Sanyo Denki Py 2 Manual

							 
7.  EXPLANATION OF PARAMETERS 
7－16   
○  Clearing all alarm histories 
•  Select page 1 using the     or     key. 
•  Press the  0  and     keys at the same time. 
  This clears all the alarm histories (Last 1 to 
Last 7). 
•  Press the        key to return to the initial 
screen.  
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
  Fig. 7-9    Alarm Clearing Method   
 
 
 
ON MODEWR 
123 
0 
 
 6 54
 9 87
＊Alarm            1 
Last1     〇〇〇〇
 
同時に押す 
＊Alarm         1 
Last1       None  
0
Press them at   
the same time.  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－17 
7.1.9  Test Mode (Screen Mode 7) 
 
 
 
 
 
 
 
 
 
Fig. 7-10    Test Mode Screen 
 
Table 7-13    Screen Mode 7 
Page No. Abbreviation Description 
0  JOG  Initiates JOG operation. 
1  Tune Gain  Implements offline automatic tuning. 
2  VCMD  Offers automatic offsets of the velocity command. 
3  TCMD  Offers automatic offsets of the torque command. 
4  ECLR  Performs encoder clear. 
5  Tune IBEF  Implements automatic notch filter tuning 
 
●  Before turning on the test mode 
1  Set Func6 bit6 to    1    from Screen Mode 2 Page 7. 
 
●  When implementing JOG or Tune 
1  When the control mode can be switched (between velocity and torque, position and torque, and 
position and velocity), turn off the input signal for switching. 
2  Set the command input to 0. 
3  Turn off the Servo ON (SON) signal. 
In the test mode, turn the forced Servo ON using the remote operator to output the holding brake 
excitation timing signal. 
4  Set up the main circuit power supply. 
5  When JOG or Tune is enabled in the test mode, the Servo ready signal is turned off. 
6  When the gain switching function through external input is enabled, turn the changeover input signal 
off (Tune only). 
7  When the slide switch on the front of the amplifier is set to GAIN, change it to History (Tune only). 
8  Be sure to confirm the Servo ON state after pressing the WR key, and then perform the following 
operation. 
＊Test                # 
  ##### Screen page number 
Abbreviated test term name
1  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－18 
●  After implementing JOG or Tune 
1  If you return to the initial screen using the                 key, the excessive deviation error will be 
indicated because a deviation can be left on the controller in this manner.     
This alarm, however, is not recorded in the alarm history. 
•  Clear the alarm before starting normal operation of the remote controller. 
•  You can suppress the excessive deviation alarm by setting parameter Func6 bit4 to 1. 
•  For the position control type amplifier, you also need to enter the deviation clear. 
 
2  Since a deviation can be left on the user controller, you need to make sure that the command output 
from the controller is zero before turning on normal operation.     
(If the command is not zero, a sudden action can result.) 
 
7.1.9.1 JOG Operation 
●  Outline of JOG operation 
The motor can be rotated forward or backward at the revolution speed set from the remote operator. 
Pay attention to the following precautions. 
•  Starting the JOG operation turns on the velocity control mode whatever the currently selected 
control mode is. 
•  Forward revolution is performed by pressing the “→” key (Fwd running is indicated when the motor 
rotates counterclockwise as viewed from the load side). 
•  Secure enough motor operating range.     
In particular, when the load inertia is large or revolution speed is high, you must take the required 
deceleration time into consideration before operating the motor. 
•  During the JOG operation, current is limited by the sequence current limit value (standard value is 
120% which can be changed from Parameter Mode 1 Page 12).     
So, large load inertia or load torque can increase the acceleration/deceleration time, thereby 
delaying the response time. 
•  If slow up/down is necessary for the motor speed, set the acceleration/deceleration time from 
Screen Mode 0 Page 10 and 11. 
•  During the JOG operation, overtravel is effective.    For example, the motor is stopped if an 
overtravel status occurs on the forward revolution side while the motor is in forward revolution.     
No forward revolution input will be acceptable after that.    Since the acceleration/deceleration time 
setting remains effective in the overtravel status, care should be taken with respect to the operating 
range. 
•  Since a position loop deviation may sometimes be left by JOG operation, be sure to perform 
deviation clear before returning to normal operation.  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－19 
●  JOG operation procedure 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 7-11    JOG Operation Procedure 
After [JOB] operation ends, press the          key to return to the set screen from the ready   
 
screen, then return to the initial screen using the                key. 
 
