Sanyo Denki Py 2 Manual

							 
8.  MAINTENANCE
 
8 - 25 
 8.4 Maintenance 
The Servomotor and amplifier do not require any special inspection.    To ensure optimum performance over 
their lifetimes, however, the user is expected to implement a reasonable level of inspection and 
maintenance, paying attention to the following points . 
 
 
 
 
 
[Inspection Procedure ] 
Table 8-3  Inspection Procedure 
Check  Check conditions Check item Check method Corrective  
point Timing In-operatio
n 
Out-of-ope
ration 
  measure 
Servomotor Routine ○    Vibration  Check if vibration is 
larger than usual.  
Contact us. 
 Routine ○    Noise  Check if abnormal noise 
unlike in normal status is 
present.  
 As needed  ○  Cleaning  Check for dirt or dust.  Clean the Servomotor 
using a cloth or blow 
down with air.     
→      1 
 Yearly  ○ Insulation 
resistance 
measurement 
 
 
 Every  
5000 
hours  
 →     2  ○ Replacement of 
oil seal Contact us. 
Servo 
amplifier As needed   ○  Cleaning  Check the parts for 
settling of dust. Clean by blowing down 
with air.   
→      1 
 Yearly  ○ Looseness of 
screws Check external terminals 
and CN1, 2, A, B, C and 
D connectors for 
looseness. Tighten loose terminals 
or connectors. 
Battery on 
absolute 
encoder As needed 
 →     3  ○  Battery voltage Check if the battery 
voltage is 3.6 VDC or 
above. If not, replace the 
battery. 
Temper-atu
re As needed ○  Temperature Check ambient 
temperature and motor 
frame temperature. Ambient temperature 
must be within the 
specification.  Check 
the load condition 
operating pattern and 
conduct necessary 
correction. 
 
 
1  Performing of megger test of the Servo Amplifier may damage the amplifier.     
2  We recommend that you conduct a continuity check using the tester. 
3  Do not remove the cover from the detector of the Servomotor. 
4  Do not overhaul the Servo Amplifier and the Servomotor.     
1  Prior to cleaning, make sure that the air does not contain water or oil. 
2  This check/replacement interval is when a water-proof or oil-proof function is required. 
3  Users are requested to constantly monitor the battery voltage.   
Be advised that that estimated life of our recommended battery (Toshiba lithium battery 
ER6V: 3.6V, 2000 mAh) is about 6 years.  
						

							 
8.  MAINTENANCE
 
8-26 
 8.5 Overhaul Parts 
The parts listed in Table 8.4 will deteriorate with age.    For maintenance, inspect periodically. 
 
Table 8-4    Periodical Parts Inspection 
No. Parts Average replacement 
interval Method of replacement and others 
1  Capacitors for main circuit 
smoothing 5 years  Replace with new one. 
Load rate:   
50% maximum of the amplifier’s rated 
output current. 
Working condition:   
Year-round average temp. 106°F (40°C) 
2  Cooling fan motor 
 5 years  Replace with new one. 
Working condition:   
Year-round average temp. 106°F (40°C)
3    ER3V  3 years  Replace with new one. 
    ER6V  6 years  Replace with new one. 
 
1.  Capacitor for main circuit smoothing   
• If the Servo Amplifiers have been stored for over 3 years, consult us. 
The capacity of the capacitor for main circuit smoothing is reduced depending on the motor output 
current and the frequency of on-off switching of the power supply during operation.    This can cause 
the capacitor to malfunction. 
• If the capacitor is used under conditions in which the average temp. is 106°F (40°C), and the Servo 
Amplifier’s rated output current exceeds 50% on average, replace it with a new one every 5 years. 
• If the capacitor is used in an application requiring the frequency of on-off switching the power to 
exceed 30 times a day, consult us. 
 
