Sanyo Denki Py 2 Manual

 
7.  EXPLANATION OF PARAMETERS 
7－56 
 
Mode Page Abbre-
viation Name and description Standard 
valueUnit Setting 
range Remarks 
3  0  Kp  Position loop gain 
• Proportional gain of the position controller. 
 45 (30) rad/S  1 to 
1000 (   1) 
 1  Kvp  Velocity loop proportional gain 
• Proportional gain of the velocity controller 
(proportional integral controller). 
Setting unit represents the value when the 
load inertia is 0. 100 (70) Hz  10 to 
3000 (   2) 
 2  Tvi  Velocity loop integral time...

 
7.  EXPLANATION OF PARAMETERS 
7－57 
 
Mode Page Abbre-
viation Name and description Standard value Setting  
range Remarks
4  0  M1  Monitor output select 1 
• The contents of monitor 1 output (CN1-15 
pin) can be selected among the following 19 
types. 
 Vm0.5 mV/min-1 19 types  
    
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Where, 
IR  :  Rated armature current. 
Full  :  Allowable power of built-in regenerative 
resistor. 
    
 1  M2  Monitor output select 2 
•  The monitor 2 output (CN1-16 pin) can be...

 
7.  EXPLANATION OF PARAMETERS 
7－58 
 
Mode Page Abbre-
viation Name and description Standard value Setting  
range Remarks
4  2  Func  Servo function select 
• Selectable enabled/ disabled of gain switch 
and real time automatic tuning functions. 
 
 
 
 
 
 
 
 
 
 
 Normal 4 choices   
 
 3 TYPE Control mode 
•  You can choose a desired control mode from 
position, velocity and torque control. 
 
 
 
 
 
 
 
 
  For the switch type, you can specify a desired 
control mode from CN1-36 pin or 35 pin....

 
7.  EXPLANATION OF PARAMETERS 
7－59 
 
Mode Page Abbre-
viation Name and description Standard value Setting  
range Remarks
4 4 ENKD Encoder type 
• Selects the type of encoder used. 
 $$$$ 4 types  
 
    
 
 
 
 
 
$$$$ :   The standard value varies according to 
the specifications employed at the time 
of shipment.    
 5  ABSF  ABS sensor format 
•  A desired format can be selected from the 
following. 
 2048FMT 
 4096FMT 
 8192FMT 
 16384FMT 
 32768FMT 
 65536FMT 
 131072FMT 
 262144FMT...

 
7.  EXPLANATION OF PARAMETERS 
7－60 
 
Mode Page Abbre-
viation Name and description Standard value Setting  
range Remarks
4 8  PSKD  Power supply type 
• Selects the type of power supply for the servo 
amplifier’s main power supply circuit. 
• Selectable power supplies differ depending 
on the amplifier series. 
  PY2A series (200 VAC input type) 
    200 VAC, 3ph (200 VAC, 3-phase) 
         ↓  ↑ 
  200 VAC, 1ph (200 VAC, single-phase) 
  PY2E series (100 VAC input type) 
  Only 100 VAC, 1ph (100...

 
7.  EXPLANATION OF PARAMETERS 
7－61 
 
Mode Page Abbre-
viation Name and description Standard 
value
Setting 
range Remark
s 
Mode 
8  0  Kp2  Position loop gain 2 
• Proportional gain of the position controller. 
• Enabled during gain switching. 
 45 (30) rad/S  1 to 
1000 Position control
 
 
 1  Kvp2  Velocity loop proportional gain 2 
• Proportional gain of the velocity controller 
(proportional integral controller). 
Setting unit represents the value when the 
load inertial is 0. 
• Enabled during...

 
8.  MAINTENANCE 
８－1   
 
 
 
 
 
 
 
MAINTENANCE 
 
 
 
 
 
 
8.1 Troubleshooting (Alarm).............................................................. 8-2 
8.2 Troubleshooting (Non-Alarm)....................................................... 8-21 
8.3  Switching of Velocity Loop Proportional 
Gain Using Rotary Switch ............................................................ 8-23 
8.3.1 Overview .........................................................................8-23 
8.3.2 Setting...

 
8.  MAINTENANCE 
8 - 2 
 8.1 Troubleshooting 
In the following pages, explanations will be provided on the possible causes of each alarm and malfunction, 
and of the investigative methods and corrective measures.    To avoid injury, please ensure that the cause is 
rectified and safety is ensured before attempting to resume operation in the event of an alarm or 
malfunction. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
When an alarm occurs, the 7-segment LED status display at the front panel of the servo...

 
8.  MAINTENANCE 
8 - 3 
Alarm Status 
Segment LED 
Display Alarm Code 
ALM8,4,2,1 AbbreviationAlarm 
NameAlarm 
Clear Contents 
OC (MOC)Power 
element 
error 
(Over 
current)Possible• Error detected in internal power module 
(IPM) of Amplifier 
• Abnormal value detected in current 
detection module of Amplifier.  
 
0001 
IFBE Current 
detector 
error Possible• Current detector error of Servo Amplifier 
was detected. 
Alarm code 0,1 indicates: when Func2/ bit7,6 =”0,0”, “0”= output open and “1”= output...

 
8.  MAINTENANCE 
8 - 4 
Alarm Status 
Segment LED 
Display Alarm Code 
ALM8,4,2,1 AbbreviationAlarm 
NameAlarm 
Clear Contents 
 
0010 OL Overload Possible• Overload was detected in servo amplifier 
and motor combination 
Alarm code 0,1 indicates: when Func2/ bit7,6 =”0,0”, “0”= output open and “1”= output short. 
 
Operating state when alarm occurred 
POSSIBLE CAUSES   OPERATING STATE 
123456 7 8 9
When control power supply is turned on ○
        
When servo ON is inputted ○○
      ○
After position...