Sanyo Denki Py 2 Manual

							 
9.  SPECIFICATIONS 
9－9 
9.1.4  Precautions on Load 
(1) Negative load 
The Servo Amplifier cannot perform such negative load operation as causes the motor to rotate 
continuously. 
 
(Examples) 
•  Downward motor drive (when no counterweight is provided). 
•  Use like a generator, for example, the wind-out spindle of a winder. 
When applying the amplifier to a negative load, consult us. 
 
(2)  Load inertia (JL) 
When the Servo Amplifier is used with a load inertia exceeding the allowable load inertia calculated in 
terms of the motor shaft, a main circuit power overvoltage detection or regenerative error function may 
be activated at the time of deceleration. 
 
In this case, the following measures must be taken. 
 ①  Lower the current limit. 
 ②  Make the acceleration/deceleration time longer (slow down). 
 ③  Reduce the maximum motor speed to be used. 
 ④  Install an external regenerative resistor (optional). 
 
For details, ask us for information. 
  
						

							 
9.  SPECIFICATIONS 
9－10 
9.1.5  CN1 Input/Output Interface Circuit Configuration 
Input circuit configuration 
(1)  Type 1 (photocoupler input) 
This type of input circuit is a contactless circuit like the one shown on the 
right. 
The input signals of type 1 are Servo ON, alarm reset, forward revolution 
inhibit, backward revolution inhibit, current limit permit deviation clear, 
proportional control, command multiplier, command pulse inhibit (zero 
clamp) and encoder clear (for absolute encoder). 
The applicable power supply is 5 V to 24 V.    The user must prepare this 
power supply. 
Required power specifications: 5 to 24 VDC±10%, 100 mA minimum.
 
 
 
 
 
 
 
 
(2)  Type 2 (line driver input) 
This type of input circuit is like the one shown on the right. 
The applicable line receiver is equivalent to the 26LS32. 
This type permits only command pulse input of the position control 
type. 
This type can be connected to an open collector output. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
(3)  Type 3 (analog input 1) 
This type of input circuit is like the one shown on the right. 
Type 3 permits only analog velocity and torque commands (torque 
compensation) as input signals.  
 
 
 
 
 
 
(4)  Type 4 (analog input 2) 
This type of input circuit is like the one shown on the right. 
This type permits only current limit for both forward and backward 
revolution as input signals.  
 
 
 
 
 
 
(5)  Type 5 (through input) 
This type of input circuit is like the one shown on the right. 
This type permits only battery power (for absolute encoder) as input 
signals.  
 
 
 
 
 
 
0.01μF 
6.8K 
3.3K 
SG SG- 
 
+  Forward  
revolution pulse 
Backward  
revolution pulse 
Connection example
3.3K1.8K 5.75K0.047μF 
-5V
SG
SG5V
- 
 
+ 
5V 
-5V 
5V to 
24VDC
5mA
 
3.9K 
2.2K 
26LS32 or 
equivalent
  100Ω
 
100Ω 
SG SG1K
 
3905V 5V
1.5K
 1K
CN2 CN1 
1
2
+
- 
						

							 
9.  SPECIFICATIONS 
9－11 
Output circuit configuration 
(1)  Type 6 (open collector output 1) 
This type of output circuit is an isolated contactless circuit like the 
one shown on the right. 
The signals of type 6 are current limit status, low velocity (deviation 
zero), start ready complete, holding brake excitation timing signal 
and alarm code. 
One of the two power supplies of 5 V and 12 V to 24 V can be 
selected (excluding input pins). 
The user must prepare these power supplies. 
Applicable power supply specifications: 
5 VDC±10%, 20 mA minimum or 12 to 24 VDC±10%, 20 mA 
minimum.  
 
 
 
 
 
 
 
(2)  Type 7 (open collector output 2) 
This type of output circuit is like the one shown on the right. 
This type permits only the C-phase encoder signal as output signals.
 