2.  Cooling fan motor 
• The PY2 Servo Amplifier is designed to comply with pollution level 2 (IEC 664-1/2.5.1).     
Since it is not designed to be oil- or dust-proof, use the Servo Amplifier in a pollution level 2 or better 
(i.e. pollution level 1 or 2) environment. 
• The PY0A050, PY0A100 and PY0A150 Servo Amplifiers have built-in cooling fan motors. 
Be sure to maintain a 50-mm spaces upper and below amplifier. 
If the space is narrower, the static pressure of the cooling fun will be reduced and the parts will 
deteriorate, causing the motor to malfunction. 
When an abnormal noise is heard, or oil or dust adheres to the cooling fan, it must be replaced. 
The estimated life of the cooling fan is 5 years under a year-round average temp. of 106°F (40°C). 
 
3. Lithium battery 
• The normal replacement interval of our recommended lithium battery is its estimated life. 
The life of the lithium battery will be reduced if the frequency of power supply on-off switching is high 
or if the motor remains unused for a long time. 
If the battery voltage is 3.6 V or less when inspected, replace with new one. 
 Lithium battery for 
absolute sensor 
Since all overhauled Servo Amplifiers are shipped with the user settings left as they are, be 
sure to confirm them before operating these Servo Amplifiers.  
						

							 
9.  SPECIFICATIONS 
9－1   
 
 
 
 
 
 
 
SPECIFICATIONS 
 
 
 
 
 
9.1 Servo Amplifier............................................................................. 9-3 
9.1.1 Common Specifications..................................................... 9-3 
9.1.2  Acceleration and Decelerate Time .................................... 9-5 
9.1.3 Allowable Repetition Frequency ........................................ 9-6 
9.1.4 Precautions on Load......................................................... 9-9 
9.1.5  CN1 Input/Output Interface Circuit Configuration .............. 9-10 
9.1.6 Position Signal Output .......................................................9-13 
9.1.7 Monitor Output.................................................................. 9-26 
9.1.8  Position Control Type Specifications .................................9-29 
9.1.9 Velocity/Torque Control Type Specifications..................... 9-37 
9.1.10 Switching of the Control Mode ..........................................9-44 
9.1.11 Internal  Velocity Command ............................................... 9-45 
9.1.12 Power  Supply Capacity ..................................................... 9-46 
9.1.13 Servo  Amplifier/Servomotor Leakage Current ................... 9-48 
9.1.14 Calorific Value................................................................... 9-49 
9.1.15 Dynamic Brake .................................................................. 9-51 
9.1.16 Regenerative Processing .................................................. 9-55 
9.2 Servomotor ..................................................................................9-58 
9.2.1 Common Specifications.....................................................9-58 
9.2.2 Revolution Direction Specifications ................................. 9-59 
9.2.3 Motor Mechanical Specifications .......................................9-60 
9.2.4 Holding Brake Specifications.............................................9-63 
9.2.5 Motor Data Sheet.............................................................. 9-65  
						

							 
9.  SPECIFICATIONS 
9－2 
9.3 Combination Specifications ........................................................ 9-111 
9.3.1  P1 Series (B Coil) + PY2 ...................................................9-111 
9.3.2  P1 Series (H Coil) + PY2...................................................9-111 
9.3.3  P2 Series (H Coil) + PY2...................................................9-111 
9.3.4  P2 Series (D Coil) + PY2...................................................9-112 
9.3.5  P3 Series (D Coil) + PY2...................................................9-112 
9.3.6  P5 Series (H Coil) + PY2...................................................9-112 
9.3.7  P5 Series (D Coil) + PY2...................................................9-113 
9.3.8  P6 Series (H Coil) + PY2...................................................9-114 
9.3.9  P8 Series (H Coil) + PY2...................................................9-114 
9.3.10 P3 Series (P Coil) + PY2 ...................................................9-115 
9.3.11 P5 Series (P Coil) + PY2 ...................................................9-115 
9.4 External Views............................................................................. 9-116 
9.4.1 Servo Amplifier.................................................................. 9-116 
9.4.2 Servomotor........................................................................9-123 
9.4.3 Remote Operator (Option) ................................................9-137 
9.5 Regenerative Resistor ................................................................ 9-138 
9.5.1 Built-in Regenerative Resistor ...........................................9-138 
9.5.2  Parameter Setting for Regenerative Resistor .................... 9-138 
9.5.3  How to Connect and Set External   
Regenerative Resistor (Optional) ...................................... 9-140 
9.5.4  External Regenerative Resistor Combination Table  ........ 9-142 
9.5.5 External Regenerative Resistor List ................................ 9-142 
9.5.6  Detailed Connecting Methods of External   
Regenerative Resistors ................................................... 9-143 
9.5.7  External Regenerative Resistor Outline Drawings............ 9-144 
9.6 Warning ......................................................................................9-146 
9.6.1  Overtravel Warning .......................................................... 9-146 
9.6.2 Battery Warning................................................................ 9-147 
9.6.3  Overload Warning............................................................ 9-147 
 
