Sanyo Denki Py 2 Manual

							 
9.  SPECIFICATIONS 
9－139   
When reconnecting or changing the regenerative resistor, observe the table 9-22, Parameter for 
Regenerative Resistor, to ensure correct settings of parameters. 
 
1)  Regenerative Resistor Type (RGKD) 
When absorbing power of the built-in regenerative resistor exceeds the permissible absorbing power 
over a long time period (ten seconds to several minutes), abnormal overheating is detected. (Alarm 
“H”・RGOH) 
-    When the built-in regenerative resistor is selected (RGKD = “Built-in R”), its absorbing power can be 
monitored by remote operator (Monitor for built-in regenerative resistor absorbing power: RegP・
Mode5-Page17). When the monitor value exceeds the permissible absorbing power, overheating 
alarm may be issued.    In this case, take appropriate countermeasures, such as reviewing operation 
patterns or using an external regenerative resistor. 
- When the main circuit power is turned off, the electrolysis capacitor energy inside the Servo Amplifier is 
discharged through regenerative resistor.    Therefore, in case of frequent repetition of the main circuit 
power turn ON and OFF, an alarm may be issued (Main circuit power ON/OFF frequency must be within 
10 times/hour and 50 times/day). 
- When the control power is turned on, the built-in regenerative resistor absorbing power monitor is set at 
Hot Start to protect the built-in regenerative resistor.   Therefore, the monitor value will not become “0.0 
W” until some time after the control power is turned on.   
 
2)  Regenerative Resistor OL Time Select (Func2 bit4) 
When the regenerative resistor absorbing power (built-in/external regenerative resistor) is extremely 
large, an error will be detected in a short period of time (in hundred msec. to 99 seconds), outputting 
regeneration error (alarm “J”・RGOL). 
 
 
 
 
 
 
When using a built-in regenerative resistor, correctly set the parameter as follows: 
  Regenerative resistor type (RGKD): Mode4-Page9 
  Regenerative resistor OL time select Func2 bit4: Mode2-Page4   
 
Incorrect settings may hamper proper error detection and cause burnt or damage of 
regenerative resistor.
   
Built-in regenerative resistor may be heated to high temperature, even when no overheat 
alarm is issued.    Take care not to touch the Servo Amplifier while power is being supplied o
r
soon after the power turn off (within 30 minutes), otherwise you may be burnt.      
						

							 
9.  SPECIFICATIONS 
9－140 
9.5.3  How to Connect and Set External Regenerative Resistor (Optional)  
Select an external regenerative resistor according to the regenerative power calculated in 9.1.16     
Regenerative Processing.  The following explains how to use the resistor. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 9-28    Typical External Regenerative Resistor Connecting Diagram 
 
 
 
 
 
 
 
CN1
Y / COM  P 
X 
50 (23) pin 
Thermostat  
contact output 
35 (36) pin 
5 to 24 VDC 
General-purpose input   
35 pin (general-purpose 
input 36 pin)
  Input sequence 
power 2 (input 
sequence power 1) 
Regenerative resister Servo Amplifier 
Host controller 
Set the general-purpose input to the external overheating detection input function (bits 4 and 
5 of the Func3 parameter). 
When connecting a thermostat contact output to the amplifier, use a B-contact type 
thermostat. 
For amplifiers having a capacity of 50 A, be sure to remove the short-circuit bar across the P 
and X terminals before installing an external regenerative resistor.  
						