 
 
 
 
 
 
 
(3)  Type 8 (line driver output) 
This type of output circuit is like the one shown on the right. 
The line driver in use is equivalent to the 26LS31. 
The output signals of type 8 are A-, B- and C-phase encoder and 
absolute serial signals.  
 
 
 
 
 
 
(4)  Type 9 (analog output) 
This type of output circuit is like the one shown on the right. 
The output signals of type 9 are monitor 1 and monitor 2.  
 
 
 
 
 
 
 
 
26LS31 or 
equivalent
 
1KΩ 
SG SG- 
 
+ 
Regulator +E12V to 24V
max50mA(12 to 24V) 
max10mA(5V)
 
5V
max 
30V 
I O 
COM
max 
30V max10mA
 
SG SG  
						

							 
9.  SPECIFICATIONS 
9－12   
Type 1   
Type 6   
 
 
 
 
 
 
 
 
  
Type 2   
Type 7   
 
 
 
 
 
 
 
 
  
Type 3   
Type 8   
 
 
 
 
 
 
 
 
  
Type 4   
Type 9   
 
 
 
 
 
 
 
 
  
Type 5   
 
 
 
 
 
 
 
 
 
  
Fig. 9-5    CN1 Circuit Type 
26LS31 or 
equivalent
 
0.01μF 
6.8K 
3.3K
SG
 SG 
-  
+ 
3.3K 
1.8K 5.75K 
0.047μF 
-5V SG SG 
5V 
- 
+
5V 
-5V 
5V to 
24VDC 
5mA 
3.9K 
2.2K 
26LS32 or 
equivalent
  100Ω
 
100Ω 
SG SG 
1K 390
 
5V 5V 
1.5K 1K 
1KΩ 
SG SG- 
 
+ 
1  
 
 
2 +  
 
- 
max50mA(12 to 24V) 
max10mA(5V) 
+E12V to 24VRegulator 5V
max
30V
I O
COM
max
30Vmax10mA
 
SGSG 
						

							 
9.  SPECIFICATIONS 
9－13 
9.1.6  Position Signal Output 
This section explains the position signal output specifications. 
 
Chapter Contents Relevant Sensors 
9.1.6.1 Pulse output  Fig. 9-6  Wiring-saved incremental encoder INC-E 
Request-signal unavailable absolute encoder ABS-E 
Request-signal available absolute sensor ABS-RⅡ 
Wiring-saved absolute sensor ABS-E.S1 
9.1.6.2 Serial output 
(When absolute encoder ABS-E 
is used.) Fig. 9-7-1 
Fig. 9-7-2 
Fig. 9-7-3 Request-signal unavailable absolute encoder ABS-E 
9.1.6.3 Serial output 
(When absolute sensor ABS-RⅡ 
is used.) Fig. 9-8-1 
Fig. 9-8.2 
Fig. 9-8-3 Request-signal available absolute sensor ABS-RⅡ 
 
9.1.6.4 Serial output (When wiring-saved 
absolute sensor ABS-E.S1 is 
used.)  Fig. 9-9-1 
Fig. 9-9-2 
Fig. 9-9-3 Wiring-saved absolute sensor ABS-E.S1 
 
9.1.6.1 Pulse Output 
CN1-3 to 8 output 90° phase difference 2-phase pulses (A- and B-phases) and the home position (C-phase) 
pulse . 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Not specified for about 1s after the control power is turned on. 
90°
t 
Approx. 
1s
 
Not specified 
Not specified 
Not specified  Control power 
supply A-phase 
B-phase 
C-phase  
B-phase leads A-phase by a phase angle of 90°.  
						

