Sanyo Denki Py 2 Manual

							 
7.  EXPLANATION OF PARAMETERS 
7－46 
 
Mode Page Abbre-
viation Name and description Standard 
valueUnit Setting 
range Remarks 
2  0  PMOD  Position command pulse train form 
③ 90° phase difference two-phase 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   1  90° phase difference two-phase pulse 
 
When bit7 = 0 
bit bit Digital filter for command pulse input 
1 0 Minimum 
pulse widthMinimum edge distance 
between A- and B-phase 
0 0 0.8 µS 250 nS 
0 1 0.5 µS 250 nS 
1 0 0.5 µS 250 nS 
1 1 1.6 µS 500 nS 
 
When bit7 = 1 
bit bit Digital filter for command pulse input 
1 0 Minimum 
pulse widthMinimum edge distance 
between A- and B-phase 
0 0 3.2 µS 1.0 µS 
0 1 0.8 nS  250 nS 
1 0 1.6 µS 500 nS 
1 1 6.4 µS 2.0 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 
7－47 
 
Mode Page Abbre-
viation Name and description Standard 
valueUnit Setting 
range Remarks 
2  1  Func0  Amplifier function select 0 
• This parameter selects whether external 
signals are made effective or are forcibly 
turned on internally.    It also selects the 
overtravel input logic, the encoder used 
(between motor encoder and fully closed 
encoder) and the multiplication factor of the 
encoder. 0000-
0000  0, 1  
 
(   3) 
(   4) 
 
    
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
     
 
 
           
1  This function is available only with a servo system that supports the fully closed 
design. 
2  Selecting a fully closed encoder does not change the divided output.    Thus, when you 
need a divided output for the fully closed encoder, set Func5 bit4 to 1. 
3  When overtravel bits 3 and 4 are internally turned on, they become ineffective if the 
overtravel input logic is b-contact.    And, they are always in overtravel status if the 
overtravel input logic is a-contact. 
4  When changing the setting of bit 7 or 6, you must turn the control power off once prior 
Switching of fully closed encoder functions      1 
Position loo
p encoder select   1   2 
0 Externally effective 
1  Internally forced ON 
SON mask
Func0 0 1 2
3 4 5  6  7 
0 Externally effective 
1  Internally forced ON 
CN1-36 pin mask
0 Externally effective 
1  Internally forced ON 
ILM mask
0 Externally effective 
1  Internally forced ON 
NROT mask
0 Externally effective 
1  Internally forced ON 
PROT mask
0 b-contact 
1 a-contact 
O. T input logic select
0  Multiplication by 4 
1  Multiplication by 1 
0 Motor encoder 
1  Fully closed encoder  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－48 
 
Mode Page Abbre-
viation Name and description Standard 
valueUnit Setting 
range Remarks 
2  2  Func1  Amplifier function select 1 
• A desired function can be set from the digital 
switch. 0000-
0000   0, 1  (   ) 
    
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
     
 
 
 
     *  Bit7 is effective in the position control mode. 
Bit6 is effective in the position and velocity 
control modes. 
 
 
 
 
*  For details of bits 2 to 0, refer to the following 
page.     
 
 
Backward revolution current limit input 
Torque compensation Func1
 
Deviation clear method with motor 
excitation OFF (SOFF) 
0  Internal setting enabled 
1  External analog input enabled 
Current limit method
0  Selects NIL input 
1  Selects PIL input 
0 Negative polarity 
1 Positive polarity 
NIL input polarity 
0  Specify pulse interval 
1  Specify pulse edge 
Positioning method
0 Clear deviation 
1  No clear deviation 
0 Enabled 
1 Disabled 
Forced zero adjustment of command 
when SOFF is switched to SON
0 Disabled 
1 Enabled 
0 Disabled 
1 Enabled 
Velocity addition input
0 1 2
3 4 5  6  7 
When bit4 is set at 1, the position deviation is not cleared upon occurrence of an alarm. 
Accordingly, be sure to clear the deviation before clearing the alarm.  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－49 
 
Mode Page Abbre-
viation Name and description Standard 
valueUnit Setting 
range Remarks 
2  2  Func1  Amplifier function select 1 
• How to use different current limit approaches
Bits 2 to 0 are parameters relevant to current 
limit.   
The following describes their setting and the 
corresponding current limit method available.
      
