Sanyo Denki Py 2 Manual

							 
11.  SPECIAL SERVO FUNCTION 
11－10 
  11.6  P-PI Control Automatic Switch 
The function that automatically switches between velocity loop proportional control and proportional 
integrate control according to the Motor speed is available.    This function can shorten positioning time in 
position control. 
 
11.6.1 Parameter setting 
(1)  P-PI automatic switch function (Func6 bit1: Mode2 page7) 
Setting Contents 
Func6 bit = “0”  P-PI control automatic switch function is invalid 
Func6 bit = “1”  P-PI control automatic switch function is valid 
 
(2)  Low speed setting (LTG: Mode1 page5) 
In case that P-PI control automatic switching is valid: 
• When Motor speed is low speed setting value (LTG) or lower, turning into the velocity loop 
proportional integrate control. 
• When Motor speed is over low speed setting value (LTG), turning into the velocity loop proportional 
control. 
There is an effect that positioning time will be shorter when setting the lower LTG.    However, in case 
that there is a slight speed fluctuation even at Motor stoppage due to backlash or so on, too low LTG 
may result in counter effect.    Normally set between 10 to 200rpm.    Also, the low speed setting value 
(LTG) should differ enough from the fixed Motor speed.    The speed will be unstable if switching P-PI 
control when fixed speed rotation. 
 
11.6.2  The operation when P-PI control automatic switch function is valid 
Velocity loop integrate process will be changed based upon the Motor speed. 
(1)  When Motor accelerates and beyond the low speed setting value, the current command (torque 
command) generated by velocity loop integrate formula will be “0”.    Operation of proportional control 
is the same as that when velocity loop integrate time constant is invalid (1000Hz setting). 
(2)  When Motor decelerates to or below low speed setting value, velocity loop integrate time constant 
will be valid. 
(3)  When Motor rotates at fixed speed over low speed setting value in position control, position deviation 
will be wider (if position command pulse frequency is the same, there is no motor speed difference by 
proportional control and proportional integrate control).   
(4)  When inputting the command over the low speed setting value in velocity control, Motor rotates at the 
speed with deviation against the command. 
 
11.6.3 Notificaiton 
In the position control, there is an effect that positioning time will be shortened.    Depending upon device 
structure however, P-PI control switching will result in counter effects.    Sufficient evaluation is required for 
the devices of which belt driver has low rigidity, etc. 
When the motor speed exceeds LTG by vibration or disturbance during motor stoppage, P control is 
activated.    Since the integral is cleared, motor output torque becomes smaller.    Superficially, the operation 
looks as if the holding torque became smaller.    When there is vibration or disturbance, adjust LTG. 
In the P-PI control switching, general-use input (CN1-35pin, 36pin) can be also used.    Validate general-use 
input PCON at Func3 bit3, 2, 1 and 0 (Mode2 page4).    For general-use input PCON, P-PI control will switch 
within 12msec. after input signal change.    
						

							 
11.  SPECIAL SERVO FUNCTION 
11－11 
  11.7  Full Close Function 
In this function, set external encoder for position control.    As the hardware for this function is different from 
that for standard PY2 amplifier, need to decide whether or not to require this function before purchase. 
 
11.7.1  Outline of full close function (optional) 
(1)  Full close specification (for reference) 
 
 
 
 
 
 
 
 
 
 
 
Fig. 11-2    Block Diagram of Full Close   
 
(2)  Standard PY2 (for reference) 
 
 
 
 
 
 
 
 
 
Fig. 11-3    Standard Block Diagram 
 
In the full close function, device position is correctly obtained by getting feedback signal of position loop 
from external encoder, resulting in high accuracy control in positioning (control real position of device). 
 
11.7.2  Hardware of full close function (optional) 
(1) Configuration 
Amplifiers of 15A, 30A and 50A are wider by 20mm. 
 
＋ 
－ 
Servo AmplifierMotor 
Encode
r 
＋ 
－ Position 
Control
 
Velocity
ControlCurrent
Control
External
Encoder
＋ 
－ ＋ 
－ Position 
Control
 
Velocity
ControlCurrent
Control
Servo AmplifierMotor 
Encode
r  
						

							 
11.  SPECIAL SERVO FUNCTION 
11－12   
(2) Additional connector 
Connector CN3 will be added for connection with full close encoder.    The wiring is as follows. 
Full close encoder, connector (HDEB-9P) and power supply should be prepared by customer. 
Fig. 11-4 Full Close Additional Wiring Diagram 
(3)  Maximum input frequency 
The maximum input frequency from full close encoder output to Amplifier is 2MHz (the frequency 
before multiplied by 4). 
 
11.7.3  Parameter setting of full close function (optional) 
(1)  Position loop encoder select (Func0 bit7: Mode2 page1) 
Setting Contents 
Func0 bit7 = “0”  Use Motor encoder for position loop process 
Func0 bit7 = “1”  Use full close encoder for position loop process 
Normally use without changing this parameter setting, as it is already set according to the hardware 
specification at ex-factory. 
(2)  Setting of multiplication function (Func0 bit6: Mode2 page1) 
Setting Contents 
Func0 bit6 = “0”  Use with multiplying full close encoder by 4. 
Func0 bit6 = “1”  Use with multiplying full close encoder by 1. 
(3)  Setting of dividing function (Func5 bit4: Mode2 page6) 
Setting Contents 
Func0 bit4 = “0”  Divide Motor encoder signal by CN1 position 
signal output (CN1-3 to 8, 11pin) and output. 
Func0 bit4 = “1”  Divide full close encoder signal by CN1 position 
signal output (CN1-3 to 8, 11pin) and output. 
Output pulse dividing ratio can be set by ENCR (Mode1 page4).    Output pulse dividing ratio (ENCR) 
uses the same parameter for Motor encoder and full close encoder.  
						

							SANMOTION 
P series  PY2 
Instruction Manual
 
M0001584J 
Release: September, 1999 
Rev.J:  August,2003 
 
Copyright 2002, SANYO DENKI Co., Ltd. 
All Rights Reserved. 
 
 
 
 
 
 
 
 
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