Sanyo Denki Py 2 Manual

							 
7.  EXPLANATION OF PARAMETERS 
7－36   
Mode Page Abbre-
viation Name and description Standard 
valueUnit Setting 
range Remarks 
1  0  INP  In-position (positioning finish) signal width 
• This parameter selects the number of waiting 
pulses on the deviation counter that output 
the in-position signal. 
• The standard value is the encoder pulse 
irrespective of the electronic gear function or 
the command multiplier setting. 
 
INC-E, ABS-E
 
Incremental pulse multiplied by 4 is standard.
ABS-RⅡ, ABS-E.S1
 
Sensor absolute value (PS) is standard. 
 
[Example] 
When the parameter is set at 64 with a 2000 
pulse encoder, the positioning complete 
signal is output when the value falls in the 
following range toward the target position: 
64 × 1/(2000 × 4) × 360° = 2.88° 
 64 pulse 
(+/−)1 to 
32767 Position control
  1  OVF  Excess deviation value 
• When the deviation counter exceeds the 
setting range, an OVF alarm occurs. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 256 × 256 
pulses 1 to 
32767 Position control 
						

							 
7.  EXPLANATION OF PARAMETERS 
7－37   
Mode Page Abbre-
viation Name and description Standard 
valueUnit Setting 
range Remarks 
1  2  EGER  Electronic gear ratio 
 
 
 
 
N : 1 to 32767      f2 = f1 × N/D 
D : 1 to 32767 
1/32767≦N/D≦32767 
 
[Example] 
 
M E
EM
6mm 2000P/R
10mm2000P/R 
 
• When the ball screw pitch is changed, just set 
the electronic gear ratio to   
 (4/1) × (6/10) = 24/10. 
  No other change is required. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 4/1  1/ 
32767 
to 
32767 Position control
 
(   ) 
 
 
f1 N
Df2
2000P/R 
2000P/R 
EM 
10 mm
6 mm
EM 
The electronic gear ratio is intended for changing the multiplication ratio of the command 
pulse.   
Changing this ratio does not change the position F/B resolution.     
The resolution is dependent on encoder used.  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－38   
Mode Page Abbre-
viation Name and description Standard 
valueUnit Setting 
range Remarks 
1  3  PMUL  Command pulse multiplier 
• Set the parameter so that the position 
command pulse is multiplied by 1 to 63. 
• You can enable the setting by selecting the 
PMUL input terminal with the Func3 
parameter, then turning on the input. 
 1    1 to 63  Position control
  4  ENCR  Output pulse dividing ratio 
• This parameter is used for selecting the 
dividing ratio of the encoder signal (A- and 
B-phase). 
 
Dividing ratio = β / α 
Where,  
α :  1 to 64, 8192 
β :  1  (α = 1 to 64) 
  2  (α = 3 to 64) 
    1 to 8191  (α = 8192) 
 1/1  1 to 
1/8192  
 5 LTG Low speed 
• This parameter is used for selecting a 
revolution speed below which the low speed 
alarm is output. 
• If you specify LTG (low speed) with the Func4 
parameter, the LTG alarm is output as the 
revolution speed goes below the setting. 
• When the P-PI automatic switching function is 
enabled: 
Proportional-plus-integral control when the 
speed is lower than the LTG setting.   
Proportional control when the speed is over 
the LEG setting. 
 
 
 
 
 
 
 
 
 
 50 min-1 0 to 
32767  
  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－39   
Mode Page Abbre-
viation Name and description Standard 
valueUnit Setting 
range Remarks 
1 6 HTG High speed 
• This parameter is used for selecting a 
revolution speed above which the HTG (high 
speed) alarm is output.    The HTG alarm can 
be specified using the Func4 parameter. 
• Switching of the control mode 
The following switching enables a speed limit 
to be set in the torque control mode: 
 Velo ↔ Torq 
Posi ↔ Torq 
 1000 min-1 0 to 
32767  
  7  SPE  Speed matching width 
• When the difference between the velocity 
command and velocity feedback is smaller 
than the specified value, a speed matching 
width can be output by selecting SPE with the 
Func4 parameter. 
 50 min-1 0 to 
32767  
  8  VCI1  Internal velocity command value 1 
• Sets a velocity command value. 
• It is enabled by setting the Func3 parameter 
bits 3, 2, 1 and 0 to 1010, and turning the 
CN1-36 pin on and the 35 pin off. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 500 min-1 0 to 
32767 Velocity control
  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－40 
 
