Sanyo Denki Py 2 Manual

							 
7.  EXPLANATION OF PARAMETERS 
7－56 
 
Mode Page Abbre-
viation Name and description Standard 
valueUnit Setting 
range Remarks 
3  0  Kp  Position loop gain 
• Proportional gain of the position controller. 
 45 (30) rad/S  1 to 
1000 (   1) 
 1  Kvp  Velocity loop proportional gain 
• Proportional gain of the velocity controller 
(proportional integral controller). 
Setting unit represents the value when the 
load inertia is 0. 100 (70) Hz  10 to 
3000 (   2) 
 2  Tvi  Velocity loop integral time constant 
• Integral time constant of the velocity controller 
(proportional integral controller). 
 
 
 15 (20) mSec  1 to 
1000 (   3) 
(   4) 
 3  Vzero  Velocity command zero adjustment   
(offset adjustment) 
• Offset of the velocity command is adjusted. $$$$  ±16383 (   5) 
 4 Tzero 
 Torque command zero adjustment   
(offset adjustment) 
• Offset of the torque command is adjusted. $$$$  ±16383 (   5) 
 5  Tn_Lv  Real time automatic tuning level 
• Setting real time automatic tuning level.   
For higher set value, estimated proper 
gain become higher. 
 
 
 
 
 
 
 
 
 
 
 
 0  ±5  
*  The  1  and  0  keys increase and decrease a value, respectively. 
*  After changing a value, press either the       ,         ,      or      key to store it. 
*  Values in parentheses apply to motors not belonging to the P3 or P5 series. 
Kvp(1+∫     dt)1
Tvi
Velocity 
loop output Velocity 
deviation 
 When changing the value, store your setting in the non-volatile memory using either   
 the        ,        ,      or      key.   
 If turning off the control power without this key operation, the setting will not be stored. 
 
1 0 
1  It can also be specified from Mode 0 Page 0. 
2  It can also be specified from Mode 0 Page 2. 
3  It can also be set from Mode 0 Page 3. 
4  If you specify 1000 msec, proportional control is selected. 
5  The value varies according to the adjustment done at shipment. 
You can change the setting by executing offset adjustment of the test mode   
(Pages 2 and 3).  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－57 
 
Mode Page Abbre-
viation Name and description Standard value Setting  
range Remarks
4  0  M1  Monitor output select 1 
• The contents of monitor 1 output (CN1-15 
pin) can be selected among the following 19 
types. 
 Vm0.5 mV/min-1 19 types  
    
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Where, 
IR  :  Rated armature current. 
Full  :  Allowable power of built-in regenerative 
resistor. 
    
 1  M2  Monitor output select 2 
•  The monitor 2 output (CN1-16 pin) can be 
selected from the 19 types above (M1). 
 
 
 
 
 
 Ic0.5 V/IR  19 types   
 
 
Indication Contents 
Im 2 V/IR  Current monitor  2 V/IR peak 
Ic 2 V/IR  Current command  2 V/IR peak 
Vm 2 mV/min-1  Velocity monitor  2 mV/min-1 
Vm 1 mV/min-1  Velocity monitor  1 mV/min-1 
Vm 3 mV/min-1  Velocity monitor  3 mV/min-1 
Vc 2 mV/min-1  Velocity command  2 mV/min-1 
Vc 1 mV/min-1  Velocity command  1 mV/min-1 
Vc 3 mV/min-1  Velocity command  3 mV/min-1 
Per 50 mV/P  Position deviation  50 mV/1 pulse 
Per 20 mV/P  Position deviation  20 mV/1 pulse 
Per 10 mV/P  Position deviation  10 mV/1 pulse 
Rm 0.3 V/Full  Regenerative load factor  0.3 V/Full 
Im 0.5 V/IR  Current monitor  0.5 V/IR peak 
Ic 0.5 V/IR  Current command  0.5 V/IR peak 
Vm 0.5 mV/min-1  Velocity monitor  0.5 mV/min-1 
Vc 0.5 mV/min-1  Velocity command  0.5 mV/min-1 
Per 5 mV/P  Position deviation  5 mV/1 pulse 
Im 1V/IR  Current monitor  1V/IR peak 
Ic 1V/IR  Current command  1V/IR peak 
 
The velocity command denotes the velocity loop input stage signal.     
This signal is output only at SON.    It is affected by the setting specified for the velocity 
acceleration/deceleration time and the velocity command low pass filter.     
When the position control mode is selected, the position loop velocity command is  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－58 
 
Mode Page Abbre-
viation Name and description Standard value Setting  
range Remarks
4  2  Func  Servo function select 
• Selectable enabled/ disabled of gain switch 
and real time automatic tuning functions. 
 
