Sanyo Denki Py 2 Manual
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9. SPECIFICATIONS 9－29 9.1.8 Position Control Type Specifications This section explains how to handle command pulses and other signals for the position control type. (1) Command pulses Three types of signals can be input as command pulses . Command pulse type Input pin No. CN1- For motor forward revolution command For motor backward revolution command PMOD in Mode 2 on Page 0 of remote operator 2 Backward revolution pulse train + forward revolution pulse train 28 29 26 27 Bit 6 = 0 Bit 5 = 0 When 0 is set in the revolution direction bit Code + forward revolution pulse 28 29 26 27 Bit 6 = 1 Bit 5 = 0 90° phase difference two-phase pulse train 1 28 29 26 27 Bit 6 = 0 Bit 5 = 1 Fig. 9-13 Command Pulse Type L L L H 90° 1 In case of a 90° phase difference two-phase train input, the multiplier is basically set at 4. 2 For details, see page 7-43 of this manual. 90°
9. SPECIFICATIONS 9－30 (2) Command pulse timing Each command pulse timing is as follows . Command pulse Backward revolution pulse train + Forward revolution pulse train. Code + Pulse train 90° phase difference two-phase pulse Fig. 9-14 Command Pulse Timing The above values apply only when screen mode 2-0 (PMOD) (digital filter DFC1 and 0 =00, and bit 7 =0) is selected. t1 t2 t3 t4 t5 Backward revolution Forward revolution t1, t2 ≤ 0.1 µs t3, t4 > 750 ns t5 > 1.5 µs t1 t2 t3 t4 Pulse Code t5 t6Forward revolution Backward revolution t7 t8 t9 t1, t2 ≤ 0.1 µs t3, t4 > 750 ns t5, t9 ≤ 0.1 µs t6, t7, t8 > 1.5 µs t1 t2 t3 t4t5 t6 A-phase B-phase Forward revolution Backward revolution B-phase leads A-phase by a phase angle of 90°.A-phase leads B-phase by a phase angle of 90°. t1, t2 ≤ 0.1 µs t3, t4 > 750 ns t5, t6 > 250 ns
9. SPECIFICATIONS 9－31 (3) External analog current limit input Both the forward revolution driving current (positive side current) and the backward revolution driving current (negative current) can be independently limited externally (when parameter Func1 bit0 is set at 1). Regarding the relationship with the motor armature current, the current is limited to 2 V/rated current (IR) by the applied motor. The same limit value for the backward revolution driving current as that for forward revolution can be selected. Switching of the polarity between positive and negative (see the Func1 parameter in Chapter 7) is also possible. Fig. 9-15 shows the relationship between the set voltage and the current limit value. Fig. 9-15 Set Voltage and Current Limit Value (4) Torque compensation input For the characteristics of the torque compensation input and motor generation torque, see Fig. 9-17 (the same as the torque command input of the torque command type). This input is effective for decreasing the acceleration time or switching the quadrant. 1 If a value exceeding the instantaneous maximum stall armature current (Ip) of the Servomotor is set, the system is saturated at Ip. 2 To lock the motor by means of a bump stop by applying an external current limit, set the current limit value below the rated armature current. Armature current Armature current 0 0 (Approx. −0.6 V) (Approx. 0.6 V) 1 1 2.0−2.0 IR IR Set voltage (V) Set voltage (V) (a) Forward revolution current limit (PIL) (b) Backward revolution current limit (NIL) (when negative polarity is selected)
9. SPECIFICATIONS 9－32 (5) General specifications of CN1 input/output signals This section explains the general specifications of CN1 input/output signals of the position control type. Fig. 9-16 shows the circuit types of CN1 input/output signals and Tables 9-6 and 9-7 describe the general specifications. Type 1 Type 6 Type 2 Type 7 Type 3 Type 8 Type 4 Type 9 Type 5 Fig. 9-16 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
9－33
Table 9-6 General Specifications of Position Control Type Input Signals
(Incremental Encoder) 1/2
Signal name Abbr. Pin No.
*1
Circuit type
*2General specification
Forward revolution
pulse train command PPC
PPC 26
27 Type 2 Pulse train for forward revolution
Backward revolution
pulse train command NPC
NPC 28
29 Type 2 Pulse train for backward revolution
Torque compensation TCOMP 22 (20) Type 3 The rated torque (TR) is obtained by inputting ±2V, but
is limited by the maximum instantaneous stall torque.
To enable torque compensation, Func1 bit 6 must be
set at 1.
Servo ON SON 37 (23) Type 1 Servo ON status is provided by closing the contact, and
entering the pulse train waiting status.