Mode Page Abbre-
viation Name and description Standard 
valueUnit Setting 
range Remarks 
1  9  VCI2  Internal velocity command value 2 
• Set a velocity command value. 
• It is enabled by setting the Func3 parameter 
bits 3, 2, 1 and 0 to 1010, and turning the 
CN1-35 pin on and the 36 pin off. 
 1000 min-1 0 to 
32767 Velocity control
  10  VCI3  Internal velocity command value 3 
• Sets a velocity command value. 
• It is enabled by setting the Func3 parameter 
bits 3, 2, 1 and 0 to 1010, and 
simultaneously turning both the CN1-35 pin 
and the 36 pin on. 
 1500 min-1 0 to 
32767 Velocity control
  11  IILM  Internal current limit value 
• You can clamp the current at the value set 
from this page by setting the Func1 
parameter bit0 to 0, and entering ILM 
(CN1-31 pin).   
Setting of a value greater than IP is not 
available. 
• This setting is available within the range of 
IP/IR × 100. 
 
  IP :  Momentary maximum stall current on   
 the armature. 
  IR :  Rated armature current. 
 
 
 
 
 
 
 
 
 
 
 
 
 100 % 30 to 
(IP/IR) 
× 100  
  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－41 
 
Mode Page Abbre-
viation Name and description Standard 
valueUnit Setting 
range Remarks 
1  12  SILM  Sequence current limit value 
• Sets a current limit value for holding brake 
sequencing, overtravel or JOG operation. 
• This setting is available within the range of 
IP/IR × 100. 
 120 % 30 to 
(IP/IR) 
× 100  
  13  THB  Holding brake excitation timing 
• Sets the holding brake excitation timing. 
• Select 0 when this function is not used. 
 300 mSec 0 to 
1000 Timing setting 
is available in 
multiples of   
4 msec. 
  14  VCMS  Velocity command scale 
• Sets a velocity command scale corresponding 
to 1 V of the command voltage. 
 500 min-1/
V 0 to 
3000  
  15  TCMS  Torque command scale 
• Sets a torque command scale corresponding 
to 1 V of the command voltage. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 50 %/V 0 to 
400  
  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－42 
 
Mode Page Abbre-
viation Name and description Standard 
valueUnit Setting 
range Remarks 
1  16  MENP  Motor encoder pulse number   
• Sets the number of pulses of the encoder 
used. 
• The following shows the number of encoder 
pulse in standard combination: 
 
Saved wiring incremental encoder   
    --- 2000 P/R. 
Absolute encoder --- 2048 P/R. 
 $$$$ P/R 500 to 
65535  
(   1) 
(   2) 
 
17  EENP  Number of pulses of fully closed encoder 
• Sets the number of pulses of the encoder 
used in terms of the motor shaft. 
• This parameter is usable only on the servo 
system that supports the fully closed design. 
 $$$$ P/R 500 to 
65535  
(   1) 
(   2) 
  
18  OLWL  Over load warning level 
• This parameter is for warning output before 
getting into over load alarm status and motor 
stoppage (see 9.6 warning output for over 
load warning output function). 
• Possible setting level range is from 30 to 99% 
when over load alarm level is regarded as 
100%. There will be no over load warning 
output in setting 100%. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 100 % 30 to 
100 (   2) 
 
1  When changing your setting, set Func6 bit7 to 1 from Screen Mode 2 prior to the 
change. 
2  Turn the control power off once before the change.  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－43 
 
