Sanyo Denki Py 2 Manual

							 
7.  EXPLANATION OF PARAMETERS 
7－6 
Table 7-5    Parameters for Screen Mode 1 (2/2) 
Page No. Abbreviation Name Setting range Unit 
9  VCI2  Internal velocity command value 2  0 to 32767  min-1 
10  VCI3  Internal velocity command value 3  0 to 32767  min-1 
11  IILM  Internal current limit value  30 to (IP/IR) × 100 % 
12  SILM  Sequence current limit value  30 to (IP/IR) × 100 % 
13  THB  Holding brake excitation timing  0 to 1000  mSec
14  VCMS  Velocity command scale  0 to 3000  min-1/V
15  TCMS  Torque command scale  0 to 400  %/V 
16  MENP  Motor encoder pulse number         1,2  500 to 65535  P/R 
17  EENP*  Full close encoder pulse number      1,2,3 500 to 65535  P/R 
18  OLWL  Over load warning level              2  30 to 100  % 
  1    Page 16(MENP) and 17(EENP) can be changed after setting Mode2, Func6, bit7 to “1”. 
  2    Page 16(MENP), 17(EENP) and 18(OLWL) are enabled by turning control power ON again. 
3  Page 17(EENP) is available only for the servo system that supports the full close encoder. 
 
Table 7-6    Parameters for Screen Mode 2 
Page No. Abbreviation Name Setting rangeUnit 
0  PMOD  Command pulse train format  0, 1   
1  Func0  Amplifier function select 0  0, 1   
2  Func1  Amplifier function select 1  0, 1   
3  Func2  Amplifier function select 2  0, 1   
4  Func3  Amplifier function select 3  0, 1   
5  Func4  Amplifier function select 4  0, 1   
6  Func5  Amplifier function select 5  0, 1   
7  Func6  Amplifier function select 6  0, 1   
 
Table 7-7    Parameters for Screen Mode 8 
Page No. Abbreviation Name Setting rangeUnit 
0 -  -  - - 
1 -  -  - - 
2 -  -  - - 
3 Tn_F  Current command user setting value when 
automatic notch filter tuning 30 to (IP/IR) 
×100 % 
4 O_JL  Observer / load inertia proportion    0 to 3000  % 
 
 
 
 
 
 
 
 
 
 
  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－ 7 
● Setting practice 
For example, set the speed loop proportional gain to 100 Hz. 
According to the basic operating procedure, select    0    from the Mode Select screen, then implement 
the following operations: 
  1  Select page 2 using by      or      key. 
 
 ＊
Para.  Set1    2 Kvp 　=  # # # #  Hz
 
2  Move the cursor to the position corresponding to  the desired number of input digits using 
     or     key. 
   
3  Continuously enter  1  0  0  using the  0   to 
 9  keys. 
 
  ＊ Para.  Set1    2 Kvp 　=  100 Hz
 
4  The set value is stored in the nonvolatile    memory using       key and the remote 
operator operates with the set value. 
 
  After completion of the setting, the screen turns  as shown in the figure. 
 
 
 
  If a value out of the setting range is to be stored  in memory, the screen to the right appears and 
storing is not performed. 
 
    In this case, retry setting from step 2. 
   
 
 
WR
　　
Completed 　　
2    Kvp　=　 100 Hz
 
 
 
 Invalid  　　　　　
 2   Kvp　=  3200 Hz
 
5  Press        to return to the initial screen.    To set the next page, start with step 1.   
  
The cursor flashes. 
When, for instance,   
you tried to store 3200 Hz. 
0
9 
1 0 00 
						

							 
7.  EXPLANATION OF PARAMETERS 
7－8 
7.1.5  Parameter Increment/Decrement Mode (Screen Mode 3) 
This mode allows you to increment or decrement parameter values using the increment (“1”) and decrement 
(“0”) keys. 
 
 
 
 
 
 
 
 
 
 
Fig. 7-4    Parameter Increment/Decrement Mode Screen 
 
Table 7-8    Parameters for Screen Mode 3 
Page No. Abbreviation Name Setting rangeUnit 
0 -  -  - - 
1 -  -  - - 
2 -  -  - - 
3  Vzero  Velocity command zero adjustment ±16383  
4  Tzero  Torque command zero adjustment ±16383  
5 Tn_Lv  Real time automatic tuning level ±5  
 
＊P.Up=1, Down=0# 
  ####  ######### Screen page number 
Set parameter 
value Abbreviated 
parameter   
						

							 
7.  EXPLANATION OF PARAMETERS 
7－9 
● Setting practice 
The following describes the procedure for selecting, for instance, 100 Hz for the position loop gain. 
According to the basic operating procedure, select  3  from the Mode Select screen.  Then, 
 
1  Select page 0 using by      or      key. 
 
 ＊P.UP=1,Down=0  0 Kvp　=  # # # #  Hz
 
2  Using the      or     key, move the cursor to 
the digit(s) to be modified. 
  
3  As needed, increase or decrease the number in 
each digit using the  1  or  0  key (the value 
you specify will be immediately reflected in the 
operation). 
 