Alarm reset RST 30 (23) Type 1 With this signal input, alarm code or alarm bit outputs
and an error display are reset.
Deviation clear CLE 34 (50) Type 1 By inputting the contact close signal for 2 ms or more,
the contents of the deviation counter can be cleared to
zero.
Forward revolution
overtravel
Backward revolution
overtravel PROT
NORT 32 (23)
33 (23) Type 1 Contact open status is provided upon occurrence of
overtravel. Input both the forward and backward
revolution signals. When overtravel occurs, a 120%
current limit is automatically applied, inhibiting the
commands to the side to which this signal has been
input.
(This function can be canceled or changed into an
a-contact input by setting the remote operator.)
External overheating
detection
EOH 35 (50)
36 (23) Type 1 Normal operation while input is on.
The external overheating alarm state is assumed when
input is turned off.
Proportional control
(standard) PCON With this signal input, the velocity loop becomes
proportional control.
Command multiplier PMUL With this signal input, command pulses are multiplied by
the magnification ratio set on page 3 in Parameter set
screen mode 1.
Command pulse inhibit INH Inputting command pulses is inhibited.
Forward revolution
current limit PIL 18 (17) Type 4 The current is limited to the rated
current at +2 V (effective when
ILM is input).
Backward revolution
current limit NIL 19 (17) Type 4 Current is limited to the rated
current at -2 V (effective when ILM
is input). To enable the
external current
limit, Func1 bit 0
must be set at 1.
Current limit permit ILM 31 (23) Type 1 The current is limited by closing the contact. It is
ineffective during JOG or overtravel (the limit method is
based on Func1 parameter).
Input sequence power
supply 1 23 External power supply for CN1-30, 31, 32, 33, 36 and
37.
Input sequence power
supply 2
5 to
24 VDC
50 ―
External power supply for CN1-34 and 35.
*1 The pin numbers in parentheses denote the ground or common side of each signal.
*2 For the circuit type, see Fig. 9-16.
For 35 and
36 pins, one
of the four
functions
can be
selected by
setting the
remote
operator.
9. SPECIFICATIONS
9－34
Table 9-6 General Specifications of Position Control Type Input Signals
(Incremental Encoder) 2/2
Signal name Abbr. Pin No.
*1
Circuit type
*2General specification
Monitor 1 MON1 15 (14) Type 9 0.5V±20%/1000 min－1 (velocity monitor).
Load: less than 2 mA. Output resistance: 1 KΩ.
Positive voltage at forward revolution
Monitor 2 MON2 16 (14) Type 9 0.5V±20%/rated current (current monitor).
Load: Less than 2 mA. Output resistance: 1 KΩ.
Positive voltage when forward revolution power is
output.
Start ready completes SRDY 41 (24)
(25) Type 6 When the Servo ON signal is ready to receive after
the DC power supply of the main circuit is turned on,
this comes on and goes low impedance.
Current limit status ILIM 40 (24)
(25) Type 6 This signal comes on in current limit status and is
effective as a bump end input or a standard for
prevention against current saturation at
acceleration/deceleration.
Encoder signal A, A
B, B
C, C 3, 4
5, 6
7, 8 Type 8 Output by the line driver (26LS31) after the encoder
pulse is divided.
The signal is received by the line receiver (26LS32).
Encoder channel C
signal COP 11 (13) Type 7 Output by the open collector (the logic can be reversed
using the Func5 bit 6 parameter).
Alarm code output or
alarm bit output ALM1
ALM2
ALM4
ALM8 43 (24)
(25)
44
45
46 Type 6 Alarm code output and alarm bit output (ALM1) are
switched by Func2 bit 6 of the remote operator. The
alarm bit signal turns off in an alarm status. The alarm
code outputs various alarms as 4-bit binary codes.
Positioning complete INP 39 (24)
(25) Type 6 This signal indicates that the contents of the deviation
counter have come within the setting range.
Holding brake relay
excitation timing output HBON 42 (24)
(25) Type 6 This signal outputs holding brake relay excitation timing.
Output sequence
power supply 12 to
24 VDC
5 V 49
38 ― External power supply for CN1-39, 40, 41, 42, 43, 44,
45 and 46.
Velocity addition VCOMP 21 (20) Type 3 1000 min－1 is selected with entry of ±2 V (standard
setting). In order to enable velocity addition, Func1 bit
7 must be set at 1.
*1 The pin numbers in parentheses denote the ground or common side of each signal.
*2 For the circuit type, see Fig. 9-16.