When the initial screen is displayed again, the OVF (excessive deviation) alarm occurs. 
This alarm, however, is not indicated when Func6 bit4 is set to 1.     
When [JOG] operation is disabled by a main circuit power off status or an alarm, the following message 
is displayed: 
 
＊Test
　　　　　   0  JOG　Not　Ready
 
 
When [JOG] operation is enabled, the [JOG] set screen appears. 
0
Set page 0 using the       or       key. 
Using the       or       key, move the cursor to the position corresponding to 
the number of input
 digit. 
Enter the motor speed using the       to       key. 
Move to the JOG Ready screen using the         key. 
WR
Test screen 
JOG set screen 
*Test         0 
JOG Set ####  min
-1#
*Test         0 
JOG Rdy ##### min
-1 
09
 
Release       .                                 Release       . 
*Test         0 
JOG Fwd Running 
Upon 
occurrence of 
an alarm, a 
JOG error is 
displayed. 
*Test         0  
JOG Rvs Running 
: Servo OFF       Hold down       .                                  Hold down      . 0 
Velocity 
change 
JOG Ready 
screen  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－20 
7.1.9.2  Offline automatic tuning function 
●  Outline of offline automatic tuning function 
The offline automatic tuning function operates the motor through the remote operator and estimates load 
inertia from its operating status.    With this, proper parameters are automatically set.    Four parameters 
for position loop gain (Kp), velocity loop proportional gain (Kvp), velocity loop integral time constant (Tvi) 
and current command LPF (ILPF) are set using this function. 
 
●  Precautions on working and load conditions 
If the servo vibrates before tuning when turned on, reduce the proportional gain Kvp and increase the 
integral time constant Tvi beforehand.    When offline automatic tuning is executed, forward/backward 
revolution is performed.    Accordingly, secure one turn or more for both forward and backward 
revolution as the motor operating range.    Use this function only when safety is secured even under 
vibrating conditions and no damage to the machine occurs.    In the following cases, proper parameters 
may not be set by the offline automatic tuning function or a tuning error may occur (Tn_G Error is 
displayed). 
•  The load inertia is significantly larger than that allowed. 
•  The variation in load inertia or torque is large. 
•  The backlash of ball screws and gears is large. 
•  The machine rigidity including couplings is low, causing machine resonance. 
•  While offline automatic tuning function is executed, the remote operator is dismounted from the 
Amplifier main body (remote operator POWER OFF). 
•  While offline automatic tuning function is executed, main circuit power supply is cut off or an alarm occurs 
•  When the output current is limited by current limit permit input. 
•  The sequence current limit value (page 12 of Mode 1) is set to 100% or low. 
•  The gain switching through external input is enabled and the changeover input signal is ON (during 
gain switching). 
•  The slide switch on the front of the amplifier is set to GAIN and the rotary switch is set to other than 0. 
• Over travel status 
• While command input is inhibited by holding brake timing or others. 
 
●  Offline automatic tuning operation 
•  For tuning rigidity to be tuned, select Low, Middle or High according to machine rigidity. 
•  When offline automatic tuning is executed, forward/backward revolution is performed for about 0.5 
seconds with a torque command (equivalent to the rated torque at the peak) of about 60 Hz sine 
waveform.    For the motor operating range at this time, secure one turn or more as standard, though 
this varies depending on the load conditions. 
•  When offline automatic tuning is ended normally, proper parameters are automatically set from the 
estimated load inertia and the parameters are stored in the non-volatile memory. 
•  After execution of this automatic tuning function, a deviation of the position loop may be left.     
For this reason, be sure to clear the deviation before returning to normal operation. 
 
