Sanyo Denki Py 2 Manual
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10. INTERNATIONAL STANDARDS 10－10 10.3 UL Marking The PY2 series products are qualified to have the UL (U.S. version) and cUL (Canada version) marks of the Underwriters Laboratories attached. 10.3.1 File Numbers File No.: E179775 Power Conversion Equipment (CCN: NMMS, NMMS7) 10.3.2 Fuse The PY2 Servo Amplifiers are not equipped with fuses. Customers are requested to prepare a UL-approved fast-blown fuse and install it in the input section of the main circuit power supply. Recommended fuses Amplifier capacity 15 A to 30 A : CR2LS-30/UL (Fuji Electric) Amplifier capacity 50 A : CR2LS-50/UL (Fuji Electric) In case you need certification of the Servo Amplifiers for your machines or systems when obtaining UL standards, let our sales representative know the above file number so that it can be obtained.
11. SPECIAL SERVO FUNCTION 11－1 SPECIAL SERVO FUNCTION 11.1 Outline of Servo Function ...........................................................11-2 11.2 Control Mode Switch .................................................................. 11-3 11.3 Gain Switch..................................................................................11-4 11.4 Real Time Automatic Tuning........................................................ 11-5 11.5 Additional Function of Velocity Loop Proportional Gain............... 11-9 11.6 P-PI Control Automatic Switch .....................................................11-10 11.7 Full Close Function...................................................................... 11-11
11. SPECIAL SERVO FUNCTION 11－2 11.1 Outline of Servo Function PY2 Servo Amplifier has variety of servo and tuning functions. 11.1.1 Tuning /Parameter Connection Fig. 11-1 Tuning/ Parameter Connection Note 1: Multiplication by 4 function is effective when encoder is INC-E or ABS-E. For ABS-RⅡ, 1 multiplication will be fixed. Note 2: Servo system complying with full close is required in order to connect external encoder. Consult with us. If servo system does not complying with full close, set bit7,6 of Mode 2-1 and bit4 of Mode2-6 to “0”. Note 3: Each low pass filter and notch filter becomes invalid when set at 1000Hz. Note 4: Servo parameter of changes according to set status. Current status of valid set value can be monitored by remote operator and monitor mode of PC interface (Mode 5 page 13,14,15,16) ｄ ｄｔ 1 2 3 External encoder SM Encoder ＋ Current Current command low pass filter ＩＬＰＦ MODE.0-7 Current command notch filter 1 MODE.0-8 Current command notch filter 2 －＋ ＋ Torque compensation Bit.6 MODE.7-1 Offline ・ Automatic tuning Proper gain Operation processing MODE.7-5 MODE.8-3 Automatic notch tuning Resonance frequency estimating processing Real time・ Automatic tuning Proper gain Operation processing MODE.8-4 MODE.3-5 Ｋｐ Ｋｖｐ Ｔｖｉ ＩＬＰＦ MODE.0-6 MODE.0-0 MODE.0-3 Servo gain 1 （Non-volatile memory） MODE.0-2 Ｋｐ２ Ｋｖｐ２ Ｔｖｉ２MODE.8-0 MODE.8-2 Servo gain 2 （Non-volatile memory） MODE.8-1 MODE.0-12 ＫｖｐＡ Velocity loop gain addition （Non-volatile memory） Position loop gain Ｋｐ Torque command voltage MODE.0-5 Velocity command low pass filter ＋ ＋ ＋ ＋ Servo gain switchingSelection of servo function Func：MODE.4-2 MODE.0-4 Feed forward low pass filter MODE.0-1 Feed forward gain ＋－ Multiplication MODE.0-9 Position command low pass filter MODE.1-8 to 10 Internal velocity command 1 to 3 ＋ ＋ MODE.0-10 Acceleration time MODE.0-11 Deceleration time Velocity command voltage Position loop encoder selection MODE.2-1 Bit.7 Sliding SW Rotary SW 4 multiplierOutput encoder multiplier switching MODE.2-1 Bit.64 multiplier Divided output signal switching MODE.2-6 Bit.4MODE.1-4 Output pulse dividing Position signal output A, B Position signal output C Position command pulse MODE.1-2 Electronic gear Internal velocity command selection MODE.2-4 Bit.3,2,1,0 KpM: MODE.5-13 Velocity loop proportional gain Ｋｖｐ Velocity loop Integra time constant ∫ １ Ｔｖｉ KvpM：MODE.5-14 TviM：MODE.5-15 ILPM: MODE.5-16 1 2 3 1 2 3 Velocity addition MODE.2-2 Bit.7 Note 1