The output contents depend on the Func4 parameter setting.
9. SPECIFICATIONS
9－35
For 35 and
36 pins, one
of the five
functions
can be
selected by
setting the
remote
operator.
(6) General Specifications of CN1 Input/Output Signals (ABS-E Absolute Encoder, ABS-RⅡ
Absolute Sensor and ABS-E.S1 Wiring-saved Absolute Sensor)
This section explains the general specifications of CN1 input/output signals of the position control type
Table 9-7 General Specifications of Position Control Type Input Signal
(ABS-E Absolute Encoder, ABS-RⅡ Absolute Sensor and ABS-E.S1 Wiring-saved Absolute Sensor)
1/2
Signal name Abbr. Pin No.
*1
Circuit type
*2General specification
Forward revolution
pulse train command PPC
PPC 26
27 Type 2 Pulse train for forward revolution.
Backward revolution
pulse train command NPC
NPC 28
29 Type 2 Pulse train for backward revolution.
Torque compensation TCOMP 22 (20) Type 3 The rated torque (TR) is obtained by inputting +2 V, but
is limited by the maximum instantaneous stall torque.
To enable torque compensation, Func1 bit6 must be set
at 1.
Servo ON SON 37 (23) Type 1 Servo ON status is provided by closing the contact, and
entering the pulse train waiting status.
Alarm reset RST 30 (23) Type 1 With this signal, alarm code or alarm bit outputs and an
error display are reset.
Deviation clear CLE 34 (50) Type 1 By inputting the contact close signal for 2 ms or more,
the contents of the deviation counter can be cleared to
zero.
Forward revolution
overtravel
Backward revolution
overtravel PROT
NORT 32 (23)
33 (23) Type 1 Contact open status is provided upon occurrence of
overtravel. Input both the forward and backward
revolution signals. When overtravel occurs, a 120%
current limit is automatically applied, inhibiting the
commands to the side to which this signal has been inpu
t
(This function can be canceled or changed into an
a-contact input by setting the remote operator.)
Encoder clear
(standard) ECLR 35 (50)
36 (23) Type 1
Inputting this signal for over 4 seconds will clear the
encoder revolution counter (multiple revolution). When
a battery alarm (U) occurs, input this signal and reset
the alarm.
External overheating
detection EOH Normal operation while input is on.
The external overheating alarm state is assumed when
input is turned off.
Proportional control
(standard) PCON With this signal input, the velocity loop becomes
proportional control.
Command multiplier PMUL With this signal input, command pulses are multiplied by
the magnification ratio set on page 5 in Parameter set
screen mode 1.
Command pulse inhibit INH Inputting command pulses is inhibited.
Forward revolution
current limit PIL 18 (17) Type 4 The current is limited to the rated
current at +2 V (effective when ILM
is input).
Backward revolution
current limit NIL 19 (17) Type 5 Current is limited to the rated
current at -2 V (effective when ILM
is input). To enable the
external current
limit, Func1 bit0
must be set at 1.
Current limit permit ILM 31 (23) Type 1 The current is limited by closing the contact. It is
ineffective during JOG or overtravel (the limit method is
based on the Func1 parameter).
Battery power BAT+
BAT– 1
2 Type 10 This signal connects a 3.6 VDC equivalent battery (ER6
2000 mAH from Toshiba Battery is recommended).
Input sequence power
supply 1 23 External power supply for CN1-30, 31, 32, 33, 36 and
37.
Input sequence power
supply 2 5 to
24 VDC
50 ―
External power supply for CN1-34 and 35.
*1 The pin numbers in parentheses denote the ground or common side of each signal.
*2 For the circuit type, see Fig. 9-16.
9. SPECIFICATIONS
9－36
Table 9-7 General Specifications of Position Control Type Input Signal
(ABS-E Absolute Encoder, ABS-RII Absolute Sensor and ABS-E.S1 Wiring-saved
Absolute Sensor) 2/2
Signal name Abbr. Pin No.
*1
Circuit type
*2General specification
Monitor 1 MON1 15 (14) Type 9 0.5 V±20%/1000 min－1 (velocity monitor).
Load: less than 2 mA. Output resistance: 1 KΩ.
Positive voltage at Forward revolution
Monitor 2 MON2 16 (14) Type 9 0.5 V±20%/rated current (current monitor).
Load: Less than 2 mA. Output resistance: 1 KΩ.
Positive voltage when forward revolution power is
output.
Start ready complete SRDY 41 (24)
(25) Type 6 When the Servo ON signal is ready to receive after
the DC power supply of the main circuit is turned on,
this comes on and goes low impedance.