							 
9.  SPECIFICATIONS 
9－14 
 
9.1.6.2  Serial Output (When the ABS-E Absolute Encoder Is Used) 
One of the two position signal outputs can be selected using the remote operator.    When FUNC5 bit 7 on 
Page 6 in Mode 2 of the remote operator is set at 0, start-stop synchronization is selected.     
When bit 6 is set at 1, Manchester coding synchronization is selected.    For details, refer to Func5 in 7.2.3   
Parameter List.  The specifications are as follows: 
 
(1)  Output specifications (9600 bps • 1 Mbps) 
 
Table 9-2 (1)    Start-stop Synchronization Output (9600 bps) Specifications 
Transmission system Start-stop synchronization 
Baud rate  9600 bps 
Number of transfer frames  6 frames (11 bits/frame) 
Transfer format  See Fig. 9-7-1 
Transmission error check  (1 bit) even parity 
Transfer time  6.9 ms (Typ.) 
Transfer cycle  9.2 ms (See Fig. 9-7-3 (1).) 
Incremental direction  Increased at forward revolution 
 
Table 9-2 (2)    Manchester Coding Synchronization Output (1 Mbps) Specifications 
Transmission system Manchester coding synchronization 
Baud rate  1 Mbps 
Number of transfer frames  2 frames (25 bits/frame) 
Transfer format  See Fig. 9-7-2. 
Transmission error check  (3 bits) CRC error check 
Transfer time  66 µs (Typ.) 
Transfer cycle  84 µs±2 µs(See Fig. 9-7-3 (2).) 
Incremental direction  Increase at forward revolution 
 
 
Forward revolution means counterclockwise rotation as viewed from the motor shaft.   
When the absolute value increases to the maximum, it returns to the minimum (0).  
						

							 
9.  SPECIFICATIONS 
9－15 
(2) Transfer format (9600 bps • 1 Mbps) 
(2-1)  Start-stop synchronization (9600 bps)  
 
①  Configuration in a frame 
 
1 frame (11 bits)
 
             
 
 ↑         ↑↑ 
Start  
signal Position 
signal Address 
signal Parity 
signalStop 
signal  
(1bit) (5bit) (3bit) (1bit) (1bit)  
 
Fig. 9-7-1 (1) Frame Configuration of Start-stop Synchronization (9600 bps)(ABS-E) 
 
②  Configuration in each frame 
 
 Start  
signal  
Position signal Address 
signal Parity 
signal Stop  
signal 
･Frame 1  0   D0  D1 D2 D3 D4 0 0 0 0／1    1 
     (LSB)                     
･Frame 2  0   D5  D6 D7 D8 D9 1 0 0 0／1    1 
･Frame 3  0   D10  D11 D12 D13 D14 0 1 0 0／1    1 
･Frame 4  0   D15  D16 D17 D18 D19 1 1 0 0／1    1 
                
･Frame 5  0   D20  D21 D22 D23 BATE 0 0 1 0／1    1 
           (MSB)              
･Frame 6  0   SOT  0  WAR 0  0  1 0 1 0／1    1 
 
Fig. 9-7-1 (2)    Transfer Format of Start-stop Synchronization (9600 bps)(ABS-E) 
 
 
 
 
 
 
 
 
 
 
  D0 to D10 ................One-revolution absolute value 
  D11 to D23 ..............Multi-revolution absolute value 
 BATE ....................... Battery alarm 
 SOT ......................... Absolute value range over 
 WAR ........................ Battery warning  
						

							 
9.  SPECIFICATIONS 
9－16  (2-2)  Manchester coding synchronization (1 Mbps) 
 
①  Configuration in a frame 
 
1 frame (25 bits) 
       
↑  ↑  ↑  ↑  ↑  ↑ 
Start  
signal MODEM 
address 
signal Position signal Frame 
address
signalCRC 
signalStop  
signal 
(3 bit)  (2 bit)  (15 bit)  (1 bit) (3 bit) (1 bit) 
  
Fig. 9-7-2 (1) Frame Configuration of Manchester Coding Synchronization (1Mbps) (ABS-E) 
 
②  Configuration in each frame 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 9-7-2 (2)    Transfer Format of Manchester Coding Synchronization (1 Mbps) (ABS-E) 
 
 
 
 
 
 
 