 
 
 
 
 
 
 
 
 
 Normal 4 choices   
 
 3 TYPE Control mode 
•  You can choose a desired control mode from 
position, velocity and torque control. 
 
 
 
 
 
 
 
 
  For the switch type, you can specify a desired 
control mode from CN1-36 pin or 35 pin. 
 
When 
Func3, bit 7 is  0 : 36 pin is enabled. 
    1 : 35 pin is enabled. 
 
$$$$ :  The standard value varies according to 
the specifications employed at the time 
of shipment. 
 
 
 
 
 
 
 $$$$  6 choices    (   ) 
 
 
Indication Contents 
Normal  Gain switching disabled 
Real time automatic tuning disabled
Gain_Sel.  Gain switching enabled 
Real time automatic tuning disabled
Gain_Tun.  Gain switching disabled 
Real time automatic tuning enabled
Gsel&Gtun  Gain switching enabled 
Real time automatic tuning enabled
Indication Contents 
Position  Position control type 
Velocity  Velocity control type 
Torque  Torque control type 
Velo ↔ Torq  Velocity-to-torque switch type 
Posi ↔ Torq  Position-to-torque switch type 
Posi ↔ Velo  Position-to-velocity switch type
Note the following for changes to be conducted on Pages 3 to 6 and 8 (system 
parameters): 
1  Turn off the control power before change. 
2  Change is effective only after Func6 bit7 is set at 1 from Screen Mode 2. 
3  If the above operation (Func6 bit7 to 1) is ignored, the parameter change is invalid 
Changing Func allows switching the servo gain during operation.  
						

							 
7.  EXPLANATION OF PARAMETERS 
7－59 
 
Mode Page Abbre-
viation Name and description Standard value Setting  
range Remarks
4 4 ENKD Encoder type 
• Selects the type of encoder used. 
 $$$$ 4 types  
 
    
 
 
 
 
 
$$$$ :   The standard value varies according to 
the specifications employed at the time 
of shipment.    
 5  ABSF  ABS sensor format 
•  A desired format can be selected from the 
following. 
 2048FMT 
 4096FMT 
 8192FMT 
 16384FMT 
 32768FMT 
 65536FMT 
 131072FMT 
 262144FMT 
 524288FMT 
 1048576FMT 
 2097152FMT $$$$ 11 formats  
 6 MOT. Motor type 
• Selects the motor used (in each series). 
•  Selectable motor types vary with the amplifier 
capacity. $$$$ A motor 
from the P1, 
P2, P3, P5, 
P6 and P8 
series.  
 7 MOKD Motor configuration 
• Cannot select except for rotary motor. Rotary Rotary only  
  
Indication Contents 
INC.E  Incremental encoder with 
reduced wiring 
ABS.E(1M)  Absolute encoder (1 Mbps) 
ABS.E(2M)  Absolute encoder (2 Mbps) 
ABS.E S1.2  Wiring-saved absolute sensor
Note the following for changes to be conducted on Pages 3 to 6 and 8 (system 
parameters): 
1  Turn off the control power before change. 
2  Change is effective only after Func6 bit7 is set at 1 from Screen Mode 2. 
3  If the above operation 
(Func6 bit7 to 1) is ignored, the parameter change is invalid and, 
Encoder type (ENKD) on page 4 may not be able to be displayed or set according to 
hardware type.    
						

							 
7.  EXPLANATION OF PARAMETERS 
7－60 
 
Mode Page Abbre-
viation Name and description Standard value Setting  
range Remarks
4 8  PSKD  Power supply type 
• Selects the type of power supply for the servo 
amplifier’s main power supply circuit. 
• Selectable power supplies differ depending 
on the amplifier series. 
  PY2A series (200 VAC input type) 
    200 VAC, 3ph (200 VAC, 3-phase) 
         ↓  ↑ 
  200 VAC, 1ph (200 VAC, single-phase) 
  PY2E series (100 VAC input type) 
  Only 100 VAC, 1ph (100 VAC, 
single-phase) can be used, and changing 
to another power supply is impossible. 
• In the case of special motors (motor code: FF), 
the type of power supply cannot be selected. 
Motor codes are indicated on the initial screen.   
(Refer to 7.1.3 Basic Operating Procedure.) $$$$ 2 types 
1 type PY2Axxx
PY2Exxx
 9  RGKD  Regenerative resistor type 
• Selecting regenerative resistor to use. 
• Selectable Motor differs according to Servo 
Amplifier capacity. 
None/ Ext.R : Regenerative resistor is not 
connected, or external 
regenerative resistor. 
Built-in R      : Built-in regenerative resistor 
 
Refer to 9.5 Built-in Regenerative resistor 
(Built-in R) for detail of parameter setting on 
regenerative resistor. 
 