●  Setting together with Real time automatic tuning   
In case of devise making real time automatic tuning valid during normal operation, it is required to set 
the gain in initial operation to low.    Therefore, when executing offline automatic tuning in the device 
making real time automatic tuning valid, selecting low for machine rigidity is recommended.     
  (Refer to Chapter 11 for Tunings) 
						

							 
7.  EXPLANATION OF PARAMETERS 
7－21  ● 
Offline automatic tuning procedure 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 7-12    Offline automatic Tuning Operation 
After offline automatic tuning is completed, press the          key to return to the set screen from the ready 
screen, then return to the initial screen using the         key. 
When the initial screen is displayed, the OVF (excessive deviation) alarm occurs. 
When the offline automatic tuning is disabled by a main circuit power off status or an alarm, the following 
is displayed: 
 ＊Test　　　　  　 1
  Tune
　Not
　Ready
 
The offline automatic tuning is enabled, the Tune Gain set screen appears. 
Set page 1 using the       or 
       key. 
Select tuning rigidity (High, Middle or Low) using the        or      key.
*Test         1 
Tune Gain  #####
*Test         1 
Tn_G Rdy Y=3,N=0
Flickers
3 
Test screen 
Tune gain set   
During tuning 
Completion                                        Error 
....  During servo tuning, 
an error occurs. 
*Test         1  
Tn_G Completed After 
completion, 
the buzzer 
sounds. A short 
beep is 
sounded. *Test         1  
Tn_G Error 
*Test         1 
Tn_G Running 
Stop 
Execute
: The servo ready signal is turned off and the servo is turned on. WR 
0 
0 
Tn_G ready 
screen 
: Servo ON  
cancel  
(Servo OFF) 
: Cancel  
(Servo OFF) 
0 
						

							 
7.  EXPLANATION OF PARAMETERS 
7－22 
7.1.9.3  Automatic notch filter tuning function 
●   Outline of Automatic notch filter tuning function (Tune IBEF) 
The automatic notch filter tuning function operates the motor through the remote operator and estimates 
resonance point of current loop from its operating status, and proper parameters are automatically set 
as notch filter frequency.    Current command BEF1 parameter (IBF1) is set using this function. 
 
●  Precautions on working and load conditions 
When automatic notch filter tuning is executed, forward/backward revolution is performed.    Accordingly, 
secure one turn or more for both forward and backward revolution as the motor operating range.    Use 
this function only when safety is secured even under vibrating conditions and no damage to the machine 
occurs.    In the following cases, proper parameters may not be able to set by the automatic notch filter 
tuning function or a tuning error may occur (Tn_F Error is displayed). 
•  The load inertia is significantly larger than that allowed. 
•  The variation in load inertia or torque is large. 
•  The backlash of ball screws and gears is large. 
•  While offline automatic tuning function is executed, the remote operator is dismounted from the 
Amplifier main body (remote operator POWER OFF). 
•  While offline automatic tuning function is executed, main circuit power supply is cut off or an alarm occurs 
•  When the output current is limited by current limit permit input. 
•  The sequence current limit value (page 12 of Mode 1) is set under sine waveform current command 
peak. 
•  The gain switching through external input is enabled and the changeover input signal is ON (during 
gain switching). 
•  The slide switch on the front of the amplifier is set to GAIN and the rotary switch is set to other than 0. 
• Over travel status 
• While command input is inhibited by holding brake timing or others. 
 
