Sanyo Denki Py 2 Manual

							 
9.  SPECIFICATIONS 
9－39 
(4)  General specifications of CN1 input/output signals 
This section explains the general specifications of CN1 input/output signals of the position control type.   
Fig. 9-20 shows the circuit types of CN1 input/output signals, and Tables 9-8 and 9-9 describe the 
general specifications. 
 
Type 1   
Type 6   
 
 
 
 
 
 
 
 
  
Type 2   
Type 7   
 
 
 
 
 
 
 
 
  
Type 3   
Type 8   
 
 
 
 
 
 
 
 
  
Type 4   
Type 9   
 
 
 
 
 
 
 
  
Type 5   
 
 
 
 
 
 
 
 
  
Fig. 9-20 
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 
9－40 
 
Table 9-8 General Specifications of Velocity Control Type Input Signal   
(Wiring-saved Incremental Encoder) 1/2 
Signal name Abbr. Pin No. 
      *1
Circuit type
        *2General specification 
Speed command  VCMD  21 (20)  Type 3  With a ±2 V input, the velocity becomes 1000 min－1 in 
the standard setting (maximum input voltage ±10 V). 
Torque  
compen- 
sation   Torque 
 command TCOMP 
 
TCMD 22 (20)  Type 3  With a ±2 V input, the velocity becomes the rated one 
(TR) and is limited to the instantaneous maximum stall 
torque. 
Servo ON  SON  37 (23)  Type 1  Servo ON status is provided by closing the contact and 
entering the velocity command input (VCMD) waiting 
status. 
Alarm reset  RST  30 (23)  Type 1  With this signal input, alarm code or alarm bit outputs 
and error display are reset. 
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  The current is limited to the 
rated current with -2 V (effective 
when ILM is input). To enable the 
external current 
limit, Func1 bit10 
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). 
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 forward and backward revolution 
signals.    When overtravel occurs, a 120% current limit 
is automatically applied, making the speed of the side to 
which this signal has been input zero.     
(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    
 When the motor drifts during a long stop time due to 
command input zero, inputting this signal stops the 
motor by friction torque.    (Function disabled for torque 
control type) 
Zero clamp  ZCMD      Inputting this signal makes the speed command 0 
(zero).    (Function disabled for torque control type) 
Internally set velocity 
select VCS2 / 
VCS1     Combining CN1 - 35 and 36 input signals enables a 
desired internally set velocity to be selected.    (Function 
disabled for torque control type) 
Input sequence power 
supply 1 5 to 24 
VDC 23 ―  External power supply for CN1 - 30, 31, 32, 33, 36 and 
37. 
Internal velocity 
command revolution 
direction ROTS  34 (50)  Type 1  This signal specifies the revolution direction when the 
internal velocity command is turned on. 
*1  The pin numbers in parentheses denote the ground or common side of each signal. 
*2  For the circuit type, see Fig. 9-20. 
 
For 35 and 
36 pins, one 
of the four 
functions 
can be 
selected by 
setting the 
remote 
operator.  
						

							 
9.  SPECIFICATIONS 
9－41 
 
Table 9-8    General Specifications of Velocity Control Type Input Signal   
(Wiring-saved Incremental Encoder) 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 foreword 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 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 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. 
Low velocity  LTG  39 (24) 
   (25) Type 6  When the motor speed becomes lower than the set 
value, this signal goes to low impedance. 
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 49 
 
5 V  38 ― External power supply for CN1 - 39, 40, 41, 42, 43, 
44,45 and 46. 
*1  The pin numbers in parentheses denote the ground or common side of each signal. 
*2  For the circuit type, see Fig. 9-20. 
 
 
 
 
 
 
The output contents depend on the Func4 parameter setting.  
						

							 
9.  SPECIFICATIONS 
9－42 
(5)  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 specification of CN1 input/output signals of the velocity control type. 
Table 9-9    General Specifications of Velocity 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 
Speed command  VCMD  21 (20)  Type 3 
With a ±2 V input, the velocity becomes 1000 min－1 in 
the standard setting (maximum input voltage ±10 V). 
Torque  
compen- 
sation   Torque 
 command TCOMP 
 
TCMD 22 (20)  Type 3  With a ±2 V input, the velocity becomes the rated one 
(TR).    It is limited to the instantaneous maximum stall 
torque. 
Servo ON  SON  37 (23)  Type 1  Servo ON status is provided by closing the contact and 
entering the velocity command input (VCMD) 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. 
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 
side current limit NIL  19 (17)  Type 5  The current is limited to the rated 
current with -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). 
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, making the speed 
of the side to which this signal has been input zero.     
(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 alarm 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      When the motor drifts during a long stop time due to 
command input zero, inputting this signal stops the 
motor by friction torque.    (Function disabled for torque 
control type) 
Zero clamp  ZCMD      Inputting this signal makes the speed command 0 
(zero).    (Function disabled for torque control type) 
Internally set velocity 
select VCS2 / 
VCS1     Combining CN1 - 35 and 36 input signals enables a 
desired internally set velocity to be selected.    (Function 
disabled for torque control type) 
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 - 35. 
Internal velocity 
command revolution 
direction ROTS  34 (50)  Type 1  This signal specifies the revolution direction when the 
internal velocity command is turned on. 
*1  The pin numbers in parentheses denote the ground or common side of each signal. 
*2  For the circuit type, see Fig. 9-20. 
For 35 and 
36 pins, one 
of the five 
functions 
can be 
selected by 
setting the 
remote 
operator.  
						

