Sanyo Denki Py 2 Manual

							 
9.  SPECIFICATIONS 
9－19 
(2) Transfer format 
(2-1)  Start-stop synchronization (9600 bps) 
 
①  Configuration in a frame 
 
1 frame (11 bits)
 
             
 
 ↑         ↑↑ 
Start  
signal 
(1 bit) Position 
signal 
(5 bit)
 
Address 
signal 
(5 bit)
 
Parity 
signal
(1 bit)Stop  
signal 
(1 bit)
  
 
 
Fig. 9-8-1 (1) Frame Configuration of Start-stop Synchronization (9600bps) (ABS-RⅡ) 
 
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 D24 0 0 1 0／1   1 
                
･Frame 6 0  D25  0  0  AW0 AW1 1 0 1 0／1   1 
 
Fig. 9-8-1 (2)    Start-stop Synchronization (9600 bps) Transfer Format (ABS-RⅡ) 
 
 
 
 
 
 
 
 (MSB) 
  D0 to D12 ................One-revolution absolute value 
  D13 to D25 ..............Multi-revolution absolute value 
(In the case of 8192FMT sensor) 
 AW0 AW1 
Battery alarm  0  1 
Sensor error  Output low 
Normal 0 0  
						

							 
9.  SPECIFICATIONS 
9－20  (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. 9-8-2 (1) Frame Configuration of Manchester Coding Synchronization (1Mbps)(ABS-RⅡ) 
 
②  Configuration in each frame 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 9-8-2 (2)    Transfer Format of Manchester Coding Synchronization (1 bps) (ABS-RⅡ) 
 
 
 
 
 
 
 
 
 
 
 
 
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 D12........... One-revolution absolute value 
  D13 to D25......... Multi-revolution absolute value 
  (In the case of 8192FMT sensor) 
 AW0 AW1 
Battery alarm  0  1 
Sensor error  Output low 
Normal 0 0 
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    0／10／10／1  0    
     
D15 D16 D17 D18 D19 D20 D21 D22 D23 D24 D25 0  0  AW0 AW1
                 
    
         
  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 
9－21 
(3)  Serial PS Transfer Cycle   
 
(3-1)  Start-stop synchronization (9600 bps) 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 9-8-3 (1)    Transfer Cycle of Start-stop Synchronization (9600 bps) (ABS-RⅡ) 
 
(3-2)  Manchester coding synchronization (1 Mbps) 
 
 
 
 
 
 
 
 
 
Fig. 9-8-3 (2)    Transfer Cycle of Manchester Coding Synchronization (1 Mbps) (ABS-RⅡ) 
 
 
 
 
 
 
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 
9－22 
9.1.6.4  Serial Output (When the ABS-E.S1 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 9-4 (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. 9-9-1. 
Transmission error check  (1 bit) even parity 
Transfer time  6.9 ms (Typ.) 
Transfer cycle  9.2 ms (See Fig. 9-9-3 (1).) 
Incremental direction  Increased at forward revolution 
 
Table 9-4 (2)    Manchester Coding Synchronization Output (1 Mbps) Specifications 
Transmission system Manchester coding synchronization 
Baud rate  2 Mbps 
Number of transfer frames  2 frames (25 bits/frame) 
Transfer format  See Fig. 9-9-2. 
Transmission error check  (3 bits) CRC error check 
Transfer time  25 µs (Typ.) 
Transfer cycle  42 µs±2 µs(See Fig. 9-9-3 (2).) 
Incremental direction  Increase at forward revolution 
 
 
 
 
 
Specifications for the ABS-E.S1 Wiring-saved Absolute Sensor are as follows: 
      One revolution: 32768 divisions (15 bits),    Mutli-revolution: 65536 rotations (16 bits) 
When combined with the PY2 Servo Amplifier, however, the product will be operated in the 
following specifications because of the limited communication specifications: 
      One revolution: 32768 divisions (15 bits),   Multi-revolution: 8192 rotations (13 bits)   
When the product is used in the application requiring no multi-revolution data under the setting 
of Func6 Bit5 = 1 (Mode2 Page7) without battery connected (when used in one-revolution 
mode); 
• Even if one revolution mode is set, error or warning bit may be set at the data output from 
the serial position signal (CM1-9, 10 pins). This causes no problem in the operation of the 
Servo system. When one revolution mode is set, make the upper system exclude these bits.
• When one revolution mode is set, multi-revolution data may change suddenly. Do not use 
the multi-revolution data at the upper system.
 
Forward revolution means counterclockwise rotation as viewed from the motor shaft.  
						