 
 
  
						

							 
9.  SPECIFICATIONS 
9－3 
 9.1 Servo Amplifier 
9.1.1 Common Specifications 
Table 9-1  Common Specifications 
Model No.   PY2A015 PY2A030 PY2A050 PY2E015 PY2E030 
Control function  Velocity, torque or position control (through switching of parameters). 
Control method IGBT PWM control, sine wave drive. 
Main circuit • 3-phase,    200 VAC to 230 VAC +10%, ‐15%, 
 50/60 Hz±3Hz. 
• Single-phase,   200 VAC to 230 VAC +10%, ‐15%, 
 50/60 Hz±3Hz. • Single-phase, 
  100 VAC to 115 VAC +10%,‐15%,
 50/60 Hz±3Hz. (*1) Input power 
Control circuit • Single-phase,   200 VAC to 230 VAC +10%, ‐15%,  
 50/60 Hz±3Hz. • Single-phase,    100 VAC to 115 
VAC +10%, ‐15%, 50/60Hz±3Hz.
Operating ambient temperature (*2)  0 to 55°C 
Storage temperature –20 to +65°C 
Operating/storage humidity  90% RH maximum (no condensation) 
Altitude  Up to 1,000 meters above sea level. 
Vibration  0.5G when tested in the X, Y and Z directions for 2 hours in the frequency range between 10 Hz 
to 55 Hz. 
Environment 
Shock 2G 
Structure Equipped with a built-in, tray-type power supply. 
Basic specification 
Mass     kg  1.5 2.0 2.7 1.5 2.0 
(*3) Velocity control range  1 : 5000 
Load variation (0 to 100%) ±0.1% maximum/maximum revolution speed 
Voltage variation (170V to 253V) ±0.1% maximum/maximum revolution speed 
(*4) 
Velocity 
variations 
Temperature variation (0°C to 55°C) ±0.5% maximum/maximum revolution speed 
Performance 
For the velocity 
control 
specification (*6) Frequency characteristics  400 Hz (JL=JM) 
Protection function Overcurrent, overload, amplifier overheating, excessive main circuit power, over-speed,   
control power error, sensor error, low main circuit voltage, main circuit open-phase,   
velocity control error, excessive deviation, external overheating, servo processor error,   
regeneration error, memory error, battery error, CPU error.     
LED display Internal status and alarms. 
Dynamic brake Built-in 
Regenerative processing  Circuit built in (resistor is optional) Regenerative 
resistor built-inCircuit built-in (resistor is optional) 
Applicable load inertia  Within the applicable inertia of the Servomotor combined. 
Velocity monitor (VMO)  0.5 V±20% (at 1000 min－1) 
Built-in functions 
(*5)  
Monitor output 
Current monitor (IMO)  0.5 V±20% (at 100%) 
Command voltage ±2.0 VDC (at 1000 min－1 command, forward motor revolution with positive command,   
maximum input voltage ±10 V). Velocity 
comman
d 
Input impedance  Approximately 10 kΩ. 
Command voltage ±2.0 VDC (at 100% torque, forward motor rotation with positive command) Torque 
comman
d Input impedance  Approximately 10 kΩ. 
Current limit input ±2.0 VDC±15% (at rated armature current) 
Sequence input signals Servo on, alarm reset, forward rotation inhibit, reverse rotation inhibit, proportional control, 
current limit velocity command zero, control mode switching, gain switching, external 
overheating, current limit and encoder clear. 
Sequence output signals Current limit status, low velocity, high velocity, velocity match, command receive enabled,   
servo ready, holding brake timing and alarm code (4 bits). 
Position output signals (pulse dividing)  N/8192 (N=1 to 8191), 1/N (N=1 to 64) or 2/N (N=3 to 64). Velocity / torque control specification 
Absolute position output signal (serial output) 9600 bps start-stop synchronization or 1 Mbps/2 Mbps Manchester method   
(when an absolute sensor is used) 
Max. input pulse frequency 2M pulse/second (backward + forward pulse, code + pulse), 1M pulse/second (90° phase 
difference 2-phase pulse) 
Input pulse form Forward + reverse command pulses or code + pulse train command, 90° phase difference 
2-phase pulse train command. 
Position 
comman
d 
Electronic gear  N/D (N=1 to 32767, D=1 to 32767), where 1/32767≦N/D≦32767. 
Current limit input ±2.0 VDC±15% (at rated armature current) 
Sequence input signal Servo on, alarm reset, forward rotation inhibit, reverse revolution inhibit, deviation clear , 
current limit, command multiplication, command pulse inhibit, control mode switching,   
gain switching, external overheating and encoder clear. 
Sequence output signal Current control status, low velocity, high velocity, positioning complete,   
command receive enabled, servo ready, holding brake timing and alarm code (4 bits). 
Position output signal (pulse dividing)  N/8192 (N=1 to 8191), 1/N (N=1 to 64) or 2/N (N=3 to 64). 
Input / output signals 
For the position control specification 
Absolute position output (serial output) 9600 bps start-stop synchronization or 1Mbps/2Mbps Manchester method   
(when an absolute sensor is used)  
						