							 
9.  SPECIFICATIONS 
9－43 
 
Table 9-9    General Specifications of Velocity Control Type Input Signal   
(ABS-E Absolute Encoder, ABS-RⅡ  Absolute Sensor and ABS-E.S1 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 foreword 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. 
Low velocity  LTG  39 (24) 
   (25) Type 6  When the motor speed becomes lower than the set 
value, this signal goes to low impedance. 
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 49 
 
5 V  38 ― External power supply for CN1 - 39, 40, 41, 42, 43, 44, 
45 and 46. 
*1  The pin numbers in parentheses denote the ground or common side of each signal. 
*2  For the circuit type, see Fig. 9-20. 
 
 
The output contents depend on the Func4 parameter setting.  
						

							 
9.  SPECIFICATIONS 
9－44 
9.1.10  Switching of the Control Mode 
This section explains how to switch the control mode between velocity and torque control, torque and 
position control, and position and velocity control.    This section also provides precautions on implementing 
the switching. 
 
9.1.10.1 Switching the Control Type 
CN1 input signal is used for the switching.    When switching the control type using the input to CN1 - 35 
pins, set Func3 bit7 at 1.    When CN1 - 36 pin input is used, Func3 bit7 is set at 0. 
Each control mode switching pattern and its input signal equivalent are shown in the following table. 
 
Switching pattern OFF ON 
Velocity ↔ Torque  Velocity  Torque 
Position ↔ Torque  Position  Torque 
Position ↔ Velocity  Position  Velocity 
 
9.1.10.2 Precautions 
•  Utmost care must be taken in the switching procedure. 
•  During the test mode (JOG or Tune) is on, switching of the control mode is not available. 
•  When the switching takes place from velocity or position control to torque control, the velocity will be 
limited in accordance with the set value of speed limit on the parameter (Mode 1 Page 6).     
(As the motor speed exceeds this set value, the torque command is forced to zero.) 
The speed limit is provided for the purpose of error detection when a radical change develops under a 
given load (to no load or light load status) to prevent motor runaway.     
This function, however, is not capable of running the motor at a constant speed. 
If a relatively small value is set as the speed limit, and if the torque command value is large relative to 
the load inertia and load torque, the motor speed may exceed this set value.    Do not keep using the 
motor in this situation over a long time period.   When you dont turn on the speed limit, the speed limit 
value must be set at 32767 min
－1. 
•  Note that there is a maximum of 12 msec delay between changing the input signal and completion of 
control mode switching. 
•  During the switching of control mode (input signal is ON), the test mode (JOG or Tune) is not available. 
The screen will display the Not Ready message. 
  
						

							 
9.  SPECIFICATIONS 
9－45 
9.1.11  Internal Velocity Command 
Combining external input signals (3 bits), this command is capable of selecting speed (parameter) and 
direction. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
The CN1 35 and 36 pins are used for selecting the speed, and 34 pin is used for selecting the revolution 
direction. 
 
 
Note 1:  This function is enabled when parameter Func3 bits3, 2, 1 and 0 are all set at 1010 in the velocity 
control mode.    In this case, the polarity reverse function of the external analog velocity command, 
the velocity command scale and the velocity command are all disabled. 
Note 2:  If there is a lag between input timing to the CN1 35 and 36 pins, another speed can be selected.   
Switching of the signal must take place simultaneously. 
Note 3:  Note that there is a 12 msec maximum delay from changing the input signal to completion of 
control mode switching. 
 CN1 
ON 
ON  off 
off 
ON 
off 
0 
Stop  VCI2 VCI20  VCI3 VCI1  0 
Backward revolution 
(CW)  Stop Forward revolution 
(CCW)  Stop 
Forward revolution 
(CCW)  VCMD  35 pin 
36 pin 
34 pin  
						