    
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
     
 
    Func1 
Negative polarity 
• Inputs negative voltage to NIL input. 
• Input positive voltage to PIL input *****001
Current for forward and 
backward revolution can be 
separately set. Positive polarity 
• Input external analog to NIL and PIL 
input. *****101When 
external 
analog input 
is used   
Current for forward and backward revolution is set at the same level. 
• Input external analog to PIL input. ******11
When internal current limit is used             • Sets the internal current limit value   
            (IILM). *******0
 
Whichever approach you select, the current limit is enabled only after the CN1-31 pins 
are turned on.  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－50 
 
Mode Page Abbre-
viation Name and description Standard 
valueUnit Setting 
range Remarks 
2  3  Func2  Amplifier function select 2 
• A desired monitor output method or 
regenerative resister OL time can be 
selected. 0010-
0000   0, 1  (   1) 
 
(   3) 
    
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
    
 
 
 
     
 
 
 
 
 
 
 
 
 
      
 
Regenerative resistor OL time select    2    4  Monitor 2 out
put polarity
Alarm output method
0  Positive output at forward revolution 
1  Negative output at forward 
Monitor 1 output polarity
Func2 0 1 2
3 4 5  6  7 
0  Positive output at forward revolution 
1  Negative output at forward 
0 Negative/positive output 
1  Absolute value output 
Monitor 1 output absolute value
0 Negative/positive output 
1  Absolute value output 
Monitor 2 output absolute value
0  Regenerative resistor allowable 
effective power: 20 W or lower 
1  Regenerative resistor allowable 
effective power: Higher than 20 W 
0 Enabled 
1 Disabled 
Speed control error (SE) detection 
0 CODE 
1 BIT 
0  Turned off at an alarm 
1  Turned on at an alarm 
Alarm output logic
1  If bit 7 is set at 1, an alarm will not be indicated for a CPU error. 
2  Bit 4 cannot be changed unless the control power is turned off. 
3  Forward revolution refers to the counterclockwise revolution when viewed from the 
load (motor shaft) side. 
4  The 15 A and 30 A capacity amplifiers do not have built-in regenerative resistors. 
•  Bit 4 shall be set according to the permissible effective power of the external 
regenerative resistor used. 
  The 50 A capacity amplifiers have built-in regenerative resistor. 
•  When using a built-in regenerative resistor, set bit 4 at “0”. 
•  When using an external regenerative resistor, set bit 4 according to the 
permissible effective power of the resistor.  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－51 
 
Mode Page Abbre-
viation Name and description Standard 
valueUnit Setting 
range Remarks 
2  4  Func3  Amplifier function select 3 
• This parameter allows you to set the CN1-35 
and 36 pins to the desired terminals.     
It also allows you to select the input signal for 
switching the control mode or gain. 0000-
0001  0, 1   
 
(   3) 
 
    
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
    
     
      
Input signal select for switching control mode (      1, 4) 
 
CN1-35 pin input select (      5,7) 
bit 1 bit 0 Position
 Velocity/Torque 
0 0  PCON  PCON 
0 1  ECLR  ECLR 
1  0  PMUL  VCS2 (   3) 
1 1  INH  ZCMD  
CN1-36 pin input select (      5,7) 
bit 3 bit 2 Position
 Velocity/Torque 
0 0  PCON  PCON 
0 1  ECLR  ECLR 
1  0  PMUL  VCS1 (   3) 
1 1  INH  ZCMD  
External overheating detection input select (      6) 
bit 5 bit 4
 
0 0 
1 0 Disables external overheating 
detection 
0 1 Enables external overheating 
detection 
Enables CN1-35 pin 
1 1 Enables external overheating 
detection 
Enables CN1-36 pin 
Func3 0 1 2
3 4 5  6  7 
Input signal select for switching of gain (      2, 4) 
0  Enables CN1-36 pin 
1  Enables CN1-35 pin 
0  Enables CN1-36 pin 
1  Enables CN1-35 pin  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－52 
 
Mode Page Abbre-
viation Name and description Standard 
valueUnit Setting 
range Remarks 
2 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 4  Func3  Amplifier function select 3 
  Precautions on setting Func3.        
 