							 
9.  SPECIFICATIONS 
9－4 
 
*1:  The supply voltage shall be within the specified range.  
  200 VAC power supply input type (PY2A) 
  Specified voltage range: 170 to 253 VAC 
The supply voltage must not exceed 230 VAC+10% (253 V). 
  100 VAC power supply input type (PY2E) 
  Specified voltage range: 85 to 127 VAC 
The supply voltage must not exceed 115 VAC+10% (127 V). 
  If the voltage exceeds the specified range, install a step-down transformer. 
*2:  When the amplifier is housed in a box, the temperature in the box should not exceed this 
specified level. 
*3:  The lower revolution speed limit in the velocity control range is determined on condition 
that the amplifier does not stop for a load (full load) equivalent to the maximum 
continuous torque. 
*4:  The velocity variation (load variation) is defined by the following expression: 
 
  Velocity variation =                                             ×100 (%) 
 
  The velocity variation due to the input power voltage is also defined and specified by the 
ratio of the change in revolution speeds to the maximum speed. 
 
*5:  Method of calculating the speed (N) and load torque (TL) from each monitor (example). 
 
 • Speed (N)  :    N = 1000× 
  
        (When the standard Vm 0.5 mV/min－1 is selected for the monitor output.) 
 
 • Load torque (TL) :    TL= TR× 
  
        (When the standard Im 0.5 V/IR is selected for the monitor output.) 
 
*6:  The value depends on how the monitor and amplifier are combined and the given load 
conditions. 
 
 
 
 
 
 
 
 
 
 
 
 
 Full load revolution – No-load revolution speed 
Maximum speed 
(Vm voltage) 
0.5
(Im voltage) 
0.5  
						

							 
9.  SPECIFICATIONS 
9－5 
9.1.2 Acceleration and Deceleration Time 
The acceleration time (t
a) and deceleration time (t
b) under certain load conditions are calculated using the 
following expressions. 
The expressions, however, are for within the rated speed, ignoring the viscosity torque and friction torque of 
the motor. 
 