11. SPECIAL SERVO FUNCTION 11－3 11.2 Control Mode Switch PY2 Servo Amplifier has “Control Mode Switch” function that can switch control mode to the most suitable one according to application requirements during operation. 11.2.1 Parameter Setting (1) Control Mode (TYPE: Mode 4, Page 3) Remarks TYPE Setting Control Type During switch signal OFF During switch signal ON Torque Torque control − − Velocity Velocity control − − Position Position control − − Velo ←→ Torq Velocity ←→ Torque switchVelocity control Torque control Posi ←→ Torq Position ←→ Torque switchPosition control Torque control Posi ←→ Velo Position ←→ Velocity switchPosition control Velocity control Control mode (TYPE: Mode4 page3) is system parameter and set bit7 of Func6 to “1” before changes. It becomes effective after turning ON the control power again. (2) Selecting control mode switch input signal Setting Procedure Func3 Bit7 = “0” Input control mode switch signal by CN1-36 pin Func3 Bit7 = “1” Input control mode switch signal by CN1-35 pin 11.2.2 Control Mode Switch Procedure When specified signal changes at bit7 of Func3, control mode will be switched within 12msec. Then the contents of general use input signal (the contents set at bit3, 2, 1, 0 of Func3) will be also changed according to the control mode. (1) Switching of Position control→Torque control, and Velocity control→Torque control In Torque control when enabling control mode switch, the speed will be limited by high speed set value (HTG: page6 of Mode1) to prevent the motor from rotating out of order (torque command will be “0” by force when motor speed exceeds the high speed set value (HTG), it automatically recovers when the speed becomes below the high speed set value.) The velocity control is set as error detection level when sudden load change (to no load/ small load) in torque control. However, it cannot control at fixed speed. There is a case that motor rotates over set value in the status that the set HTG is low and inputted torque command is large in comparing with load inertia and load torque. Do not allow this status to continue in use. Set HTG to 32767min -1 unless executing speed velocity control.
11. SPECIAL SERVO FUNCTION 11－4 (2) Switching of Position control→Velocity control When switching to velocity control mode, velocity command value changes inconsecutively. Therefore, if control mode is switched during motor operation, the operation may become unstable after switch. Be careful to switch modes during operation. Having velocity command LPF (VLPF: page5 of Mode0) effective (not at 1000Hz) will reduce the inconsecutiveness of velocity command value. (3) Switching of Velocity control→Position control, and Torque control→Position control Position deviation is cleared during control mode switching (when velocity control and torque control). Therefore, system restarts counting position command pulse after switched to position control. After tuning OFF the switch signal, input command pulse after switched to position control mode. 11.3 Gain Switch The PY2 series have “Gain switch“ function that can switch servo gain (Kp/ Kvp/ Tvi) during operation. Servo gain can be changed by inputting switch signal into Servo Amplifier according to variations of device rigidity, load and inertia. 11.3.1 Parameter setting (1) Servo function select (Func: Mode4 page2) Func setting Servo function Normal Standard type Gain_sel. Gain switch type Gain_Tun. Real time automatic tuning type Gsel&Gtun Gain switch & real time automatic tuning type Gain switch function will be valid when selecting “Gain_Sel.” or “Gsel&Gtun” (2) Gain switch input signal select (Func3 bit6: Mode2 page4) Setting Procedure Func3 bit6 = “0” Input gain switch signal to CN-36pin. Func3 bit6 = “1” Input gain switch signal to CN-35pin. 11.3.2 Operation when gain switch is valid Depending upon the external signal (CN1-36pin or 35pin) status “Servo gain switch (3 SWs)” in the middle of figure 11-1 varies. Servo gain will vary within two seconds after external signal change. After executing offline automatic tuning, estimated proper gain will be set into gain1 (Kp ; Mode0 page0/ Kvp ; Mode0 page2/ Tvi ; Mode0 page3/ ILPF ; Mode0 page6) regardless of gain switching status.