							 
9.  SPECIFICATIONS 
9－23 
(2)   Transfer format 
(2-1)  Start-stop synchronization (9600 bps) 
 
①  Configuration in a frame 
 
1 frame (11 bits)
 
             
 
 ↑         ↑↑ 
Start  
signal 
(1 bit) Position 
signal 
(5 bit)
 
Address 
signal 
(3 bit)
 
Parity 
signal
(1 bit)Stop  
signal 
(1 bit)
  
 
 
Fig. 9-9-1 (1) Start-stop Synchronization (9600bps) Frame Configuration (ABS-E.S1) 
 
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 D24 0 0 1 0／1   1 
                
･Frame 6  0   D25  D26 D27 AW0 AW1 1 0 1 0／1   1 
 
Fig. 9-9-1 (2)    Start-stop Synchronization (9600 bps) Transfer Format (ABS-E.S1) 
 
 
 
 
 
 
 
 (MSB) 
  D0 to D14 ................ One-revolution absolute value(15bit) 
  D15 to D27 .............. Multi-revolution absolute value(13bit) 
(In the case of 8192FMT sensor) 
 AW0 AW1 
Battery alarm  0  1 
1 1 Sensor error 
Output low 
Battery Warning 1  0 
Normal 0 0  
						

							 
9.  SPECIFICATIONS 
9－24 
(2-1)  Manchester Coding Synchronization (2 bps) 
①  Configuration in a frame 
1 frame (25 bits)
 
        
↑  ↑      ↑     ↑  ↑  ↑ 
Start 
signal
 
(3 bits)Modem 
address 
signal  
(2 bits)
 
Position 
signal 
 
(15 bits) Frame 
address
signal 
(1 bit) CRC 
signal
 
(3 bits)Stop  
signal 
 
(1 bit)
 
 
Fig. 9-9-2 (1) Manchester Coding Synchronization (2 Mbps) Frame Configuration (ABS-E.S1) 
②  Configuration in each frame 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 9-9-2 (2)    Manchester Coding Synchronization (2 Mbps) Transfer Format (ABS-E.S1) 
 
 
 
 
 
 
 
 
         
     
    
 
  1 1 1   0 0   
 
    
D0 D1 D2 D3 D4 D5 D6 D7 D8 D9 D10 D11 D12 D13 D14
(LSB) 
               
        
               
  0    0／10／10／1  0    
     
D15 D16 D17 D18 D19 D20 D21 D22 D23 D24 D25 D26 D27 AW0 AW1
 
                
    
         
  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) 
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 D14 ...........One-revolution absolute value 
  D15 to D27 .........Multi-revolution absolute value 
 
 AW0 AW1 
Battery alarm  0  1 
1 1 Sensor error 
Output low 
Battery warning  1  0 
Normal 0 0 
Data “0” Data “1” 
1
01 
0 
Manchester code  
						

							 
9.  SPECIFICATIONS 
9－25 
(3)  Serial PS Transfer Cycle   
 
(3-1)  Start-stop synchronization (9600 bps) 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 9-9-3 (1)    Transfer Cycle of Start-stop Synchronization (9600 bps) (ABS-E.S1) 
 
(3-2)  Manchester coding synchronization (2 Mbps) 
 
 
 
 
 
 
 
 
 
Fig. 9-9-3 (2)    Transfer Cycle of Manchester Coding Synchronization (2 Mbps) (ABS-E.S1) 
 
 
 
 
 
 
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 
12.5 µs 12.5 µs 1 µs
42 µs±2 µs  Frame 1  
						

							 
9.  SPECIFICATIONS 
9－26 
9.1.7 Monitor Output 
•  The contents of outputs from monitor 1 (MON1) and monitor 2 (MON2) can be selected by the remote 
operator. 
•  Monitor 1 and 2 outputs are convenient for selecting a check pin on the controller. 
•  Outputs can be changed on Page 3 in Mode 2 (Func2) or Page 0 or 1 in Mode 4 of the remote operator. 
See Pages 1 and 2 in Mode 4 in 7.2.3    Parameter List. 
 
(1)  Velocity, torque and position deviation monitor 
Refer to Fig 9-12 (1) to (3). 
The velocity command outputs internal data of the amplifier, which are different from the values 
generated by the VCMD monitor of the remote operator. 
In the SOFF state, the monitor output value is zero. 
When the control power is turned on or off, the monitor output is unfixed. 
 
Velocity command / velocity feedback monitor output 
 
  
The scale can be changed among 0.5 V/1000 min−1, 3 V/1000 min−1,  
1 V/1000 min−1 and 2 V/1000 min−1. 
Fig. 9-12 (1) 
Current command / current feedback monitor output 
 
  
The scale can be changed among 0.5 V/IR,2 V/IR, and 1 V/IR. 
Fig. 9-12 (2) 
Position deviation monitor output 
 