							 
9.  SPECIFICATIONS 
9－141   
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Operational precautions 
1  For the details of how to connect an external regenerative resistor, refer to Fig. 9-29 
Detailed Connecting Methods of External Regenerative Resistors. 
2.  Some terminals to be connected differ depending on the amplifier capacity. 
•  Amplifier capacity of 15A to 30 A 
Connect an external regenerative resistor between the P and Y (or COM) terminals. 
•  Amplifier capacity of 50 A 
Connect an external regenerative resistor between the P and Y terminals after 
removing the short-circuit bar across the P and Y terminals. 
3  For an external regenerative resistor with a thermostat installed, protect the resistor by 
connecting it to the amplifier as in Fig. 9-28 or connecting the thermostat contact output 
to the host controller. 
4  Be sure to use a twisted wire for wiring an external regenerative resistor and make 
wiring as short as possible (less than 5 m). 
5  Use a non-combustible cable or perform non-combustible treatment (silicon tube, etc.) 
for a connecting cable and wire an external regenerative resistor so as not to come in 
contact with the built-in one. 
6  Set Func2 bit 4 using the remote operator according to the allowable effective power of 
the external regenerative resistor. 
When allowable effective power of regenerative resistor = 20 W or lower:   
  Func2 bit 4 = 0 (default setting) 
When allowable effective power of regenerative resistor = Higher than 20 W:   
  Func2 bit4 = 1  
						

							 
9.  SPECIFICATIONS 
9－142 
9.5.4 External Regenerative Resistor Combination Table 
Referring to Table 9-23, determine the type, number of pieces and connecting method of the external 
regenerative resistor based on the effective regenerative power obtained by the operation pattern and the 
Servo Amplifier type.   
 
Table 9-23    External Regenerative Resistor Combination Table   
PM 
*1 
Amp- 
lifier type 
Up to   
2 W   
Up to   
5 W 
Up to   
10 W 
Up to   
20 W 
Up to 
30 W
Up to   
55 W 
Up to 
60 W
Up to 
110 W
Up to   
125 W 
Up to   
220 W 
Up to   
250 W 
Up to 
500 W
Up to 
1000 W
PY2A015 
PY2E015 
*2 
Resistor 
A × 1pc. 
 Resistor 
A × 1pc. Resistor 
C × 1pc. Resistor 
E × 1pc. Resistor
D × 
2pcs.Resistor
F × 2pcs.Resistor 
E × 4pcs. Inquire 
 Connectio
n (I) Connection (I) Connection (I) Connection 
(I) Connec-
tion (II)Connec-
tion (II)Connection (IV)  
PY2A030 
PY2E030 
*2 
Resistor 
B × 1pc.  
Resistor 
B × 1pc.  
Resistor 
D × 1pc.  
Resistor 
F × 1pc.  
Resistor
C × 
2pcs. 
Resistor
E × 
2pcs. 
Resistor 
F × 4pcs.  
Inquire 
 Connection (I) Connec- 
tion (I) Connection (I) Connection 
(I) Connec-
tion (III)Connec-
tion (III)Connection (IV)  
PY2A050  Resistor 
G × 1pc. Resistor 
H × 1pc. Resistor 
I × 2pcs. Resisto
r 
H × 
4pcs.Inquire
 Incorporated Connection (I) Connection (I) Connection (II) Connec
-tion
 
(IV) 
For external resistor A to I, refer to  Table 9-24    External Regenerative Resistors List.     
For connecting methods (I) to (IV), refer to Fig. 9-29    Detailed Connecting Methods of External   
Regenerative Resistors. 
For “Inquire”, consult with us. 
*1  PM : Effective regenerative power 
*2  A built-in type regenerative resistor can be designated as optional for amplifiers having a capacity   
of 15A and 30 A.    Refer to Chapter 1, Model Number of Servo Amplifier.
 
 
9.5.5  External Regenerative Resistor List  
Table 9-24    External Regenerative Resistor 
Symbol Types Permissible effective 
power (PM) 
Resistance 
value Outside dimensionsThermostat Outline drawing
A REGIST-080W100B  10W  100 Ω W44,L132,D20 Available (NC-contact)  See Fig. 9-30. 
B REGIST-080W50B 10W 50 Ω W44,L132,D20 Available (NC-contact) See Fig. 9-30. 
C REGIST-120W100B  30W  100 Ω W42,L182,D20 Available (NC-contact)  See Fig. 9-31. 
D REGIST-120W50B 30W 50 Ω W42,L182,D20 Available (NC-contact) See Fig. 9-31. 
E REGIST-220W100B  55W  100 Ω W60,L230,D20 Available (NC-contact)  See Fig. 9-32. 
F REGIST-220W50B 55W 50 Ω W60,L230,D20 Available (NC-contact) See Fig. 9-32. 
G REGIST-220W20B  55W  20 Ω W60,L230,D20 Available (NC-contact)  See Fig. 9-32. 
H REGIST-500W20B 125W 20 Ω W60,L230,D20 Available (NC-contact) See Fig. 9-33. 
I REGIST-500W10B  125W  10 Ω W60,L230,D20 Available (b-contact)  See Fig. 9-33.  
						