11. SPECIAL SERVO FUNCTION 11－5 (1) In case of Func = “Gain_Sel.” When gain switch input is OFF, “Servo gain switch (3 SWs)” in the middle of figure 11-1 will be at the position of “1”. The following parameters will be valid: Position loop gain : Kp Mode0 – page0 Velocity loop proportional gain : Kvp Mode0 – page2 Velocity loop integral time constant : Tvi Mode0 – page3 Current command LPF : ILPF Mode0 – page6 When gain switch input is ON, “Servo gain switch (3 SWs)” in the middle of figure 11-1 will be at the position of “2”. The following parameters will be valid: Position loop gain : Kp2 Mode8 – page0 Velocity loop proportional gain : Kvp2 Mode8 – page1 Velocity loop integral time constant : Tvi2 Mode8 – page2 Current command LPF : ILPF Mode0 – page6 (2) In case of Func = “Gsel&Gtun” When gain switch input is OFF, “Servo gain switch (3 SWs)” in the middle of figure 11-1 will be at the position of “3” (real time automatic tuning is valid in this status). The following parameters will be valid: Position loop gain : Kp Mode0 – page0 Velocity loop proportional gain : Kvp Value of real time automatic tuning result Velocity loop integral time constant : Tvi Value of real time automatic tuning result Current command LPF : ILPF Value of real time automatic tuning result When gain switch input is ON, “Servo gain switch (3 SWs)” in the middle of figure 11-1 will be at the position of “2”. The following parameters will be valid: Position loop gain : Kp2 Mode8 – page0 Velocity loop proportional gain : Kvp2 Mode8 – page1 Velocity loop integral time constant : Tvi2 Mode8 – page2 Current command LPF : ILPF Mode0 – page6 11.4 Real Time Automatic Tuning The PY2 Servo Amplifier has “real time automatic tuning“ function that estimates proper gain by driving motor operation and changes servo gain in real time. With large device of inertia variation, Motor can be operated at proper gain all the time. 11.4.1 Parameter setting (1) Servo function select (Func: Mode4 page2) Func setting Servo function Normal Standard type Gain_sel. Gain switch type Gain_Tun. Real time automatic tuning type Gsel&Gtun Gain switch & real time automatic tuning type Real time automatic function will be valid when selecting “Gain_Tun.” or “Gsel&Gtun”
11. SPECIAL SERVO FUNCTION 11－6 (2) Real time automatic tuning level (Tn_Lv: Mode3 page5) Setting level when executing tuning according to the device rigidity. Procedure Tn_Lv setting Device rigidity +5 +4 ↓ +1 0 -1 ↓ -4 -5 High rigidity ↓ Middle rigidity ↓ Low rigidity Equivalent to “High” of offline automatic tuning Equivalent to “Middle” of offline automatic tuning Equivalent to “Low” of offline automatic tuning (3) Observer/ load inertia ratio (O_JL: Mode8 page4) The parameters to estimate load torque required when finding proper gain by real time automatic tuning. Set O_JL[%] = load inertia JL / Motor inertia JM × 100 Normally, load inertia JL should be an average within variation range of load inertia (or most used value). If appropriate tuning cannot be done within “+5 to -5” range of real time automatic tuning level setting (Tn_Lv), High/ Low rigidity setting can be feasible by adjusting observer/ load inertia ratio. • In case of making estimated gain larger though Tn_Lv = +5 is set → Set the observer/ load inertia ratio (O_JL) to the maximum inertia value in the variation range of device inertia. → Set the observer/ load inertia ratio (O_JL) over the maximum inertia value in the variation range of device inertia. • In case of making estimated gain smaller though Tn_Lv = -5 is set → Set the observer/ load inertia ratio (O_JL) to the minimum inertia value in the variation range of device inertia. → Set the observer/ load inertia ratio (O_JL) smaller than the minimum inertia value in the variation range of device inertia • When changing observer/ load inertia ratio (O_JL) during operation, estimating load torque will be stopped momentary. Therefore, the operation may be momentary unstable after change. • When widely changing observer/ load inertia ration (O_JL) at once, estimated servo gain will increase outstandingly and may turn into oscillation status. Change gradually with monitoring operating status. • Change parameters related to real time automatic tuning, only after securing the safety around devices.