Mode Page Abbre-
viation Name and description Standard 
valueUnit Setting 
range Remarks 
2  0  PMOD  Position command pulse train form 
• The position command pulse train can be 
entered in 3 forms (forward revolution + 
backward revolution pulse train, code + pulse 
trains and 90° phase difference two-phase 
pulse train). 
Also, the rising/falling edge command, the 
revolution direction and digital filter clock can 
be specified. 
 0000-
0000   0, 1  Position control
 
(   1) 
(   2) 
 
    
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
     
    
 
 
 
  
 
1  For setting of bit7, bit1, and bit0, refer to the description provided on the following 
and succeeding pages. 
2  Only 0 and 0 are allowed to be set for bit3 and bit2 of the 90° phase difference 
two-phase pulse train or the code + pulse train. (The rotating direction may vary.) 
3  Bit4 of PMOD and bit2 of Func5 function the same. 
When 1 is set to both bits, the system rotates forward (normal). 
PMOD
0 1 2
3 4 5  6  7 
1 1 
Bit 6  Bit 5 Command 
pulse form Motor forward   
revolution command Motor backward 
revolution command CN1  
0 0 Forward revolution 
pulse train + back-
ward revolution 
pulse train     
28, 29 
26, 27  
1  0  Code + pulse train      
28, 29 
26, 27  
0 1 90° phase 
difference 
two-phase pulse 
train.     
28, 29 
26, 27  
1  1               Prohibited       
When the 
revolution 
direction 
bit is set 
at “0”. 
“L”
“L”
“L”
90°90°
0  Counts at the rising edge. 
1  Counts at the falling edge. 
CCWP input polarity switching 
0  Counts at the rising edge. 
1  Counts at the falling edge. 
CWP input polarity switching 
0 Standard. 
1 Backward revolution. 
Selection of revolution direction      3 
“H” 
						

							 
7.  EXPLANATION OF PARAMETERS 
7－44 
 
Mode Page Abbre-
viation Name and description Standard 
valueUnit Setting 
range Remarks 
2  0  PMOD  Position command pulse train form 
0 and 1 of bit7 specify setting of the digital filter used for the position command pulse train 
input.   
The following describes the digital filter setting corresponding to each input pulse form. 
①  Backward pulse train + Forward pulse train 
    
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
     
    
 
 
 
 
 
 
 
 
     
 
The minimum pulse width values shown at bit 0/1 of the digital filter are for both H and 
L pulses. 
bit6  bit5  Command pulse form 
  0      0  Backward pulse train + Forward pulse 
 
When bit7 = 0 
bit bit Digital filter for command pulse input 
1 0 Minimum pulse width 
0 0 0.8 µs 
0 1 0.2 µs 
1 0 0.4 µs 
1 1 1.6 µs 
 
When bit7 = 1 
bit bit Digital filter for command pulse input 
1 0 Minimum pulse width 
0 0 3.2 µs 
0 1 0.8 µs 
1 0 1.6 µs 
1 1 6.4 µs 
 
PMOD
0 1 2
3 4 5  6  7 
 0  High speed 
  1  Low speed (1/4) 
Switching of digital filter  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－45 
 
Mode Page Abbre-
viation Name and description Standard 
valueUnit Setting 
range Remarks 
2  0  PMOD  Position command pulse train form 
②  Code + Pulse train 
    
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
     
    
 
 
 
 
 
 
 
 
 
     
The minimum pulse width values shown at bit 0/1 of the digital filter are for both H and L 
pulses. 
bit6   bit5  Command pulse form 
 1   0  Code + Pulse train 
 
When bit7 = 0 
bit bit Digital filter for command pulse input 
1 0 Minimum pulse width 
0 0 0.8 µs 
0 1 0.2 µs 
1 0 0.4 µs 
1 1 1.6 µs 
 
When bit7 = 1 
bit bit Digital filter for command pulse input 
1 0 Minimum pulse width 
0 0 3.2 µs 
0 1 0.8 µs 
1 0 1.6 µs 
1 1 6.4 µs 
PMOD
0 1 2
3 4 5  6  7 
 0  High speed 
  1  Low speed (1/4) 
Switching of digital filter