........................................................0-3
0.3.2 Rank of Cautions on Safety...............................................0-3
0.3.3 Symbolic Indication...........................................................0-4
0.4 Cautions on Safety .....................................................................0-5
0－1
Description:Since the working environment for the “PY2” Servo Amplifiers must be At Sanyo Denki, we are executing tests on the “PY2” Servo Amplifier for