1  It is enabled when the switching mode is selected for the control mode. 
2  This signal select is enabled when the gain switching mode is selected. 
3  Setting bits 3, 2, 1 and 0 at 1010 in the velocity control mode enables the internal 
velocity command. Setting bits 3 and 2 on, or 1 and 0 alone does not make this 
command valid. 
4  Note on switching of the control mode and input signal selection when gain switching is 
turned on: 
When the control mode or gain switching input signal is assigned to the connector CN1 
35 pin, input signal selection with Fuc3 bit 5, 4, 1 or 0 is disabled except for the external 
overheating detection or internal velocity setting function. 
When the control mode or gain switching input signal is assigned to the connector CN1 
36 pin, input signal selection with Fuc3 bit 5, 4, 3 or 2 is disabled except for the external 
overheating detection or internal velocity setting function. 
When the control mode and gain switching are assigned to the same pin, both switching 
work at the same time. 
When the internal velocity control is valid, (Func3 bit2 to 0 at “1010”), the internal 
velocity setting selected in 35 and 36 pins are made valid as well as the control mode 
and gain switching. 
At the same time, control mode and gain switching are made valid (this, however, is only 
effective when the velocity control mode including the control mode switching mode is 
selected). 
When the external overheating detection is enabled, the control mode or gain switching 
function is not enabled even if the control mode or gain switching function is set to the 
same pin. 
When the external overheating detection is enabled, enabling the internal velocity setting 
function enables both functions at the same time.    When the external overheating 
detection input is turned off, however, alarm E is issued. 
5  When the same signal is selected for both the CN1-35 and 36 pins, pin 36 takes 
precedence over pin 35. 
6  [External overheating detection input function] 
Setting bit4 to 1 enables the external overheating detection function. 
The normal state refers to when the enabled input is turned on and the external 
overheating alarm is issued when the enabled input is turned off. 
When another signal is assigned to the same terminal as the external overheating input, 
functions other than the internal velocity setting function are disabled. 
7  In case of torque control, inputting any selected function except for “ECLR” at bit3, 2, 1 
or 0 will be invalid.  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－53 
 
Mode Page Abbre-
viation Name and description Standard 
valueUnit Setting 
range Remarks 
2  5  Func4  Amplifier function select 4 
• CN1-39 and 40 pins may be set for desired 
output terminals. 
 0000-
0001  0, 1   
 
    
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
    
    
 
 
 
 
*  For details of CMD: 
Command accept permit, refer to 6.1 
Operation Sequence.     
 
 
The standard value is set at 00000100 in the position control mode. 
CN1-39 pin output logic select 
CN1-40 pin output logic select 
 
CN1-39 pin output select 
bit 2 bit 1 bit 0
 
0  0  0  ILIM: Current limit status 
0  0  1  LTG: Low speed 
0  1  0  HTG: High speed 
0  1  1  SPE: Speed matching 
1  0  0  INP: Positioning complete 
1  0  1  CMD: Command accept permit  
CN1-40 pin output select 
bit 5 bit 4 bit 3
 
0  0  0  ILIM: Current limit status 
0  0  1  LTG: Low speed 
0  1  0  HTG: High speed 
0  1  1  SPE: Speed matching 
1  0  0  INP: Positioning complete 
1  0  1  CMD: Command accept permit 
 
Func4 0 1 2
3 4 5  6  7 
0  ON at status output 
1  OFF at status output 
0  ON at status output 
1  OFF at status output  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－54 
 