1  The first 2 bits of the start signal are output   
as a high (1) signal of the whole bit section. 
The remaining 23 bits are all Manchester coded. 
2  D0 to D10........... One-revolution absolute value 
  D11 to D23......... Multi-revolution absolute value 
 BATE.................. Battery alarm 
 SOT.................... Absolute value range over 
 WAR................... Battery warning 
Data “0” Data “1” 
1
01 
0 
Manchester code 
         
     
    
 
  1  1 1   0  0   
 
    
D0  D1  D2  D3  D4 D5 D6 D7 D8 D9 D10 D11  D12  D13  D14
(LSB) 
               
        
               
    0        0／1 0／1 0／1     0       
 
     
D15  D16  D17  D18  D19 D20 D21 D22 D23 BATE SOT 0  WAR  0  0 
          
       
    
         
  1   
 
• Frame 1 
• Frame 2 
Position signal 
Frame address signal Start signal  MODEM address signal 
CRC signal  Stop signal 
Position signal 
Frame address signal (MSB)
The start signal, MODEM signal, CRC signal 
and stop signal are the same as those in frame 1.  (   1)  
						

							 
9.  SPECIFICATIONS 
9－17 
(3)  Transfer cycle (9600 bps • 1 Mbps) 
 
(3-1)  Start-stop synchronization (9600 bps) 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 9-7-3 (1)    Transfer Cycle of Start-stop synchronization (9600 bps) (ABS-E) 
 
(3-2)  Manchester coding synchronization (1 Mbps) 
 
 
 
 
 
 
 
 
 
Fig. 9-7-3 (2)    Transfer Cycle of Manchester Coding Synchronization (1 Mbps) (ABS-E) 
 
 
 
 
 
 
The serial output is not specified for about 1 sec after the power is turned on. 
Communication does not always start with frame 1 in 1 sec. 
Approx. 
1s Control  
power  
supply 
Not specified  Serial  
output Serial transfer 
H H H 1 23456 12345 6 
Approx. 6.9 ms 
Approx. 9.2 ms 
Approx. 6.9 ms  Approx.  
1.1 ms  Frame 1  Frame 2  Frame 3  Frame 4  Frame 5  Frame 6 
Serial  
output Frame 2 Frame 1 Frame 2 
25 µs 25 µs  16 µs
84 µs±2 µs  Frame 1  
						

							 
9.  SPECIFICATIONS 
9－18 
9.1.6.3  Serial Output (When the ABS-RⅡ  Absolute Sensor Is Used) 
One of the two position signal outputs can be selected using the remote operator.    When FUNC5 bit 7 on 
Page 6 in Mode 2 of the remote operator is set at 0, start-stop synchronization is selected.     
When bit 6 is set at 1, Manchester coding synchronization is selected.    For details, refer to Func5 in 7.2.3   
Parameter List.  The specifications are as follows: 
 
(1)  Serial output specifications 
 
Table 9-3 (1)    Start-stop Synchronization Output (9600 bps) Specifications 
Transmission system Start-stop synchronization 
Baud rate  9600 bps 
Number of transfer frames  6 frames (11 bits/frame) 
Transfer format  See Fig. 9-8-1. 
Transmission error check  (1 bit) even parity 
Transfer time  6.9 ms (Typ.) 
Transfer cycle  9.2 ms (See Fig. 9-8-3 (1).) 
Incremental direction  Increased at forward revolution 
 
Table 9-3 (2)    Manchester Coding Synchronization Output (1 Mbps) Specifications 
Transmission system Manchester coding synchronization 
Baud rate  1 Mbps 
Number of transfer frames  2 frames (25 bits/frame) 
Transfer format  See Fig. 9-8-2. 
Transmission error check  (3 bits) CRC error check 
Transfer time  66 µs (Typ.) 
Transfer cycle  84 µs±2 µs(See Fig. 9-8-3 (2).) 
Incremental direction  Increase at forward revolution 
 
 
 
 
 
Forward revolution means counterclockwise rotation as viewed from the motor shaft.