Sanyo Denki Py 2 Manual

							 
2.    FUNCTION, CHARACTERISTICS AND CONFIGURATION 
2－1   
 
 
 
 
 
 
 
FUNCTION, CHARACTERISTICS 
AND CONFIGURATION 
 
 
 
 
 
 
2.1  PY2 Servo Amplifier Built-in Functions...................................... 2-2 
2.2  Characteristics of PY2 Servo Amplifier...................................... 2-6 
2.3 Characteristics of Servomotor......................................................2-11 
 
 
 
 
  
						

							 
2.    FUNCTION, CHARACTERISTICS AND CONFIGURATION 
2－2 
  2.1  PY2 Servo Amplifier Built-in Functions 
This section describes the main built-in functions of the Servo Amplifier and additional functions specially for 
the PY2 series. 
The functions marked      require the remote operator (see Chapter 7). 
 
●  Position, speed and torque control     
The above three types are controlled as a package and can be selected using the remote operator. 
The control type can be changed during operation (velocity ↔ torque, position ↔ torque, position ↔ 
velocity). 
 
●  Regenerative processing function 
A regenerative processing circuit is built into the system, which enables regenerative processing simply 
by externally connecting a resistor to the amplifier. 
Since no regenerative resistor is built in except for 50 A type amplifier, one is required to be externally 
connected to the amplifier when regenerative processing is required. 
 
●  Dynamic brake function 
When the main circuit power supply is cut off, the dynamic brake is actuated.     
However, this brake is operated regardless of the main circuit power supply when an alarm occurs. 
 
●  Holding brake excitation timing output 
The power supply to the holding brake is controlled with the timing of this output signal, thereby 
preventing a self-weight fall of the gravitational shaft at an emergency stop.     
Keep this output open when the system is not operated. 
 
●  Vibration restraining function 
If a vibration occurs when this function is incorporated in the system, the parameters BEF and LPF 
are set by the remote operator according to the vibration frequency, restraining the vibration.  When 
offline, executing “auto notch filter tuning (Tune IBEF) at test mode can automatically set notch filter 
frequency (IBF1).    For more adequate setting, measure the oscillation frequency with an oscilloscope 
on the current command monitor. 
 
●  Separation of control power and main circuit power 
The control power and the main circuit power are separated.     
When an alarm or an emergency stop occurs, the main circuit power alone can be cut off for safety, and 
the control power can remain activated.     
This enables the continuation of alarm output, making analysis and maintenance easy. 
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2.    FUNCTION, CHARACTERISTICS AND CONFIGURATION 
2－3 
●  Servo tuning support function   
When the remote operator sets a mode, the load inertia is automatically estimated and a proper 
parameter is set.    There are two different kind of tuning methods: one is “Offline auto tuning” executed 
at test mode when offline, and the other is “Online auto tuning” estimating appropriate gain and 
changing the gain at real time during operation.   
 
●  Electric gear function 
For a position control type, the feed can be changed without changing the mechanical gear by using this 
electronic gear.   
This gear is set by the remote operator. 
 
 
 
 
 
 
 
 
 
●  Dividing output function 
Encoder signal pulses can be output by being divided into N/8192 (N=1 to 8191), 1/N (N=1 to 64) or 2/N 
(N=3 to 64) based on the setting by the remote operator. 
Although the phase relation does not change, the 2/5 division is not the 90° phase difference.     
To set the encoder signal dividing ratio, refer to the explanation on the parameters. 
The dividing ratio must be a value with which the encoder pulse number can be divided.     
For a 2000 pulses/rev encoder, for example, 1/3, 1/6 or 1/7 cannot be used since they are aliquant.   
Some typical divided encoder output waveforms are described below. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
●  Alarm trace function 
The past 7 alarm history data can be stored and reviewed from the remote operator or the front panel 
SELECT, enabling easy troubleshooting. 
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Position command 
f2 
N
D
Input command pulse 
When  N = 1 to 32767 and 
  D = 1 to 32767 
f2 = f1 ×        
 ≦ ≦32767  f1 
N 
D 1 
32767 N
D
90° 
A-phase 
Dividing ratio 1/1 
B-phase 
Dividing ratio 1/2 
Dividing ratio 2/5 
Typical encoder signal output waveforms (forward revolution)  A-phase 
B-phase 
A-phase 
B-phase  
						

							 
2.    FUNCTION, CHARACTERISTICS AND CONFIGURATION 
2－4 
●  Power supply type selection function (200 VAC input type) 
Either a 3-phase, 200 VAC type or the single phase, 200 VAC type main power supply can be selected.   
After selecting either one, simply turn the control power supply on again, no other parameter settings 
are necessary.    (Since some types of motors have different 3- or single-phase properties, refer to the 
combination specifications in Section 9.) 
 
