Sanyo Denki Py 2 Manual

 
7.  EXPLANATION OF PARAMETERS 
7－26   
 
 
 
7.1.9.5  Encoder clear function 
This function is used for clearing the encoder multiple revolution counter or an encoder alarm. 
 
●  Encoder clearing procedure 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 7-15    Encoder Clear Operation Procedure 
Using the    0    key, return to the set screen from the ready screen, then return to the initial   
screen using the        key. 
When the encoder clear is disabled (when Func6 bit6 = 0), the...

 
7.  EXPLANATION OF PARAMETERS 
 7-27
  7.2  Description of Parameters 
7.2.1  Block Diagram of Position Control Type Parameters 
 
 
Fig. 7-15    Control System Block Diagram 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1  Parts inside      do not function in the velocity/torque control mode. 
2  Parts inside              do not function in the torque control mode. 
3  Velocity addition input functions for the position control type only. 
4  Torque compensation input functions for the position/velocity control type...

 
7.  EXPLANATION OF PARAMETERS 
 7-28
7.2.2  Parameter Summary Table 
Mode Page Abbre-vi
ation Name Standard 
value Unit Setting  
range Remarks
0 0 
1 
2 
3 
4 
5 
6 
7 
8 
9 
10 
11 
12 KpM 
KffM 
KvpM 
TviM 
FLPM 
VLPM 
ILPM 
BFAM 
BFBM 
Tpcm 
Tvac 
Tvde 
KvpA Position loop gain Monitor 
Feed forward gain Monitor 
Velocity loop proportional gain Monitor 
Velocity loop integral time constant Monitor 
Feed forward LPF Monitor 
Velocity command LPF Monitor 
Current command LPF Monitor 
Current command...

 
7.  EXPLANATION OF PARAMETERS 
 7-29
 
Mode Page Abbre-viat
ion Name Standard 
value Unit Setting  
range Remarks
2 0 
1 
2 
3 
4 
5 
6 
7 PMOD 
Func0 
Func1 
Func2 
Func3 
Func4 
Func5 
Func6 Command pulse train form 
Amplifier function select 0 
Amplifier function select 1 
Amplifier function select 2 
Amplifier function select 3 
Amplifier function select 4 
Amplifier function select 5 
Amplifier function select 6 00000000
00000000
00000000
00100000
00000001
00000001*
00000000
00000000 0, 1 
0, 1...

 
7.  EXPLANATION OF PARAMETERS 
 7-30
 
Mode Page Abbre-viat
ion Name Standard  
value Setting range Remarks 
4 0 
1 
2 M1 
M2 
Func Monitor 1 output 
Monitor 2 output 
Servo function Vm0.5mV/min-1
Ic0.5 V/IR 
Normal 19 ranges 
19 ranges 
4 ranges IR: Rated 
armature 
current 
 
 3 
4 
5 
6 
7 
8 
9 TYPE 
ENKD 
ABSF 
MOT. 
MOKD 
PSKD 
RGKD Control mode 
Encoder type 
ABS sensor format 
Motor type 
Motor configuration 
Power supply type 
Selection of regenerative 
resistor type $$$$ 
$$$$ 
$$$$ 
$$$$...

 
7.  EXPLANATION OF PARAMETERS 
 7-31
7.2.3 Parameter List 
Mode Page Abbre-vi
ation Name and description Standard 
value Unit Setting 
range Remarks 
9 0 to 
7 Kp0 to 
Kp7 Position loop gain 
• Proportional gain of the position controller. 
 45 
(30) rad/s 1 to 
1000 Position control
 
 8 to 
15 Kff0 to 
Kff7 Position loop feed forward gain 
• Feed forward gain of the position loop. 
• When this parameter is set at 100%, the 
number of waiting pulses becomes 0 at 
constant-speed operation. 
• Response...

 
7.  EXPLANATION OF PARAMETERS 
 7-32
 
Mode Page Abbre-vi
ation Name and description Standard 
value Unit Setting 
range Remarks 
9 24 to 
31 Tvi0  
to  
Tvi7 Velocity loop integral time constant 
• Integral time constant of the velocity controller 
(proportional integral control). 
 
 
 15 
(20) mSec 1 to 
1000 Position and 
velocity control
 
(   1) 
 
 32 to 
39 FLP0 
to 
FLP7 Feed forward LPF 
•  This parameter sets the cut off frequency of 
the low pass filter for the position loop feed 
forward...

 
7.  EXPLANATION OF PARAMETERS 
 7-33
 
Mode Page Abbre-vi
ation Name and description Standard 
value Unit Setting 
range Remarks 
9 56 to 
63 BFA0 
to 
BFA7 Current command BEF1 
•  For the current command in the velocity loop, 
this parameter specifies the notch filter center 
frequency of the following characteristics. 
 [Characteristics] 
 
 1000 Hz 200 to 
1000 In 10 Hz 
 
(   ) 
 64 to 
71 BFB0 
to 
BFB7 Current command BEF2 
•  For the current command in the velocity loop, 
this parameter sets...

 
7.  EXPLANATION OF PARAMETERS 
7－34   
Mode Page Abbre-
viation Name and description Standard 
valueUnit Setting 
range Remarks 
0  9  Tpcm  Position command LPF time constant 
•  When installing the first-order lag filter for the 
position control pulse, this parameter sets the 
time constant. 
 0 mSec 0 to 
4000 Position control
 
(   ) 
  10  Tvac  Velocity command acceleration time 
•  This parameter is used for limiting 
acceleration time in the velocity control to 
1000 min
-1 minute. 
 
1000min...

 
7.  EXPLANATION OF PARAMETERS 
7－35   
Mode Page Abbre-
viation Name and description Standard 
valueUnit Setting 
range Remarks 
0  12  KvpA  Velocity loop proportional gain addition value 
• This parameter is used for setting a weight 
per rotary switch 1. 
• The actual velocity loop proportional gain is: 
Kvp + (KvpA × RSW). 
When switching of the gain is done, it will be:
Kvp2 + (KvpA × RSW). 
 
RSW : A value set on the rotary switch. 
 
∗ Slide switch position 
Gain switching from the front panel...