●  Automatic notch filter tuning operation (Tune IBEF) 
•  When automatic notch filter tuning is executed, forward/backward revolution is performed for about 
1.5 seconds with a current command of 200 Hz to 1kHz sine waveform.    For the motor operating 
range at this time, secure one turn or more as standard, though this varies depending on the load 
conditions. 
•  Current command peak value of sine waveform is equivalent to rated current (rated torque) at 
standard setting.    User setting value (page3 of Mode3) can be also used as current command peak 
value.    Execute tuning with appropriate current command according to load status. 
•  During automatic notch filter tuning, notch filter set by parameter (IBF1, IBF2) is invalid. 
•  When automatic notch filter tuning is ended normally, proper parameters are automatically set and 
the parameters are stored in the non-volatile memory. 
•  After execution of this automatic notch filter tuning function, a deviation of the position loop may be 
left.    For this reason, make sure to clear the deviation before returning to normal operation. 
•  In this automatic notch filter tuning, a maximum resonance point is estimated and automatically set 
into the current command BEF1 (IBF1).    When there are more than one resonance points, 
manually set the resonance point into current command BEF2 (IBF2).   
•  When notch filter is not necessary as a result of automatic notch filter tuning, current command 
BEF1 (IBF1) shall be set to 1000 Hz (filter invalid).  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－23  ● 
Automatic notch filter tuning (Tune IBEF) procedure 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 7-13    Automatic Notch Filter Tuning Operation 
After automatic notch filter tuning is completed, press the          key to return to the set screen from the 
ready screen, and then return to the initial screen using the                  key. 
When the initial screen is displayed, the OVF (excessive deviation) alarm occurs. 
When the automatic notch filter tuning is disabled by a main circuit power off status or an alarm, the 
following is displayed: 
 
 
＊Test
      
  5
  Tune
 Not
 Ready
 
 
The automatic notch filter tuning is enabled, the Tune IBEF set screen appears. 
Set page 5 using the       or 
       key. 
Select current command peak in tuning using the       or       key. 
(2 ways of Ic=Ir, Ic=Ist.    Ir: rated current, Ist: user setting value MODE8-3)
*Test         5 
Tune IBEF  #####
*Test         5 
Tn_F Rdy Y=3,N=0
Flickers
3 
Test screen 
Tune IBEF set screen 
During tuning 
Completion                                        Error 
....  During notch tuning, 
an error occurs. 
*Test         1  
Tn_F Completed After 
completion, 
the buzzer 
sounds. A short 
beep is 
sounded. *Test         5  
Tn_F Error 
*Test         5 
Tn_F Running 
Stop 
Execute
: The servo ready signal is turned 
off and the servo is turned on. WR 
0 
0 
Tn_F ready 
screen 
: Servo ON  
cancel  
(Servo OFF) 
: Cancel  
(Servo OFF) 
0 
						

							 
7.  EXPLANATION OF PARAMETERS 
7－24 
7.1.9.4  Automatic offset function 
●  Outline of automatic offset function 
This function enables an offset value for a velocity or torque command to be automatically selected.   
It implements velocity command zero adjustment (Vzero) or torque command zero adjustment 
(Tzero) 
 
●  Automatic offset procedure 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 7-14    Automatic Offset 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 offset operation is disabled (when Func6 bit6 = 0), the following message appears on the 
screen: 
0 
... • An alarm developed during   
the offset. 
 • The offset value is outside   
the predetermined range. 
After 
comple-tio
n, the 
buzzer 
sounds. A short beep 
is sounded. 
Select page 2 using the      or      key 
(for TCMD, select page 3). 
: Use this key to move to the OFFSET ready screen. WR 
*Test         2  
VCMD Offset 〔WR〕 
*Test         2  
VCMD Rdy Y=3,N=0 
Test screen 
OFFSET 
set screen 
OFFSET  
ready screen 
Offset in 
execution 
*Test         2  
VCMD Completed *Test         2 
VCMD Error 
0 
Cancel 
Execute
0 
Flickers
Completion                                  Error 
*Test         2 
VCMD Running 3 
Set the command voltage to 0 V. 
						

							 
7.  EXPLANATION OF PARAMETERS 
7－25 
 ＊Test　　　　　   2
  VCMD　Not　Ready
 
 
When the offset function is enabled, the OFFSET screen appears. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
The screen for the torque command offset differs from that for the velocity command as 
follows: 
•  Screen No. 2 → 3. 
• VCMD → TCMD. 
An ideal zero adjustment may not be expected if significant fluctuation exists in the 
commanded input voltage or substantial noise is present.    In such case, manual zero 
adjustment shall be implemented in parallel from Screen Mode 3 Page 3 (Vzero) or 4 
(Tzero).