●  Applicable to wiring-saved incremental & absolute encoders   
The same amplifier is applicable to an incremental encoder (INC-E) and an absolute encoder (ABS-E) 
simply by changing the appropriate parameters using the remote operator. 
Different motors, however, are required for the INC-E and the ABS-E, respectively. 
 
●  Applicable to absolute sensor (ABS-R II)  
Applicable to an absolute sensor (ABS-R II). 
 
●  Applicable to Wiring-saved absolute sensor (ABS-E.S1) 
Applicable to a wiring-saved absolute sensor (ABS-E.S1).    Absolute sensor can be wiring-saved.    In 
use to application not requiring holding multi-rotational part, wiring number can be less then that for 
wiring-saved incremental encoder (INC-E).    In case of not requiring holding multi-rotational part, battery 
connection is not necessary (Need parameter setting to select functions).   
 
 
 
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Applicable Servo Amplifiers to absolute sensor (ABS-R II) and wiring-saved absolute sensor 
(ABS-E.S1) have different internal circuits from incremental (INC-E) and absolute (ABS-E) 
encoder-type amplifiers.  Use product applicable to an absolute sensor. 
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2.    FUNCTION, CHARACTERISTICS AND CONFIGURATION 
2－5 
Additional function specially for the PY and PY2 series (compared to PZ amplifiers) 
In addition to the various control functions provided in the PZ series, the following functions have been 
added to the PY and PY2 series   
 
1.  Control mode switching function     
This function is for switching the control mode without power shutdown. 
 
2.  Internal velocity command function 
The amplifier has three types of velocity commands, and this function is for switching the velocity 
command depending on the situation. 
 
3.  Function to correspond with the external encoder for full-close control 
By providing an external incremental encoder process circuit in the amplifier, full-close control is 
enabled.    (For full-close correspondence, consult us, as additional parts are required.) 
 
4.  Gain switching using a rotary switch   
By using a rotary switch, gain setting is enabled without connecting to a remote operator. 
 
5.  Gain switching function 
Two types of gain settings can be selected in the amplifier.    Gain switching is enabled depending on 
the situation. 
 
6.  Upgrading of the personal computer interface functions 
Following upgrading of the personal computer interface functions, graphic indication of the monitor data 
and execution of various test modes have been enabled as well as parameter setting and editing using 
a PC. 
(See the instruction manual for the personal computer interface provided separately.) 
 
 
 
 
 
 
 
 
7.  Input command auto offset function   
The analog input command auto offset function is added, which facilitates offset adjustment in the 
velocity or torque control mode. 
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Be sure to use the PY personal computer interface version 1.30 or later when combining the 
100 VAC power input type (PY2E), single-phase power supply specification PY2 Servo 
Amplifier with a personal computer interface. 
(The amplifier may malfunction if combined with version 1.24, 1.23 or earlier.)  
						

							 
2.    FUNCTION, CHARACTERISTICS AND CONFIGURATION 
2－6 
  2.2  Characteristics of PY2 Servo Amplifier 
This section explains the characteristics of the PY2 amplifiers. 
•  The volume is about half that of conventional models 
About 40% to 65% smaller in terms of volume than the “PY”, ”PZ” and ”PE” series. 
PY2A015 (to 300 W)  :    About 45%   
PY2A030 (to 1 kW)  :    About 65% 
PY2A050 (to 2 kW)  :    About 45% (Note: PY is assumed to be 100%.) 
 
•  Unified height and depth 
The height of the amplifier applicable to 30 W to 2 kW motors is kept at to 168 mm (excluding the 
mounting fitting) and the depth at 135 mm. 
 
•  Front or rear installation is selectable 
Although only rear installation is usually available for a small Servo Amplifier, both front and rear 
installations can be selected for the PY2 or PY type.     
(Rear installation is standard for the PY2 on shipment.) 
 
 
 
 
 
 
 
 
 
 
 
•  All amplifier I/O wirings are changed to the connector type 
The terminals of the high-voltage parts, which used to be the terminal board type on our conventional 
PY and PZ series, are changed to the connector type.    This improves operability when installing or 
maintaining the Servo Amplifier. 
 