							 
9.  SPECIFICATIONS 
9－143 
One external regenerative resistor 
9.5.6  Detailed Connecting Methods of External Regenerative Resistors 
The following figures describe detailed connecting methods of external regenerative resistors.   
      When changing connections of the regenerative resistor, make sure to change the relevant parameters, too.   
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 9-29    Detailed Connecting Methods of External Regenerative Resistors 
 
Without regenerative resistor 
Built-in type regenerative resistor 
Connection (I) 
Connection (II) 
Connection (III) 
Connection (IV) 
(Thermostat : b-contact) 
Thermostat
Contact output
COM / YP
COM / Y
Amplifier 
(Open)  P
X
X
Amplifier External 
regenera-ti
ve  
resister 
COM / YP
X
Amplifier 
Built-in regenerative 
resistor connecting 
line 
COM / YP
X
Amplifier 
Short-circuit bar 
between the P and 
X terminals. Thermostat
Contact output
COM / YP
X
Amplifier 
Thermostat
Contact output
COM / YP
X
Amplifier 
Thermostat
Contact output
COM / YP
X
Amplifier  
Regenerative processing not required
 
Two external regenerative resistors (series)
Built-in type regenerative resistor with  
amplifier capacity of 30A
 
Terminal differences depending on amplifier capacity
 For amplifier capacity of 15 A or 30 A 
There are two connecting terminals for the 
regenerative resistor, P and Y (or COM).     
(There is no X terminal.) 
 
For amplifier capacity of 50 A 
There are three connecting terminals for the 
regenerative resistor, P, Y and X. 
(There is no COM terminal.) 
When connecting an external regenerative resistor, 
be sure to remove the short-circuit bar across the P 
and X terminals before connecting it. 
(Wiring completed on 
shipment)
 
Two external regenerative resistors (parallel)
But the thermostat is connected in series 
Four external regenerative resistors  
(series, parallel)
 
But the thermostat is connected in series. 
Built-in type regenerative resistor with amplifier 
capacity of 50 A 
(Wiring completed on 
shipment)
  
						

							 
9.  SPECIFICATIONS 
9－144 
9.5.7  External Regenerative Resistor Outline Drawings 
Fig. 9-30 
Fig. 9-31 
Fig. 9-32 
 4.3
Silicone rubber glass fiber cable
20.5mm  (thermostat) , White
0.75mm  , Black Silicone rubber glass fiber cable
2
+20
0
+15
0
0 +0.3
20
1.2
172  0.9
42  0.4
23.5
4.3
150 182
270
6  1
6  1 300
0.75mm  , Black Silicone rubber glass fiber cable2
220  0.4
0.5mm  (thermostat) , White
Silicone rubber glass fiber cable2
20 42.7
200 230
1.2
60   0.4
300+1527000 +20
 4.36  16  1
4.3
0 +0.3
Model No. Thermostat 
1 REGIST-220W50B NC-contact 
2 REGIST-220W20B NC-contact 
3 REGIST-220W100B NC-contact 
2
100
Silicone rubber glass fiber cable0.5mm  (thermostat) , White Silicone rubber glass fiber cable
2
20
1
0.75mm  , Black
 4.3
132
122  0.4+152700
300+20
0
6  1
6  1
4.3
+0.3
0
44  0.426
Model No. Thermostat 
1 REGIST-80W100B NC-contact 
2 REGIST-80W50B NC-contact 
Model No. Thermostat 
1 REGIST-120W100B NC-contact 
2 REGIST-120W50B NC-contact  
						