							 
9.  SPECIFICATIONS 
9－46 
9.1.12  Power Supply Capacity 
Table 9-10 shows the input power supply capacity under load at the rated output. 
Table 9-10    Power Supply Capacity (1/2) 
  Power supply capacity per unit 
Amplifier model No. Motor model No. Main circuit power supply (KVA)Control power supply   
(VA) 
 P10B10030H  1.0   
 P30B04003D 0.2  
 P30B04005D  0.2   
 P30B04010D 0.3  
 P30B06020D  0.5   
PY2A015 P50B03003D 0.2  
(When 200 VAC)  P50B04006D  0.3  40 
 P50B04010D 0.4  
 P50B05005D  0.3   
 P50B05010D 0.4  
 P50B05020D  0.8   
 P50B07020D 0.8  
 P50B07030D 1.0   
 P10B10075H 1.9  
 P10B13050H  1.3   
 P10B13050B 1.3  
 P10B13100B  2.5   
 P20B10100H 2.5  
PY2A030 P30B06040D  1.0   
(When 200 VAC) P30B08075D 1.7 40 
 P50B07040D  1.3   
 P50B08040D 1.3  
 P50B08050D  1.5   
 P50B08075H 2.0  
 P50B08100H  2.2   
 P60B13050H 1.4  
 P80B15075H 1.8   
 P10B13100H 2.5  
 P10B13150H  3.0   
 P10B13150B 3.0  
 P20B18200B  4.0   
 P20B10100D 2.5  
PY2A050 P20B10150D  3.0  40 
(When 200 VAC) P20B10150H 3.0  
 P20B10200H  4.0   
 P50B08075D 2.0  
 P50B08100D  2.5   
 P60B13100H 2.5  
 P60B13150H  3.9   
 P80B18120H 3.1  
 
 
 
 
 
 
1  When using two or more motors, add the power supply capacity per unit of each motor. 
2  When accelerating or decelerating the motor, two-to-fourfold momentary power may be 
required.  
						

							 
9.  SPECIFICATIONS 
9－47 
 
Table 9-10    Power Supply Capacity (1/2) 
  Power supply capacity per unit 
Amplifier model No. Motor model No. Main circuit power supply 
(KVA) 
Control power supply   
(VA) 
 P30B04003P  0.2 
 P30B04005P 0.3 
PY2E015 P30B04010P  0.5 
(When 100 VAC) P50B03003P 0.2 
 P50B04006P  0.3 
 P50B04010P 0.5 
 P50B05005P  0.3 
 P50B05010P 0.5 
40 
 P30B06020P  1.0 
PY2E030 P50B05020P 1.0 
(When 100 VAC)  P50B07020P  1.0 
 P50B07030P 1.5 40 
 
 
 
 
 
 
 
 
Table 9-11  Rush Current 
Amplifier model 
name 
Control circuit (maximum value within   
1mS after power on) *3 
Main circuit (maximum value within   
600mS after power on) 
PY2A015  40 A (0 - P) *1  23 A (0 - P) *1 
PY2A030 40 A (0 - P) *1 23 A (0 - P) *1 
PY2A050  40 A (0 - P) *1  23 A (0 - P) *1 
PY2E015 20 A (0 - P) *2 17.2 A (0 - P) *2 
PY2E030  20 A (0 - P) *2  17.2 A (0 - P) *2 
 
1  When using two or more motors, add the power supply capacity per unit of each motor. 
2  When accelerating the motor, two-to-fourfold momentary power may be required. 
1  The leakage current is maximum when 230 VAC is supplied. 
2  The leakage current is the maximum when 115 VAC is supplied. 
3  A thermistor is used for the leakage current prevention circuit of the control power 
supply. 
If the temperature of the thermistor remains high such as when turning the power supply 
on immediately after turning it off, or when turning the power supply on and off 
repeatedly in a short period, a leakage current higher than that given in the above table 
may flow.  
						

							 
9.  SPECIFICATIONS 
9－48 
9.1.13  Servo Amplifier/Servomotor Leakage Current 
Since the PY2 servo amplifier drives the motor under the PWM control of the IGBT, high frequency 
leakage current can flow through the ground floating capacity of the motor winding, power cable or 
amplifier, thereby causing a malfunction of the leakage circuit breaker or leakage protective relay installed 
on the power line on the power supply side.    Therefore, use a leakage circuit breaker that matches the 
inverter so as not to cause such a malfunction. 
 
Table 9-12  Leakage Current 
Amplifier model No. Motor model No. Leakage current per motor 
P10B□□□□□□□◇▽▽ 0.5 mA 
P20B□□□□□□□◇▽▽ 0.5 mA 
P30B□□□□□□□◇▽▽ 0.5 mA 
P50B□□□□□□□◇▽▽ 0.5 mA 
P60B□□□□□□□◇▽▽ 0.5 mA 
PY2A015 
PY2A030 
PY2E015 
PY2E030 
P80B□□□□□□□◇▽▽ 0.5 mA 
P10B□□□□□□□◇▽▽ 1.5 mA 
P20B□□□□□□□◇▽▽ 1.5 mA 
P30B□□□□□□□◇▽▽ 1.5 mA 
P50B□□□□□□□◇▽▽ 1.5 mA 
P60B□□□□□□□◇▽▽ 1.5 mA 
PY2A050 
P80B□□□□□□□◇▽▽ 1.5 mA 
 
 
 
 
 
 
 
 
 
 
1  When using two or more motors, add the leakage current per unit of each motor. 
2 Since the above table shows the values in the case of a 2-meter cabltyre cable, the 
leakage current will increase or decrease if a shorter or longer cable is used.     
Therefore, the values shown in Table 9-12 are just the reference values. 
3  Be sure to execute grounding (Class 3) of the machine so that a dangerous voltage may 
not leak to the machine body or operating panel. 
4  The values shown in Table 9-12 are those measured with an ordinary leak checker with 
filter 700 Hz).