•  The leakage current has been reduced to about half that of conventional models 
Measures to reduce leakage current are taken on the PY2 amplifier, reducing it to about half that of 
our conventional PY or PZ series. 
When a 2 m cabtyre cable is used for the motor power line: 
• 15A, 30A    0.5 mA or less  
• 50A         1.5mA or less 
 
•  Additional tuning function 
In addition to “Offline auto tuning” function, “Online auto tuning” and “Auto notch filter tuning” functions 
are available. 
Servo 
Amplifier
Front 
installation 
Servo 
Amplifier 
Rear 
installation  
						

							 
2.    FUNCTION, CHARACTERISTICS AND CONFIGURATION 
2－7 
•  Supports various types of power supplies 
The “PY2” Servo Amplifier supports 200 VAC 3-phase, 200 VAC single-phase and 100 VAC 
single-phase types of power supplies. 
Switching between 200 VAC 3-phase and 200 VAC single-phase is possible by simply changing the 
parameters. 
(Switching between 100 VAC single-phase and 3-/single-phase is impossible since they have different 
hardware.    A 100 VAC motor is also necessary.) 
 
• High response 
Features higher response than our conventional PZ type (PY and PY2 have the same level of 
response). 
 
•  High reliability and long life 
Ensures long operation without failure thanks to circuit technologies accumulated from extensive 
experience gained from our conventional models. 
  
						

							 
2.    FUNCTION, CHARACTERISTICS AND CONFIGURATION 
2－8 
Differences Between PY2 Amplifier and Sanyo Denki’s Conventional Models and 
Precautions 
•  No fuse is built into the main power supply input section. 
On our conventional PY, PZ, PE and PU models, fuses are built into the main power supply input 
sections to save wiring and other reasons when a single axis is used.    On the PY2 amplifier, however, 
no fuse is built in since use of multiple axes is assumed and downsizing is the main theme of its 
development.   
(No fuse is built into the PV amplifier, one of our conventional models, as with the PY2.) 
In order to protect the main power supply input section from overcurrent, connect a UL-approved circuit 
breaker and a fast-blown fuse to the amplifier input section before operation. 
 
•  Fewer noise filters on the main and control power supply input sections 
The number of noise filters has been reduced on the PY2 amplifier than on our conventional PY, PZ, 
PE, PV and PU models.    Noiseproofing, however, is the same as that on conventional models thanks 
to improved internal circuits. 
Although noiseproofing does not differ, after Sanyo Denki’s conventional amplifier in your system is 
replaced with the PY2 amplifier, power supply noise which had been absorbed by the noise filters 
inside the conventional amplifier may affect other peripherals.    So, it is recommended that you attach 
noise filters to the power supply (200 VAC). 
 
•  No regenerative resistor is built in. (The 50 A type amplifier normally has one built-in.) 
On our conventional PY, PZ, PE, PV and PU models, regenerative resistors are built in (the power 
absorbed differs depending on the model and the capacity). 
On the “PY2A015*” and “PY2A030*” types, no regenerative resistor is built in.     
(They incorporate regenerative processing circuits only.) 
Externally connect regenerative resistors to systems requiring regenerative processing. 
If no regenerative resistor is externally connected, it takes about five minutes to discharge the 
capacitor after the main circuit power is turned off.    Before maintaining the amplifier, make sure that 
the CHARGE lamp on the front of the amplifier indicates that it has been discharged. 
 
•  The dynamic braking methods differ. 
On the PY2 amplifier, the slowing-down revolution angle at the time of stopping by dynamic braking is 
twice that of the PY, PZ and PE models in the worst case.     
(The angle is the same between the PV and PY2.    No dynamic brake is built into the PU model.) 
 
•  The forcible air cooling method is adopted for cooling power modules   
(for the 30 A and 50 A types only). 
On the “PY2A030*” and “PY2A050*” types, the forcible air cooling method is adopted to enable down 
sizing and long life.    So, the Servo Amplifier does not stop functioning even after the cooling fan stops 
due to failure.    To ensure long operation of the amplifier, check the motion of the fan during regular 
inspection. 
  
						

							 
2.    FUNCTION, CHARACTERISTICS AND CONFIGURATION 
2－9 
•  Sensor cable wiring 
While the maximum length of the sensor cable wiring is 50 m for our conventional PY, PZ, and PE 
models when a standard cable is used, the length is 30 m for the PY2 amplifier for sensor power 
supply reasons (the maximum length is 25 m for the absolute encoder (ABS-E) type). 
The permissible wiring distance can be extended to 50 m by using a cable with low conductor 
resistance (a thick cable) or by increasing the number of wires.    Contact us for details. 
 
•  External thermal input 
While our conventional PY, PZ and PE models are equipped with input terminals capable of directly 
connecting contact outputs of external thermals, the PY2 amplifier is not. 
To connect an external thermal output to the amplifier, set the general-purpose input terminal to the 
external thermal signal input before operation. 
 
•  AMP ready contact output 
While our conventional PY, PZ and PE models are equipped with contact output terminals (AMP ready 
output terminals) for magnetic contactors which control the amplifier main power on/off switching, they 
are optional on the PY2 amplifier.    For details, refer to 1.4    How to Read Model Numbers. 
When no AMP ready output is used, turn the main power on and off using an external safety circuit. 
 