WR
 ＊P,Up=1,Down=0  0
 Kp　=　100 Hz
 
4  Using the      key, store your setting in the 
non-volatile memory. 
  (Current screen data is also stored in memory if 
  you exit using the        or     /     keys.) 
 
  Upon completion of the setting, the screen 
shown to the right appears. 
 
  (The Completed message does not appear   
  when you use the        or     /     keys.) 
 
 
  
 
 
 
 
 
 
　 Completed　   　0     Kp
　=
　100 Hz
 
5  Press the        to return to the initial screen. 
  For setting another page, repeat the above 
steps from 1. 
  
 
 
 
 
 
 
 
 
 
3
01 
The cursor flashes. 
In order to store a modified parameter value in the non-volatile memory, you must press   
either the      ,       ,       or     keys.  
Otherwise, the modified data will not be stored.  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－10 
7.1.6  Parameter Select Mode (Screen Mode 4) 
This mode allows you to set data according to the screen display. 
 
 
 
 
 
 
 
 
 
 
Fig. 7-5    Parameter Select Mode Screen 
 
Table 7-9    Parameters for Screen Mode 4 
Category Page No. AbbreviationName Number of choices available
Normally used 0  M1  Monitor 1 output  19 
parameters 
1  M2  Monitor 2 output  19 
  2  Func  Servo function select  4 
System  3 TYPE Control mode  6 
parameters 
4 ENKD Encoder type  3 
  5  ABSF  ABS sensor format  11 
  6  MOT.  Motor type  X – 42676 
  7  MOKD  Motor configuration  Rotary only 
  8  PSKD  Power supply type  PY2B050: 1 
  9  RGKD  Regenerative resistor type 2 
 
 
 
 
 
 
 
 
＊Para. Select     # 
  ####   ######### 
Screen page number 
Choices 
available Abbreviated 
parameter name
1  Modification of a system parameter is available only after you have set Func6 bit7 to “1” 
from Screen Mode 2 Page 7. 
2  Note that modification of a system parameter is enabled only after the control power has 
been turned off. 
Make sure to set the page9 regenerative resistor type (RGKD) to “Built-in regenerative 
resistor (Built-in R).    With this setting, validity of overheat protection detecting process of 
build-in regenerative resistor will be judged.   Overheat detection of build-in regenerative 
resistor will not be executed when “No regenerative resistor connection or external 
regenerative resistor (Note/Ext.R)” is selected.    Therefore, built-in regenerative resistor 
may smoke or be burnt.  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－11 
● Setting practice 
The following describes the procedure for selecting, for instance, the velocity control for the amplifiers 
control mode. 
According to the basic operating procedure, select  4  from the Mode Select screen.  Then, 
 
1  Set Func6 bit7 to “1” from Mode 2 Page 7. 
 
＊Para.
　Set3
　　 
　7 Func6
　:
　1???????
 
(?) appears before   
the setting is down. 
 
2  Select Mode 4. 
 
 
3  Using the     or     key, select page 3. 
＊Para.　Select　　  3  TYPE
　:
 
 
 
4  Using the     or     key, scroll the screen to 
select Velocity. 
WR
 ＊
Para.　
Select     3   TYPE　:　Velocity
 
 
5  Using the      key, store your selection in the 
non-volatile memory. 
 
  When the setting is completed, “Completed” is 
indicated. 
 
  When you want to correct the setting, repeat the 
above steps from 4. 
 
　Completed
　　    3   TYPE
　:
　Velocity
 
 
6  Press the         key to return to the initial screen. 
  For setting another page, repeat the steps from 3. 
 
7  Turn the control power off to validate your setting (with normal parameters, you 
can validate the change using the      key). 
 
 
 
4 
						

							 
7.  EXPLANATION OF PARAMETERS 
7－12 
7.1.7  Monitor Mode (Screen Mode 5) 
This mode is used for monitoring input/output status, velocity and current on the Servo Amplifier. 
 
 
 
 
 
 
 
 
 
 
Fig. 7-6    Monitor Mode Screen 
 
Table 7-10    Parameters for Screen Mode 5 (1/2) 
Page 
No. 
Abbre-viatio
n Contents 
0  STATUS  Indicates the internal status of the amplifier:   
Power off, servo ready, servo on and alarm. 
1  INPUT  Indicates the CN1 input status in 1 or 0. 
  bit 7 6 5 4 3 2 1  0 
RST GAIN3 GAIN2GAIN1/
General 
purpose
2 CLE - General 
purpose
1 SON    
 
 
Pin No. 
31 9  8 27 30  -  32  29 
    The output becomes active at 1.    Bit 2 display is unstable.   
2  OUTPUT  Indicates the CN1 output status in 1 or 0. 
  bit 7 6 5  4 3 2 1 0 
ALM+ 
ALM- ACOD3 ACOD2 ACOD1+
ACOD1-- -  - COIN1+
COIN1-   
 