11. SPECIAL SERVO FUNCTION 11－7 11.4.2 Operation when real time automatic tuning is valid “Servo gain switch (3SWs)” in the middle of figure 11-1 will be at the position of “3”. Then proper gain will be estimated according to the Servo Amplifier and Motor operational status, and servo gain will be changed at real time. Changing servo gains are three kinds of velocity loop proportional gain, and velocity loop integral time constant and current command LPF. Servo gain when real time automatic tuning is valid is as follows: Position loop gain : Kp Mode0 – page0 Velocity loop proportional gain : Kvp Value of real time automatic tuning result Velocity loop integral time constant : Tvi Value of real time automatic tuning result Current command LPF : ILPF Value of real time automatic tuning result The proper gain estimated by real time automatic tuning is used on RAM in the Servo Amplifier and is not memorized in non-volatilize memory. Proper gain is estimated during Motor operation (over certain value of acceleration/ declaration.) When no change on Motor speed, or servo OFF, the last (past) estimated result will be invalid. However, the parameters memorized in non-volatile memory will be valid in the following cases: (1) In case of Func = “Gsel&Gtun” When gain switch input is OFF, “Servo gain switch (3 SWs)” in the middle of figure 11-1 will be at the position of “3”. The following parameters will be valid: Position loop gain : Kp Mode0 – page0 Velocity loop proportional gain : Kvp Value of real time automatic tuning result Velocity loop integral time constant : Tvi Value of real time automatic tuning result Current command LPF : ILPF Value of real time automatic tuning result When gain switch input is ON, “Servo gain switch (3 SWs)” in the middle of figure 11-1 will be at the position of “2”. The following parameters will be valid: Position loop gain : Kp2 Mode8 – page0 Velocity loop proportional gain : Kvp2 Mode8 – page1 Velocity loop integral time constant : Tvi2 Mode8 – page2 Current command LPF : ILPF Mode0 – page6 Even if gain switch input is ON status (during gain switching), proper gain estimation process would be executed. Therefore, at the point of turning OFF the gain switch input, the latest proper gain estimation result will be valid. (2) When turning ON the Control power In case of parameter setting which enables real time automatic tuning, “Servo gain switch (3 SWs)” in the middle of figure 11-1 will be at the position of “3”. However, proper gain cannot be estimated when turning ON the control power. And then the servo gain memorized in the non-volatile memory will be valid instead Position loop gain : Kp Mode0 – page0 Velocity loop proportional gain : Kvp Mode0 – page2 Velocity loop integral time constant : Tvi Mode0 – page3 Current command LPF : ILPF Mode0 – page6 With Motor operation after servo ON, proper gain estimation will be started. After completing proper gain estimation, servo gain will be changed.