  
The scale can be changed among 5 mV/pulse, 50 mV/pulse, 10 mV/pulse and 20 mV/pulse. 
Fig. 9-12 (3) 
Forward  
revolution 
1000min
−1 Forward  
revolution  Forward  
revolution Backward 
revolution 
1000min
−1 
1000min−1  0.5 V 
Output voltage Output 
voltage Output  
voltage 
0  Backward  
revolution 0 Backward 
revolution 
−0.5 V 0.5 V
−0.5 V 0.5 V 
1000min
−11000min−1
0  1000min−1 
Backward 
revolution 
Backward  
revolution 
Armature  
current  Forward  
revolution 
Armature 
current 
Armature 
current  Forward  
revolution 
Forward  
revolution 
Output voltage Output 
voltage Output  
voltage 
0.5 V 
Backward 
revolution 
0 
−
IRIR  00.5 V
−0.5 V 
IR
IR
0.5 V 
0 
−0.5 V  −
IR 
IR
(Rated current) 
Forward  
revolution  Forward  
revolution 
Output  
voltage 
0.5 V 
Backward 
revolution Forward  
revolution 
Pulse  0  100 100  Output voltage 
0.5 V 
0 
Backward  
revolution 
−0.5 V 100 100 
Pulse Output 
voltage 
0 Backward 
revolution 0.5 V
−0.5 V 100
100
Pulse  
						

							 
9.  SPECIFICATIONS 
9－27 
(2)  Regenerative load factor monitor output 
The regenerative load factor monitor output is convenient for checking the effective power of the 
regenerative resistor. 
Regenerative load factor monitor signals are output as follows: 
  Effective power of regenerative resistor/Monitor reference power (W) = 0.3 V 
(The monitor reference power is set at the value listed in Table 9-5.) 
The output voltage is updated every second. 
The effective power of the regenerative resistor is typically calculated as follows: 
 
 
 
 
 
 
 
 
 
 
Fig. 9-12 (4)   
  When the power is measured as in the figure above, the following calculation is possible: 
  Effective power of regenerative resistor (W) =               × Monitor reference power (W) 
The result is acceptable if it is within the allowable effective power of the regenerative resistor. 
 
 
 
The regenerative resistor load factor monitor assumes that the regenerative resistor values are as in 
the table below. 
Table 9-5    Regenerative Resistor Value and   
Monitor Reference Power of Each Amplifier Capacity 
Type of amplifier PY2A015 
PY2E015 
PY2A030 
PY2E030 PY2A050 
Resistance value (Ω) 100 Ω 50 Ω 20 Ω 
Func2 bit 4 = 0  5 W  5 W  20 W Monitor reference power 
Func2 bit 4 = 1  10 W  10 W  40 W 
* For the allowable effective power of an external regenerative resistor,   
refer to Table 9-21    External Regenerative Resistor Combination Table. 
* After switching, Func2 bit 4 is enabled by turning on the control power supply again. 
 V1 + V2 + V3
T × 0.3 
V2V1
V3
1 1  1
T (1 cycle)  (Sec) 
1  When T (1 cycle) is 1 second or shorter, measure the effective power by repeating 
cycles for more than 1 second. 
2  Since the maximum output voltage of the analog monitor is 3 V, if the power consumption 
with a regenerative resistor in a second exceeds 10 times of the reference power, it will 
continue for the next 1 second. 
3  The regenerative load factor monitor may cause errors of ±30%. 
4  The monitor reference power changes depending on the regenerative resistor OL time 
select in Func2 bit 4. 
5  When the built-in regenerative resistor is used, use the built-in regenerative resistor 
absorbing power monitor RegP (Mode5 Page17) of the remote operator.  
						

							 
9.  SPECIFICATIONS 
9－28 
(3)  Typical monitor applications 
This section explain typical applications of the velocity and current monitor. 
 
Speed and current measurement 
When connecting a measuring instrument to the velocity or current feedback monitor, use a 
both-swing type CD voltmeter and connect it as in Fig. 9-12 (5). 
In this case, use a shielded wire and make the wiring as short as possible. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 9-12 (5)    Typical Connection of Monitor and Measuring Instrument 
 
•  Current feedback monitor output (CN1 - 16) 
  ±0.5 V±20%/rated armature current. 
•  Velocity feedback monitor output (CN1 - 15) 
  ±0.5 V±20%/1000 min
-1. 
•  The maximum monitor output voltage is ±3 V. 
 
 
 
 
 
 
 
 
 
 
 
 
 
1  When the contents of the monitor output are changed using the remote operator or PC 
interface, the contents of CN1-15 and CN1-16 are also changed.     
So, When the above use is employed for CN1-15 and CN1-16, change the contents 
carefully so as not to damage the measuring instrument. 
2  For measuring the velocity/current monitor, use a DC voltmeter (both-swing type) of   
10 kΩ or more. 
3  When the control power is turned on or off, the monitor output becomes unfixed, 
outputting about ±5.5 V.   
When any measuring instrument is connected, be careful not to damage it. 
(   2) 
Tachometer 
min−1 
A 
Servo Amplifier side 
Ammeter R
R CN1-15
CN1-16
CN1-14
SG  (MON1)
(MON2)Velocity feedback monito
r 
Current feedback monitor 
R : 1 K
Ω ± 1%