  Acceleration time : t
a = (J
M + J
L) •       •           (sec) 
 
 
  Deceleration time : t
b = (J
M + J
L) •       •           (sec) 
 
t
a  :  Acceleration time (sec) 
t
b  :  Deceleration time (sec) 
J
M  :  Motor inertia (kg･m2) 
J
L  :  Load inertia (kg･m2) 
N
1, N2  :  Motor speed (min－1) 
T
P  :  Instantaneous maximum stall torque (N･m) 
T
L  :  Load torque (N･m) 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 9-1    Motor Revolution Speed Time Chart 
 
 
 
 
 
 2π 
60
N2–N1 
T
P–TL 
2π 
60N2–N1 
T
P+TL 
N
2 
N
1 → Time 
t
b t
a 
For actually determining ta and tb, it is recommended that the above TP≦0.8 TP be limited, 
making allowance for load.   
Note that when power supply voltage is below 200V, the instantaneous torque in high 
speed zone drops.  
						

							 
9.  SPECIFICATIONS 
9－6 
9.1.3  Allowable Repetition Frequency 
Start and stop repetition is limited by both the Servomotor and Servo Amplifier.     
Consideration is required to satisfy the requirements of both at the same time. 
 
 
●  Allowable repetition frequency based on the Servo Amplifier 
For use with a high frequency of starting and stopping, check that it is within the allowable frequency 
beforehand. 
The allowable repetition frequency varies with each combined motor type, capacity, load inertia, 
acceleration/deceleration current value and motor speed. 
When the starting/stopping repetition frequency up to the maximum speeds exceeds   
times/min under load inertia = motor inertia × m conditions, the effective torque and regenerative 
power must be accurately calculated. 
In this case, consult us. 
 
●  Allowable repetition frequency based on the type of motor used 
The starting/stopping frequency varies with motor working conditions including load conditions and 
operating duration. 
Accordingly, this cannot be specified uniformly. 
In the following, typical examples will be explained. 
 20 
m+1  
						

							 
9.  SPECIFICATIONS 
9－7 
(1)  When the motor repeats a constant-speed status and a stop status 
When the operating state is as in Fig. 9-2, use the motor at a frequency in which the effective motor 
armature current effective value is at the motor rated armature current (I
R) or lower. 
Supposing the operating cycle is t, the usable range is represented in the following expression. 
 
 
t ≧                        [s] 
 
 
 
When the cycle time (t) has already been determined, find I
P, ta and tb satisfying the above expression. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 9-2    Motor Current and Speed Timing Chart 
 
IP2 (ta + tb) + IL2 tS 
I
R2 
IP  :  Instantaneous maximum stall 
armature current 
I
R  :  Rated armature current 
I
L  :  Current equivalent to load torque 
When actually determining the system driving mode, you are recommended to limit   
Trms ≦ 0.7T
R approximately, making allowance for load. 
IP
ta 
ts−IPtb
t I
LMotor current 
→ Time 
Motor speed 
→ Time 
N 
						

							 
9.  SPECIFICATIONS 
9－8 
(2)  When the motor repeats acceleration, deceleration and stop statuses 
This operating status is shown in Fig. 9-3, and the allowable value n (time/min) of repetition frequency 
can be obtained by the following expression. 
 
  n = 2.86 × 10
2 ×               ×            × TR2        (times/min) 
 
 T
R: Rated torque 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 9-3    Motor Current and Speed Timing Chart 
 
(3)  When the motor repeats acceleration, constant-speed and deceleration statuses 
This operating status is shown in Fig. 9-4, and the allowable value n (times/min) of the repetition 
frequency can be obtained by the following expression. 
 
  n = 2.86 × 10
2 ×               ×                       (times/min) 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 9-4    Motor Current and Speed Timing Chart 
1 
N (J
M + JL) 
TP2 – TL2 
T
P3 
1 
N (J
M + JL) 
TP2 – TL2 
T
P 
T
P 
T
L 
Motor current 
→ Time 
−T
µ
N
Motor speed 
→ Time 
T
L 
N Motor current 
Motor speed → Time
→ Time
T
P 
−T
µ