11. SPECIAL SERVO FUNCTION 11－8 (3) When alarm occurs In case of parameter setting which enables real time automatic tuning, “Servo gain switch (3 SWs)” in the middle of figure 11-1 will be at the position of “3”. However, estimated gain cannot be judged whether it is proper or not when alarm occurs. Therefore the servo gain memorized in the non-volatile memory will be valid instead. Position loop gain : Kp Mode0 – page0 Velocity loop proportional gain : Kvp Mode0 – page2 Velocity loop integral time constant : Tvi Mode0 – page3 Current command LPF : ILPF Mode0 – page6 With resuming Motor operation after alarm status is cleared, proper gain estimation will be started. After completing proper gain estimation, servo gain will be changed. (4) When executing test mode In case of parameter setting which enabling real time automatic tuning, “Servo gain switch (3 SWs)” in the middle of figure 11-1 will be at the position of “3”. However, the servo gain memorized in the non-volatile memory will be valid when executing test mode (JOG operation, offline automatic tuning and automatic notch tuning). Position loop gain : Kp Mode0 – page0 Velocity loop proportional gain : Kvp Mode0 – page2 Velocity loop integral time constant : Tvi Mode0 – page3 Current command LPF : ILPF Mode0 – page6 With resuming normal Motor operation after test mode, proper gain estimation will be started. After completing proper gain estimation, servo gain will be changed. 11.4.3 Ofline automatic tuning and parameter setting of non-volatile memory In real time automatic tuning, servo gain is estimated all the time by motor operation and changed in real time. For this reason, even if the parameter that memorized in non-volatile memory (Kvp: Mode0-page2, Tvi: Mode0-page3 and ILPF: Mode0-page6) is set in order to enable high response, it becomes hardly effective. It is quite enough if velocity loop proportional gain (Kvp: Mode0-page2), velocity loop integral time constant (Tvi: Mode0-page3) and current command LPF (ILPF: Mode0-page6), that would operate stably against the set value of position loop gain (Kp: Mode0-page0), are set soon after turning on the control power. It is recommended to set the non-volatile memory (Kvp: Mode0-page2, Tvi: Mode0-page3 and ILPF: Mode0-page6) to low in order for enabling real time automatic tuning setting. Also, when setting non-volatile memory parameters by offline automatic tuning, low gain setting is appropriate with the same reason above. It is recommended to select “low” of tuning mode and execute offline automatic tuning. However, position loop gain will not be changed in real time automatic tuning. Set according to the required response. Servo gain estimation may no be executed appropriatetly due to “sudden load fluctuation”, “large backlash”, “slow Motor acceleration/ deceleration” or so on. In this case, do not use real time automatic tuning function.
11. SPECIAL SERVO FUNCTION 11－9 11.5 Additional Function of Velocity loop Proportional Gain Velocity loop proportional gain can be easily changed by setting rotary and sliding switches on Servo Amplifier front. With using this function together with real time automatic tuning, the estimated proper gain Kvp with additional value can be used. 11.5.1 Parameter setting (1) Velocity loop proportional gain additional value (KvpA: Mode0 page12) This parameter setting sets additional value of velocity loop proportional gain per 1 position of rotary SW. 11.5.2 Switch setting (1) History / Gain switch (sliding switch on Servo Amplifier front) This switch sets valid/ invalid of velocity loop proportional gain additional function. When this SW is at “History”, velocity loop proportional additional function is invalid. Depending upon rotary SW position, alarm history will be shown on the 7-segment LED. When this SW is at “Gain”, velocity loop proportional gain additional function is valid. Depending upon rotary SW position, velocity loop proportional gain will be added. (2) Select switch (rotary SW on Servo Amplifier front) When History / Gain switch is set at “Gain”, the multiplication result of “Rotary SW position× velocity loop proportional gain additional value (kvpA) will be added on the velocity loop proportional gain. • Note that electric shock or breakage may occur when changing SW setting during operation (during power ON). Operate in safety as “changing SW setting after power OFF and CHARGE LED is turned off” or “changing SW setting with using isolated tool” etc,. • When returning back the sliding SW setting to “History”, velocity loop proportional gain additional function will be invalid.