Pin No. 
36,37 12  40  34,35        38,39
    1 indicates the active output status. Displays for Bit 3, 2, 1 are unstable. 
3  VCMD  Indicates the velocity command.  [min−1]  (   2) 
4  VFBK  Indicates the velocity feedback.  [min−1] 
5  ICMD  Indicates the current command.  [I/IR × 100%] 
6  IFBK  Indicates the current feedback.  [I/IR × 100%] 
7  Pos. E  Indicates the position deviation counter value.  [pulse] 
8  CSU  Indicates the U-phase electric angle.  [deg] 
＊Monitor        # 
  ####   ######### 
Screen page number 
DataAbbreviated 
monitor name 
						

							 
7.  EXPLANATION OF PARAMETERS 
7－13 
Table 7-10    Parameters for Screen Mode 5 (2/2) 
Page 
No. 
Abbre-vi
ation Contents 
9  PCMD f  Indicates the position command frequency.  [pulse/s] 
10  PS  Indicates the absolute value.  [hexadecimal] 
11  FCCNT  Indicates the position free-run counter value.  [hexadecimal](    1)
12  Trms  Indicates the effective torque.  [Trms/TR × 100%]
13 - - 
14 - - 
15 - - 
16 - - 
17  RegP  Indicates the built-in regenerative resistor absorbed power.    [W] (    3) 
 
 
 
 
 
 
 
 
 
 
 
 
 
Select a page to be monitored using the     or     key. 
 
Press the        key to return to the initial stage. 
 
 
1  Display of this parameter value is enabled only when the position loop full close encoder 
is selected.    When the motor encoder is selected, 0 will be indicated. 
2  It indicates input stage status of the analog velocity command. 
3  It indicates the power when built-in regenerative resistor is selected at screen Mode4, 
page9 regenerative resistor type selection (RGKD) in Servo Amplifier with built-in 
regenerative resistor.    It will not indicate in case of no regenerative resistor connection 
or external regenerative resistor.  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－14 
7.1.8  Alarm Trace Mode (Screen Mode 6) 
This mode is used for displaying the alarm history. 
 
 
 
 
 
 
 
 
 
Fig. 7-7    Alarm Trace Mode Screen 
Table 7-11    Screen Mode 6 
Page  
No. 
History  
No. 
Abbre-viati
on Name        
0 Now   Current alarm        
  None No alarm         
    OC  Power element error          
    AOH  Amplifier overheating         
    EXOH  External overheating         
    OV  Overvoltage         
    RGOH  Built-in regenerative resistor overheating         
    PE  Control power supply voltage         
    DE1  Sensor error         
    DE2  Sensor error         
    OL  Overload         
    OS  Over-speed         
    SE  Velocity control error         
    OVF  Excessive deviation         
    MPE  Main power error         
    FP  Main power open-phase         
    RGOL  Regenerative error         
    DSPE  Servo processor error         
    MEME  Memory error         
    DE3  Sensor error         
  DE4 Sensor error 
    IFBE  Current FB error        
  1  Last 1    The last alarm        
  2  Last 2    The alarm second to last             
  3  Last 3    The alarm third to last           
  4  Last 4    The alarm fourth to last         
  5  Last 5    The alarm fifth to last       
  6  Last 6    The alarm sixth to last     
  7  Last 7    The alarm seventh last   
＊Alarm             # 
  ####   ######### 
Screen page number 
History 
numberAbbreviated 
alarm name 
						

							 
7.  EXPLANATION OF PARAMETERS 
7－15 
● Tracing method 
The alarm history can be seen by using     or     key. 
 
Press the        key to return to the initial screen. 
 
○  Viewing the alarm history on the amplifier 7-segment 
LED. 
•  Set the GAIN/HISTORY selector switch located on 
the front of the amplifier to HISTORY. 
•  Using a small screwdriver, rotate the switch on the 
front of the amplifier. 
•  The numbers 1 and 2 on the switch correspond to the 
last alarm and the second to the last alarm, 
respectively. 
•  Selected alarm number is indicated on the 
[7-segment LED].    Its abbreviated name will appear 
in the adjacent [ALARM BLINK].  
 
 
 
 
 
 
 
 
 
 
Fig. 7-8    Displaying the Alarm History 
 
 
 
 
 
 
The following table lists the abbreviated alarm names and corresponding errors. 
 
Table 7-12    Abbreviated Alarm Names 
7-seg. Abbre-viation How to read  7-seg.Abbre-viation How to read 
1  OC  Power element error    C  SE  Speed control error 
2 OL Overload    d OVF Excessive deviation 
3 AOH Amplifier overheating  E EXOH External overheating 
5  OV  Overvoltage    F  DSPE Servo processor failure 
6 OS Over-speed    H RGOH Built-in regenerative 
resistor overheating 
7  PE  Control power supply error   J  RGOL Regenerative error 
8  DE  Sensor error    P  MEME Memory error 
9  MPE  Main power error    U  AEE  Low battery 
A  FP  Main power open-phase    No light CPUE CPU error 
 
 
Set the switch to HISTORY 
to display the alarm history. 
As long as the alarm history is present on the 7-segment LED, display of the battery warning 
. is not available. 
When the selector switch is set to HISTORY, the rotary switch must be positioned at 0.