Sanyo Denki Py 2 Manual
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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 following message appears on the screen: ＊Test 4 ECLR Not Ready When the encoder clear function is enabled, the ECLR screen appears. 0 Select page 4 using the or key. : Move to the ECLR ready screen using this key. *Test 4 ECLR Clear 〔WR〕 *Test 4 ECLR Rdy Y=3,N=0 Test screen ECLR set screen ECLR ready screen *Test 4 ECLR Running 0 Cancel (screen change) Execute Hold down the key (press the key for at least 4 seconds to clear the encoder). Release the key . WR 3 3
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 only. 5 Each low pass or notch filter is disabled at the setting of 1,000 Hz. 6 An external encoder can be connected on a fully closed servo system only. If your system is not fully closed, set bits7 and 6 of MODE.2-1 and bit4 of MODE.2-6 to zero. 7 The multiplication-by-4 function of the motor encoder applies only to INC-E and ABS-E . For ABS-RII, multiplication by 1 applies. External encoder SM Encoder ＋ ＋＋ d dt MODE.1-14 Velocity command scale MODE.0-10 Acceleration time MODE.0-11 Deceleration time MODE.1-15 Torque command scale MODE. 0- 0 Position loop gain Current MODE . 0 - 5 Velocity command low pass filter MODE. 0- 2 MODE. 0- 3 Velocity loop proportional gain Integra time constant MODE. 1- 2 Electronic gear MODE. 2- 0 Pulse train form MODE. 0- 9 Position command low pass filter MODE. 0- 6 Current command low pass filter i MODE. 0- 7 Current command notch filter 1 MODE. 0- 8 Current command notch filter 2 Position loop encoder selection MODE.2-1 Bit.7 4 m ultiplier 4 m ultiplier Full close encoder multiplier switching MODE.2-1 Bit.6 MODE. 1- 4 Output pulse dividing A,B MODE. 4- 0 MODE. 4- 1 Monitor output selection 1 Monitor output selection 2 MON2 MON1 Position command pulse Velocit y command voltage Torque command voltage MODE. 0- 1 Feed forward gain MODE . 0 - 4Feed forward low pass filter ＋ －＋ ＋ － Velocitymonitor Velocity command monitorCurrent monitorCurrent command monitor Position excessive monitor Each monitor ＋ ＋ Velocity addition input MODE.2-2 Bit.7 Divided output signal switching MODE.2-6 Bit.4 Torque compensation input MODE.2-2 Bit.6 3 4 1 2 MODE. 1- 8 ～10 Internal velocity command 1 ～ 3 Velocity command selection MODE. 2- 4 Bit.3 ･2 ･1 ･0 C ６ ６ ６ ６ ７
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 BEFA Monitor Current command BEFB Monitor Position command LPF time constant Monitor Velocity command acceleration time Velocity command deceleration time Velocity loop proportional gain addition value 45(30) 0 100(70) 15(20) 1000 1000 450 1000 1000 0 0 0 0 rad/S % Hz mSec Hz Hz Hz Hz Hz mSec mSec mSec Hz - - - - - - - - - - 0 to 9999 0 to 9999 0 to 255 Figures in parentheses are applicable to other than P3 and P5 series. Mode Page Abbre-viat ion Name Standard value Unit Setting range Remarks 1 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 INP OVF EGER PMUL ENCR LTG HTG SPE VCI1 VCI2 VCI3 IILM SILM THB VCMS TCMS MENP EENP* OLWL Positioning complete signal width Excessive deviation value Electronic gear ratio Command pulse multiplication Output pulse division ratio Low velocity High velocity Velocity matching width Internal velocity command value 1 Internal velocity command value 2 Internal velocity command value 3 Internal current limit value Sequence current limit value Holding brake timing Velocity command scale Torque command scale Motor encoder pulse number Full close encoder pulse number Over load warning level 64 256 4/1 1 1/1 50 1000 50 500 1000 1500 100 120 300 500 50 $$$$ $$$$ 100 P(+/−) ×256P min -1 min-1 min-1 min-1 min-1 min-1 % % mSec min -1/V %/V P/R P/R % 1 to 32767 1 to 32767 1/32767 to 32767 1 to 63 1 to 1/8192 0 to 32767 0 to 32767 0 to 32767 0 to 32767 0 to 32767 0 to 32767 30 to ( 1) 30 to ( 1) 0 to 1000 0 to 3000 0 to 400 500 to 65535 500 to 65535 30 to 100 ( 2) ( 2) ( 3) * The page 17 (EENP) can only be used on the full-close type servo system. 1 Any value above IP/IR × 100% may not be selected for an internal current limit value or sequence current limit value. 2 Prior to this operation, Func6 bit7 of Screen Mode 2 must be set at 1 and the control power must be turned off once. 3 Cannot be changed without turning control power OFF once.