 
 
 
 
 
 
$$$$ :  The standard value varies according to 
the specifications employed at the time 
of shipping. 
 
 
 $$$$ 2 types  
 
Note the following for changes to be conducted on Pages 3 to 6 and 8 (system parameters):
1  Turn off the control power before change. 
2  Change is effective only after Func6 bit7 is set at 1 from Screen Mode 2. 
3  If the above operation (Func6 bit7 to 1) is ignored, the parameter change is invalid 
and, thus, the change does not take place. 
 
Page 7 (motor configuration) is for reference only and cannot be edited or changed. 
When using regenerative resistor built-in the Servo Amplifier, make sure to set 
regenerative resistor type (RGKD) on page 9 to “built-in regenerative resistor (built-in R)”.   
With this parameter setting, enable/ disable of built-in regenerative resistor overheat 
protection detection processor is judged.    In case that “regenerative resistor is not 
connected or external regenerative resistor (None/ Ext.R)” is selected, overheat detection 
of built-in regenerative resistor will not be executed.  Consequently, built-in regenerative 
resistor may be burn or smoke occurs.    
						

							 
7.  EXPLANATION OF PARAMETERS 
7－61 
 
Mode Page Abbre-
viation Name and description Standard 
value
Setting 
range Remark
s 
Mode 
8  0  Kp2  Position loop gain 2 
• Proportional gain of the position controller. 
• Enabled during gain switching. 
 45 (30) rad/S  1 to 
1000 Position control
 
 
 1  Kvp2  Velocity loop proportional gain 2 
• Proportional gain of the velocity controller 
(proportional integral controller). 
Setting unit represents the value when the 
load inertial is 0. 
• Enabled during gain switching. 100 (70) Hz  10 to 
3000 Position/ 
Velocity control
 2  Tvi2  Velocity loop integral time constant 2 
• Integral time constant of the velocity controller 
(proportional integral controller). 
 
 
 
• Enabled during gain switching. 15 
(20) mSec 1 to 
1000 Position/ 
Velocity control
 
(   ) 
 3  Tn_F  User setting value of current command when 
automatic notch filter tuning: 
• User setting value of current command when 
executing automatic notch filter tuning at test 
mode.    Selecting Ic=Ist on Tune IBEF setting 
screen enables automatic notch tuning 
execution at current command of user setting 
value (Tn_F). 100 % 30 to 
(IP/IR)
×100  
 
 4 O_JL Observer・load inertia ratio 
• Parameter to estimate load torque used for 
real time automatic tuning processor. 
• Setting the value of    “load inertia / 
motor inertia ×100”.  
Refer to chapter 11 for detail. 
 
 
 
 
 
 
 
 100 % 0 to 
3000  
 
Kvp(1+∫     dt)1
Tvi
Velocity 
loop output Velocity 
deviation 
If 1000 msec is specified, the proportional control is turned on. 
Values in parentheses apply to motors not belonging to the P3 or P5 series.  
						

							 
8.  MAINTENANCE 
８－1   
 
 
 
 
 
 
 
MAINTENANCE 
 
 
 
 
 
 
8.1 Troubleshooting (Alarm).............................................................. 8-2 
8.2 Troubleshooting (Non-Alarm)....................................................... 8-21 
8.3  Switching of Velocity Loop Proportional 
Gain Using Rotary Switch ............................................................ 8-23 
8.3.1 Overview .........................................................................8-23 
8.3.2 Setting Procedure............................................................ 8-23 
8.4 Maintenance ................................................................................8-24 
8.5 Overhaul Parts............................................................................. 8-25 
 
 
 
 
 
 
 
 
 
 
  
						

							 
8.  MAINTENANCE 
8 - 2 
 8.1 Troubleshooting 
In the following pages, explanations will be provided on the possible causes of each alarm and malfunction, 
and of the investigative methods and corrective measures.    To avoid injury, please ensure that the cause is 
rectified and safety is ensured before attempting to resume operation in the event of an alarm or 
malfunction. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
When an alarm occurs, the 7-segment LED status display at the front panel of the servo amplifier will start 
blinking, and an alarm outputs from CN1.    When an alarm occurs, execute the corrective measures 
indicated for each alarm display in the following procedure. 
 
 
1.    See the consensus status in the “Operating State when Alarm 
Occurred” and find the circle under the possible cause number. 
 
2.  Execute the corrective measures in the “Corrective Measures” 
corresponding to the number above (with circle). 
 
3.  If the malfunction persists after the process above, execute the 
corrective measures of number with triangle. 
 
4.  If the malfunction still persists after No.3 above, consult with us. 
When alarm status “8”, “F” or “P” is displayed, the alarm cannot be reset.    Rectify the cause 
first and turn on the control power in this case. 
It is highly dangerous to proceed with an investigation into the causes of a malfunction   
without ensuring the safety of the servo amplifier, motors, mechanical devices and the 
surrounding area.    Understanding the conditions prevailing at the time of a malfunction will 
help in narrowing down the possible causes of the malfunction and shorten the 
troubleshooting process.    Ensure that it is safe to do so before attempting to reenact the 
malfunction, and pay close attention to the prevailing conditions during the reenactment.   
 