							 
9.  SPECIFICATIONS 
9－145   
 
Fig. 9-33 
 
 
 
 
Crinp style terminal A=M５ 
B=700mm±15 
C=350mm±15 
ThermostatM3
M3
Earth mark
80
4.5
C
40
3
218 234250
B
8
360
2-   4.5Crimped terminal(for M5) A
Silicone rubber glass fiber cable2mm  , White2
UL 1430 electric cable 0.2mm  , White2
Model No. Thermostat 
1 REGIST-500W20B NC-contact 
2 REGIST-500W20 None 
3 REGIST-500W10B NC-contact 
4 REGIST-500W10 None  
						

							 
9.  SPECIFICATIONS 
9－146 
 9.6 Warning Output 
9.6.1 Overtravel Warning 
For position control and velocity control types (including control mode switching type at the time of position 
control or velocity control), this function controls motor revolution in accordance with the external signal 
status. 
Motor operation is controlled separately for forward revolution and backward revolution by overtravel signal.   
 
1.  Setting and connection   
1)  Set Func0-bit5,4,3 of Mode2-Page1 for overtravel warning 
Bit5 : Select polarity of overtravel signal 
Bit4 : Forcible setting of forward revolution overtravel signal 
Bit3 : Forcible setting of backward revolution overtravel signal 
In case of forcible setting (bit4, 3 = “1”) at bit 4, 3, the signal always becomes ON regardless of the 
CN1-32, 33 pins input status.    By combining with bit5, polarity select, the status of “forward/backward 
revolution overtravel ineffective” or “always forward/backward revolution overtravel” is possible. 
2)  Connect the forward overtravel signal to CN1-32 pin and the backward overtravel signal to CN1-33 pin.   
 
2.  Operation when overtravel warning is issued 
-    Refer to chapter 6, Overtravel Sequence, for the motor operation. 
-    Displays for 7-segment LED are for forward revolution overtravel, and for backward revolution 
 
overtravel.    No alarm is output. 
 
3. Precautions   
1)  Overtravel warning is only effective during SON status.    Even if the overtravel signal is input while in 
SOFF, the status or display will not change.   
2)  Operation of command ineffective (forced zero) differs between the position and velocity control types. 
-  For the position control type, command pulses are inhibited at the revolution side where overtravel 
signal is input. 
-  For the velocity control type, the velocity command becomes zero (VCMD = 0) at the revolution side 
where overtravel signal is input. These settings are validated when the acceleration/deceleration time 
(Tvac, Tvde) or low pas filter parameter (VLPF) is set. 
3)  For the torque control type (including control mode switching type at the time of torque control), 
overtravel is ineffective, therefore overtravel signal input does not control the motor operation. 
4)  At test mode JOG operation, overtravel input is validated. Operation at the revolution side where 
overtravel signal is input is controlled.   
5)  When the signal input is canceled, overtravel warning will automatically recover. 
  
						

							 
9.  SPECIFICATIONS 
9－147   
 
9.6.2 Battery Warning 
This warning is issued when the battery power for keeping sensor data is lowered on the absolute encoder 
(ABS-E) and absolute sensor (ABS-RII).    A dot in the 7-segment LED will be lighted when the warning is 
issued. 
When the sensor data is lost due to low voltage of the battery, battery alarm “U” will be displayed.      In this 
case, replace the battery or execute encoder clear procedure (either from CN-1 or remote operator).   
(Refer to 6.4, Encoder Clear Using Remote Operator for encoder clear procedure using remote operator.) 
Battery warning is automatically canceled if the battery voltage becomes normal (The battery alarm is not 
canceled unless the encoder clear or alarm clear procedure is executed). 
 
9.6.3 Overload Warning 
Prior to the overload alarm output, overload warning is issued.   
 
1.  Setting 
1)  Set Mode1-Page18 overload warning level (OLWL). 
2)  Available setting is ranged from 30% to 99%, when the overload alarm level is set at 100%. 
3)  When the overload warning level is set at 100%, the overload warning output will be invalidated.   
4)  Parameter setting being input by remote operator or PC interface for overload warning level will be 
validated by turning off the Servo Amplifier control power once. 
 
