Sanyo Denki Py 2 Manual

 
10.  INTERNATIONAL STANDARDS 
10－10 
 10.3 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. 
 
 
 
10.3.1 File Numbers 
File No.:  E179775      Power Conversion Equipment (CCN: NMMS, NMMS7) 
 
 
 
 
 
 
 
 
10.3.2 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...

 
11.  SPECIAL SERVO FUNCTION 
11－1   
 
 
 
 
 
 
 
SPECIAL SERVO FUNCTION 
 
 
 
 
 
 
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...

 
11.  SPECIAL SERVO FUNCTION 
11－2 
  11.1  Outline of Servo Function 
PY2 Servo Amplifier has variety of servo and tuning functions. 
 
11.1.1  Tuning /Parameter Connection 
Fig. 11-1 Tuning/ Parameter Connection 
 
Note 1:  Multiplication by 4 function is effective when encoder is INC-E or ABS-E.    For ABS-RⅡ,    
1 multiplication will be fixed. 
Note 2:  Servo system complying with full close is required in order to connect external encoder.     
Consult with us.    If servo system does not...

 
11.  SPECIAL SERVO FUNCTION 
11－3 
  11.2  Control Mode Switch 
PY2 Servo Amplifier has “Control Mode Switch” function that can switch control mode to the most suitable 
one according to application requirements during operation.     
 
 
11.2.1 Parameter Setting 
(1) Control Mode (TYPE: Mode 4, Page 3) 
Remarks TYPE Setting Control Type During switch signal OFF During switch signal ON 
Torque Torque control − − 
Velocity Velocity control − − 
Position Position control − − 
Velo ←→ Torq Velocity ←→...

 
11.  SPECIAL SERVO FUNCTION 
11－4   
(2)  Switching of Position control→Velocity control
 
When switching to velocity control mode, velocity command value changes inconsecutively. 
Therefore, if control mode is switched during motor operation, the operation may become unstable after 
switch.    Be careful to switch modes during operation.    Having velocity command LPF (VLPF: page5 of 
Mode0) effective (not at 1000Hz) will reduce the inconsecutiveness of velocity command value. 
 
(3)  Switching of...

 
11.  SPECIAL SERVO FUNCTION 
11－5   
(1)  In case of Func = “Gain_Sel.” 
When gain switch input is OFF, “Servo gain switch (3 SWs)” in the middle of figure 11-1 will be at 
the position of “1”.    The following parameters will be valid: 
Position loop gain  : Kp  Mode0 – page0 
Velocity loop proportional gain  : Kvp  Mode0 – page2 
Velocity loop integral time constant  : Tvi  Mode0 – page3 
Current command LPF  : ILPF  Mode0 – page6 
 
When gain switch input is ON, “Servo gain switch (3 SWs)” in the...

 
11.  SPECIAL SERVO FUNCTION 
11－6   
(2)  Real time automatic tuning level (Tn_Lv: Mode3 page5) 
Setting level when executing tuning according to the device rigidity. 
 Procedure 
Tn_Lv setting 
Device rigidity   
+5 
+4 
↓ 
+1 
0 
-1 
↓ 
-4 
-5 High rigidity 
 
↓ 
 
Middle rigidity 
 
↓ 
 
Low rigidity Equivalent to “High” of offline automatic tuning 
 
 
 
Equivalent to “Middle” of offline automatic tuning 
 
 
 
Equivalent to “Low” of offline automatic tuning 
 
(3)  Observer/ load inertia ratio...

 
11.  SPECIAL SERVO FUNCTION 
11－7 
11.4.2  Operation when real time automatic tuning is valid 
“Servo gain switch (3SWs)” in the middle of figure 11-1 will be at the position of “3”.    Then proper gain 
will be estimated according to the Servo Amplifier and Motor operational status, and servo gain will be 
changed at real time.    Changing servo gains are three kinds of velocity loop proportional gain, and 
velocity loop integral time constant and current command LPF. 
 
Servo gain when real time...

 
11.  SPECIAL SERVO FUNCTION 
11－8   
(3)  When alarm occurs 
In case of parameter setting which enables real time automatic tuning, “Servo gain switch (3 SWs)” 
in the middle of figure 11-1 will be at the position of “3”.    However, estimated gain cannot be 
judged whether it is proper or not when alarm occurs.    Therefore the servo gain memorized in the 
non-volatile memory will be valid instead. 
Position loop gain  : Kp  Mode0 – page0 
Velocity loop proportional gain  : Kvp  Mode0 – page2...

 
11.  SPECIAL SERVO FUNCTION 
11－9 
  11.5  Additional Function of Velocity loop Proportional Gain 
Velocity loop proportional gain can be easily changed by setting rotary and sliding switches on Servo 
Amplifier front.    With using this function together with real time automatic tuning, the estimated proper 
gain Kvp with additional value can be used. 
 
11.5.1 Parameter setting 
(1)  Velocity loop proportional gain additional value (KvpA: Mode0 page12) 
This parameter setting sets additional value of...