Current limit status ILIM 40 (24)
(25) Type 6 This signal comes on in current limit status and is
effective as a bump end input or a standard for
prevention against current saturation at acceleration /
deceleration.
Encoder signal A, A
B, B
C, C 3, 4
5, 6
7, 8 Type 8 Output by the line driver (26LS31) after the encoder
pulse is divided.
The signal is received by the line receiver (26LS32).
Absolute value signal
PS
PS 9
10 Type 8 The absolute value signal is output in serial form
(9600 bps or 1 M/2 Mbps) by the line driver (26LS31).
The signal is received by the line receiver (26LS32).
Encoder channel C
signal COP 11 (13) Type 7 Output by the open collector (the logic can be reversed
using the Func5 bit6 parameter).
Alarm code output or
Alarm bit output ALM1
ALM2
ALM4
ALM8 43 (24)
(25)
44
45
46 Type 6 Alarm code output and alarm bit output (ALM1) are
switched by Func2 bit6 of the remote operator.
The alarm bit signal turns off in an alarm status.
The alarm code outputs various alarms as 4-bit binary
codes.
Positioning complete INP 39 (24)
(25) Type 6 This signal indicates that the contents of the deviation
counter have come within the setting range.
Holding brake
excitation timing output HBON 42 (24)
(25) Type 6 This signal outputs holding brake relay excitation timing.
Output sequence
power supply 12 to
24 VDC 49
5 V 38 ― External power supply for CN1 - 39, 40, 41, 42, 43, 44,
45, and 46.
Velocity addition VCOMP 21 (20) Type 3 1000 min－1 is selected with entry of ±2 V (standard
setting). In order to enable velocity addition, Func1
bit7 must be set at 1.
*1 The pin numbers in parentheses denote the ground or common side of each signal.
*2 For the circuit type, see Fig. 9-16.
The output contents depend on the Func4 parameter setting.
9. SPECIFICATIONS 9－37 9.1.9 Velocity/Torque Control Type Specifications This section explains how to handle input commands and other signals for the velocity/torque control type. (1) Input command specifications ① Torque command input Fig. 9-17 shows the torque command/motor-generated torque characteristics. The torque command voltage is a voltage input from torque terminals CN1 - 22 and 20. Positive motor torque (+) means torque that is generated in the counterclockwise direction when viewed from the load side. The polarity can be switched by parameter Func5 bit0. Fig. 9-17 Torque Command - Generated Torque ② Velocity command input Fig. 9-18 shows the velocity command/motor revolution speed characteristics. The velocity command voltage is a voltage input from velocity command input terminals CN1 - 21 and 20. The positive motor revolution (+) means counterclockwise revolution when viewed from the load side. The polarity can be switched by Func5 bit1 parameter. Fig. 9-18 Velocity Command - Speed Characteristics When the velocity command voltage is tens of mV or less, the motor lock current may pulsate. If this is problematic, the current pulsation can be reduced by increasing the velocity command scale (VCMD). 0 −TR Forward revolution Generated torque Backward revolution +TR 12 −1 −2 Torque command voltage (V) Forward revolution Backward revolution −1000 min−1 +1000 min−1 0 12 −1 −2 Velocity command voltage (V) Speed
9. SPECIFICATIONS 9－38 (2) External analog current limit input The forward revolution driving current (positive side) and the backward revolution driving current (negative side) can both be independently limited externally (when parameter Func1 bit0 is set at 1). Regarding the relationship with the motor armature current, the current is limited to 2 V/the rated current (IR) by the applied motor. The same limit value for the backward revolution driving current as that for forward revolution can be selected. Switching of the polarity between positive and negative is also available (see the description of Func1 in chapter 7). Fig. 9-19 shows the relationship between the set voltage and the current limit value. Fig. 9-19 Relationship Between Set Voltage and Current Limit Value (3) Torque compensation input For the torque compensation input/motor-generated torque characteristics, refer to Fig. 9-17 (the same as the torque command input of the torque control type). This input is effective for increasing the acceleration time or switching the quadrant. 1 If a set value exceeds the instantaneous maximum stall armature current (Ip) of the Servomotor, it is saturated at Ip. 2 To lock the motor by means of a bump stop by applying an external current limit, the current limit value must be below the rated armature current. Armature current 0 (Approx. 0.6 V) 2.0 IR 1 Set voltage (V) (a) Forward revolution current limit (PIL) Armature current 0 (Approx. −0.6 V)−2.0 IR 1 Set voltage (V) (b) Backward revolution current limit (NIL) (when negative polarity is selected)