2.  Overload warning output 
1)  When overload warning is effective (e.g. OLWL = 80%) 
    
Table 9-25-1 Output when overload warning is effective    (e.g. OLWL = 80%) 
(Alarm output sequence = CODE *¹) 
CN-1 pin number for alarm output Estimated 
motor 
temperature 
increase 7-segment 
LED display 
46 
(ALM8)45 
(ALM4)44 
(ALM2)43 
(ALM1)Abbreviation Alarm/Warning
Name 
Up to 80% of 
overload alarm 
level --  0 0 0 0  -- No alarm 
No warning 
80% or above 
up to 100% of 
overload alarm 
level *³  0 1 0 0  OLW Overload 
warning 
100% or above 
of overload 
alarm level   0 0 1 0  OL Overload 
alarm 
Note 1.    Set alarm output sequence at Func2 Bit6 of Mode2-Page3. 
        When Func2 Bit6 = “0”, CODE is displayed, and when Func2 Bit6 = “1” , BIT is displayed. 
Note 2.    “0” and “1” in the alarm output are: 
        “0” = Output is short-circuit, “1” = Output is open, when Mode2 Page3 Func2 Bit7 = “0”   
        “0” = Output is open, “1” = Output is short-circuit, when Mode2 Page3 Func2 Bit7 = “1”. 
Note 3.    7-segment LED displays a flashing “4”. 
 
 
  
						

							 
9.  SPECIFICATIONS 
9－148   
 
Table 9-25-2 Output when overload warning is effective    (e.g. OLWL = 80%) 
(Alarm output sequence = BIT *¹) 
CN-1 pin number for alarm output Estimated 
motor 
temperature 7-segment 
LED display 
46 
(ALM8)45 
(ALM4)44 
(ALM2)43 
(ALM1)Abbreviation Alarm/Warning 
Name 
Up to 80% of 
overload alarm 
level --  0 0 0 0  -- No alarm 
No warning 
80% or above 
up to 100% of 
overload alarm 
level *³  0 0 1 0  OLW Overload 
warning 
100% or above 
of overload 
alarm level   1 1 1 1  OL Overload 
alarm 
Note 1.    Set alarm output sequence at Func2 Bit6 of Mode2-Page3. 
        When Func2 Bit6 = “0”, CODE is displayed, and when Func2 Bit6 = “1” , BIT is displayed. 
Note 2.    “0” and “1” in the alarm output are: 
        “0” = Output is short-circuit, “1” = Output is open, when Mode2 Page3 Func2 Bit7 = “0”   
        “0” = Output is open, “1” = Output is short-circuit, when Mode2 Page3 Func2 Bit7 = “1”. 
Note 3.    7-segment LED displays a flashing “4”. 
 
 
2)  When overload warning is ineffective (e.g. OLWL = 100%) 
 
Table 9-26-1 Output when overload warning is ineffective    (e.g. OLWL = 100%) 
(Alarm output sequence = CODE *¹) 
CN-1 pin number for alarm output Estimated 
motor 
temperature 7-segment 
LED display 
46 
(ALM8)45 
(ALM4)44 
(ALM2)43 
(ALM1)Abbreviation Alarm/Warning 
Name 
Up to 80% of 
overload alarm 
level 
80% or above 
up to 100% of 
overload alarm 
level --  0 0 0 0  -- No alarm 
No warning 
100% or above 
of overload 
alarm level   0 0 1 0  OL Overload 
alarm 
Note 1.    Set alarm output sequence at Func2 Bit6 of Mode2-Page3. 
        When Func2 Bit6 = “0”, CODE is displayed, and when Func2 Bit6 = “1”, BIT is displayed. 
Note 2.    “0” and “1” in the alarm output are: 
        “0” = Output is short-circuit, “1” = Output is open, when Mode2 Page3 Func2 Bit7 = “0”   
        “0” = Output is open, “1” = Output is short-circuit, when Mode2 Page3 Func2 Bit7 = “1”.