7. EXPLANATION OF PARAMETERS 7-29 Mode Page Abbre-viat ion Name Standard value Unit Setting range Remarks 2 0 1 2 3 4 5 6 7 PMOD Func0 Func1 Func2 Func3 Func4 Func5 Func6 Command pulse train form Amplifier function select 0 Amplifier function select 1 Amplifier function select 2 Amplifier function select 3 Amplifier function select 4 Amplifier function select 5 Amplifier function select 6 00000000 00000000 00000000 00100000 00000001 00000001* 00000000 00000000 0, 1 0, 1 0, 1 0, 1 0, 1 0, 1 0, 1 0, 1 * In the position control mode, page 5 (Func4) is set at 00000100. Mode Page Abbre-vi ation Name Standard value Unit Setting range Remarks 3 0 1 2 3 4 5 Vzero Tzero Tn_Lv Zero adjustment of velocity command Zero adjustment of torque command Level of real time automatic tuning $$$$ $$$$ 0 - - - - - - ±16383 ±16383 ±5 Mode Page Abbre-viat ion Name Standard value Unit Setting range Remarks 8 0 1 2 3 4 Tn_F O_JL User setting value of current command when automatic notch filter tuning Observer・load inertia proportion 100 100 % % 30 to ( 1) 0 to 3000 The values in parentheses are applicable for other than P3 and P5 series. User setting value of torque command when automatic notch filter tuning cannot be over IP/IR×100%.
7. EXPLANATION OF PARAMETERS 7-30 Mode Page Abbre-viat ion Name Standard value Setting range Remarks 4 0 1 2 M1 M2 Func Monitor 1 output Monitor 2 output Servo function Vm0.5mV/min-1 Ic0.5 V/IR Normal 19 ranges 19 ranges 4 ranges IR: Rated armature current 3 4 5 6 7 8 9 TYPE ENKD ABSF MOT. MOKD PSKD RGKD Control mode Encoder type ABS sensor format Motor type Motor configuration Power supply type Selection of regenerative resistor type $$$$ $$$$ $$$$ $$$$ Rotary $$$$ $$$$ 6 ranges 3 ranges 11 ranges x - 42676 Rotary only PY2A: 1 range 2 ranges ( ) ( ) ( ) ( ) ( ) ( ) ( ) * The values denoted by $$$$ vary according to the specifications employed at the time of shipment. Prior to modifying a setting, Func6 bit7 of Screen Mode 2 must be set at 1. You are also required to turn the control power off once.
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 of the position loop can be
improved. However, if the value is increased
too much, vibration may result. 0 % 0 to
100 Position control
×Kff
KP
16 to
23 Kvp0
to
Kvp7 Velocity loop proportional gain
• Proportional gain of the velocity controller
(proportional integral control).
The setting unit indicates the value when the
load inertia is 0.
100
(70) Hz 10 to
3000 Position and
velocity control
Values in parentheses are applicable to motors of other than P3 and P5 series.
θi+
+
Position
command
+
+
dθi
Position loop
gain KP
Position feedback
×Kffdt
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 command. 1000 Hz 1 to 1000 Position control ( 2) 40 to 47 VLP0 to VLP7 Velocity command LPF • This parameter sets the cut off frequency of the primary low pass filter for the velocity command. 1000 Hz 1 to 1000 Position and velocity control ( 2) 48 to 55 ILP0 to ILP7 Current command LPF • This parameter sets the cut off frequency of the primary low pass filter for the current command in the velocity loop. 450 Hz 1 to 1000 ( 2) Values in parentheses are applicable to motors of other than P3 and P5 series. Kvp(1+∫ dt)1 Tvi Velocity loop output Velocity deviation 1 Selecting 1000 ms turns on the proportional control. 2 Selecting 1000 Hz disables the filter function.
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 the notch filter center frequency of the following characteristics. [Characteristics] 1000 Hz 200 to 1000 In 10 Hz ( ) 0.62 fn fn 1.62fn f 0 dB − 3 dBdB Gain 0.62 fn fn 1.62fn f 0 dB − 3 dBdB Gain Selecting 1000 Hz disables the filter function.
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 Tvac 0 mSec 0 to 9999 Velocity control ( ) 11 Tvde Velocity command deceleration time • This parameter is used for limiting deceleration time in the velocity command to 1000 min -1 minute. 0 mSec 0 to 9999 Velocity control ( ) Tvac When configuring the position loop external to the servo amplifier, select 0 msec for the setting. Tvde 1000min 100 min−1 Tvde
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 slide switch is enabled when it is set at GAIN. 0 Hz 0 to 255 Position and velocity control ( ) You can check the actual velocity loop proportional gain from monitor screen page 14(KvpM).