In replacing Servo Amplifier and Servomotor, confirm that there should be no external 
parameter causing any trouble to prevent dual breakage. 
 
Please consult your Sanyo Denki dealer should the malfunction persist even after following 
the troubleshooting procedures recommended in this guide.  
						

							 
8.  MAINTENANCE 
8 - 3 
Alarm Status 
Segment LED 
Display Alarm Code 
ALM8,4,2,1 AbbreviationAlarm 
NameAlarm 
Clear Contents 
OC (MOC)Power 
element 
error 
(Over 
current)Possible• Error detected in internal power module 
(IPM) of Amplifier 
• Abnormal value detected in current 
detection module of Amplifier.  
 
0001 
IFBE Current 
detector 
error Possible• Current detector error of Servo Amplifier 
was detected. 
Alarm code 0,1 indicates: when Func2/ bit7,6 =”0,0”, “0”= output open and “1”= output short. 
 
Operating state when alarm occurred 
POSSIBLE CAUSES   OPERATING STATE 
1  2 3 4 5 
When control power supply is turned on △ 
 ○ 
 △ 
When servo ON is inputted ○ ○ ○ △ 
 
When motor is started or stopped △ △ △ ○ 
 
After operating for a short period △ △ △ 
 ○ 
 
Corrective Measures 
 CAUSES   CORRECTIVE MEASURES 
1 • U, V, W phases of wiring between amplifier 
and motor is short-circuited or grounded.   
• UVW phases between amplifier and motor is 
not connected, or contact failure. Check wiring between amplifier and motor.    Correct 
or replace wiring.   
2  U, V, W phases of servomotor is 
short-circuited or grounded.   Replace servomotor. 
3  Faulty PC board 
Faulty power module   Replace amplifier. 
4  Incorrect combination of amplifier and motor  Check if servomotor conforms to motor code.   
Replace with correct motor if necessary. 
5  Overheating of power module (IPM) • Check if cooling fan in amplifier is rotating. Replace 
amplifier if fan is not operating.   
• Check if temperature of control board (ambient 
temperature of amplifier) is exceeding 131°F 
(55℃).    If exceeding, review installation and 
cooling methods of amplifier to ensure temperature 
stays below 55℃.   
  
						

							 
8.  MAINTENANCE 
8 - 4 
Alarm Status 
Segment LED 
Display Alarm Code 
ALM8,4,2,1 AbbreviationAlarm 
NameAlarm 
Clear Contents 
 
0010 OL Overload Possible• Overload was detected in servo amplifier 
and motor combination 
Alarm code 0,1 indicates: when Func2/ bit7,6 =”0,0”, “0”= output open and “1”= output short. 
 
Operating state when alarm occurred 
POSSIBLE CAUSES   OPERATING STATE 
123456 7 8 9
When control power supply is turned on ○
        
When servo ON is inputted ○○
      ○
After position command input (when motor is not 
rotating)  ○
  ○○ ○ 
 ○
After position command input (after operating for 
a short period)   ○○○
 △ ○ 
 
 
Corrective Measures 
 CAUSES  CORRECTIVE MEASURES 
1 Faulty amplifier control board or 
power module   Replace servo amplifier. 
2  Faulty servomotor sensor circuit Replace servomotor. 
3  Effective torque is exceeding 
rated torque • Monitor torque generated by motor using the estimated effective 
torque (Trms) of MODE5/ page12 of remote operator to check if 
effective torque is exceeding rated torque. 
• Or, calculate effective torque of motor from the load and 
operating conditions 
→  If effective torque is higher than rated torque, review 
operating or load conditions, or replace with larger capacity 
motor. 
4  Incorrect combination of amplifier 
and motor. • Check if motor code of Mode4/ page6 of remote controller 
conforms to servomotor.    Correct if necessary. 
5  Holding brake of servomotor is 
not released Check brake wiring for errors. Replace servomotor if brake wiring 
is found to be correct (and voltage is applied as specified),   
6  Incorrect wiring of U, V, W phases 
between amplifier and motor Check and correct wiring. 
7  One or all of the U, V, W phase 
wirings between amplifier and 
motor is disconnected Check and correct wiring. 
8  Mechanical interference  Review operating conditions and limit switch. 
9  Encoder pulse does not meet motor Set to encoder pulse number of motor 
   
Repeatedly turning the control power OFF→ON may cause the servomotor to burn.   
While investigating this cause, please ensure that sufficient time is allowed for cooling down 
after power OFF (30 minutes or more).