Mode Page Abbre-
viation Name and description Standard 
valueUnit Setting 
range Remarks 
2  6  Func5  Amplifier function select 5 
• Selects the encoder output format or the 
command input polarity. 0000-
0000  0, 1   
(   2) 
(   3) 
    
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
    
     
 
 
 
 
 
 
 
 
 
 
     1  Even if you choose the fully closed encoder using the Func0 bit7 parameter, divided 
output remains the same. Fully closed encoder can be used only on a servo system that 
supports the fully closed design. 
2  Before changing the setting of bits 7, 6, 5, 4 and 3, you must turn off the control power 
once. 
3  Forward revolution means counterclockwise revolution as viewed from the load (motor 
shaft) side. 
4  Bit3 is enabled when the ABS-RⅡ  absolute sensor or Wiring-saved absolute sensor 
ABS-E.S1 is used. 
The number of incremental pulses to be output from CN1-3 to 8 pins can be selected. 
5  Bit2 of Func5 and bit4 of PMOD function the same.    When 1 is set to both bits, the 
system is rotated forward at positive input.   
Motor encoder A-/B-phase signal output phase switching Position command polarity reversing bit (      4) 
Pulse generation output select (      4) Velocity command polarity reversing bit  Torque command polarity reversing bit 
0  Forward revolution at positive input 
1  Backward revolution at positive input 
Func5 0 1 2
3 4 5  6  7 
0  Forward revolution at positive input 
1  Backward revolution at positive input 
Divided output signal switching (      1) 
0  Forward revolution at positive input 
1  Backward revolution at positive input 
0 Motor encoder 
1  Fully closed encoder 
Encoder C-signal output logic select 
0  A-phase signal not reversed 
1  A-phase signal reversed 
0 H active 
1 L active 
Serial signal output method select 
0   Start-stop synchronization 
 (9600 bps) 
1  Manchester coding synchronization 
(1 Mbps or 2 Mbps) 
0 2,048 P/R(8,192-division) 
1 8,192P/R(32,768-division)  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－55 
 
Mode Page Abbre-
viation Name and description Standard 
valueUnit Setting 
range Remarks 
2  7  Func6  Amplifier function select 6 
• This parameter is used for changing the 
contents of parameters or permitting 
execution of the test mode. 0000-
0000  0, 1  
    
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Note: Set bit2 to “0”. 
*  After operation, bits 7 and 6 must be set at 0 again.    Turning off the control power also 
returns bits 7, 6 and 4 to 0. 
*  If bit 0 is set at 1, alarm (memory error) will be indicated.    After setting necessary 
parameter, set bit 0 to 0, then turn power on. 
 
 
 
 
 
 
 
1  Automatic switch function between proportional and proportional-plus-integral controls is 
enabled by setting bit1 to “1”.    When automatic switch function is enabled, control type is: 
Proportional-plus-integral control when at or lower than set speed in LTG on page5 of 
Mode1. 
Proportional control when speed is higher than set speed in LTG on page5 of Mode1. 
2  When using wiring-saved absolute sensor ABS-E.S1, multiple-rotational data will be 
invalid by setting bit5 to “1” (1 rotational mode).    When multiple-rotational data is not 
required application, battery connection is not necessary.    Set bit5 to “0” except for using 
wiring-saved absolute sensor ABS-E.S1. 
3  Cannot set bit5 and 3 without turning off the power once.   
Parameter setup status 
0 Set 
1 Not set  
Func6 0 1 2
3 4 5  6  7 
P-PI automatic switching function (      1) 
0 Disabled 
1 Enabled 
Test mode alarm setting 
0 Alarm enabled 
1 Alarm disabled 
Multiple-rotational processor select of 
wiring-saved absolute sensor ABS-E.S1 
0  Use multi-rotational part (normal)   
1  Not using multi-rotational (1 rotation) 
INP output setting (      3) 
0 Not permitted 
1 Permitted 
0 Disabled 
1 Enabled 
System parameter rewrite  Test mode execution (      2) 
 0   Compare to command value after position command LPF
1  Compare to command value before position command LPF