•  Analog monitor output 
While analog monitor output is ± 10 V peak for our conventional PY, PZ and PE models, it is ± 3 V 
peak for the PY2 amplifier.    The resolution of the PY2 is also lower than that of conventional models.   
Consult with us if high resolution is required for system evaluation or other purposes. 
  
						

							 
2.    FUNCTION, CHARACTERISTICS AND CONFIGURATION 
2－10 
Table 2-1    Comparison of PY2/PY and Sanyos Other Series (for Reference) 
 PY2  
amplifier 
PY  
amplifier 
PZ and PE 
amplifiers 
PU  
amplifier 
PR  
amplifier 
RB  
amplifier 
PV 
amplifier 
Input 
power 100 VAC 
200 VAC 
Single phase 
3 phases 200 VAC 
Single phase 
3 phases 200 VAC 
Single phase 
3 phases 100 VAC 
200 VAC 
Single phase 200 VAC 
Single phase 5 VDC, 38 V 
5 VDC, 24 V 
100 VAC,   
Single phase 
200 VAC,   
Single phase 200 VAC 
Single phase 
Features ● Multi  function 
● High response, high 
performance 
● Small & compact 
● Easy connection due 
to adopting 
connector method ● Multi  function 
● High  response, 
high 
performance ● Multi  function 
● High  response, 
high 
performance ● Small & compact
● Easy  connection 
due to adopting 
connector 
method ● Data 
transmission 
servo  
(Direct input of 
velocity, 
acceleration and 
feed data.   
Easy operation 
using PC or 
CPU.) 
● High  cost 
performance 
● Downsizing 
● Easy  system 
design ● Data 
transmission 
servo  
(Direct input of 
velocity, 
acceleration and 
feed data.   
Easy operation 
using PC or 
CPU.) 
● High  cost 
performance 
● Downsizing 
● Easy  system 
design ● Small & compact
● Wide range of 
interface 
• Position, 
velocity and 
torque 
command  
• Serial 
command  
(RS-485)  
• Contact input 
operation 
command  
● Easy  connection 
due to adopting 
connector 
method 
Motor 
combined P1 series 
0.3 to 2 kW 
P2 series 
1 to 2 kW 
P3 series 
30 to 750 W 
P5 series 
30 to 1000 W 
P6 series 
0.5 to 1.5 kW 
P8 series 
0.75 to 1.2 kW P1 series   
0.3 to 5.5 kW 
P2 series   
1 to 5 kW 
P3 series   
30 to 750 W 
P5 series   
30 to 1000 W 
P6 series   
0.5 to 15 kW 
P8 series   
0.75 to 4.5 kW P1 series   
0.3 to 5.5 kW 
P2 series   
1 to 5 kW 
P3 series   
30 to 750 W 
P5 series   
30 to 1000 W 
P6 series   
0.5 to 15 kW 
P8 series   
0.75 to 4.5 kWP3 series   
30 to 750 W 
P5 series   
30 to 1000 W P3 series   
30 to 750 W 
P5 series   
30 to 1000 W Robust-syn motor 
Equivalent to 10 to 
600 W P3 series   
30 to 750 W 
P5 series   
30 to 1000 W 
Sensor Wiring-saved 
incremental 
ANS-R II 
ABS-E 
ABS-E.S1 Wiring-saved 
incremental  
ABS-R II 
ABS-E Wiring-saved 
incremental  
ABS-R II 
ABS-E Wiring-saved 
incremental  
ABS-R II Wiring-saved 
incremental Incremental 
(200P/R, 800P/R) Wiring-saved 
incremental  
ABS-R II 
ABS-E 
I/F  Pulse train input 
Analog input 
Serial input Pulse train input 
Analog input 
Serial input Pulse train input
Analog input 
Serial input Pulse train input or 
analog input Centronics-based 
8-bit parallel data 
input Centronics-based 
8-bit parallel data 
input Serial command 
(RS-485),  
pulse train input 
or analog input 
Built-in 
functions ● Regenerative 
processing circuit 
(without internal 
regenerative resistor) 
● Auto  tuning 
● Electronic  gear 
● Remote  operator 
● Vibration  restraining 
function 
● Dynamic  brake 
● Holding  brake 
excitation timing 
output 
● Rush  prevention 
● Control  mode 
switching 
● Internal  velocity 
command function 
● Gain  changeover 
using a rotary switch 
● Gain  changeover 
● Personal  computer 
interface functions ● Regenerative 
processing 
● Auto  tuning 
● Electronic  gear 
● Remote  operator 
● Vibration 
restrain-ing 
function 
● Dynamic  brake 
● Holding  brake 
excitation timing 
output 
● Rush  prevention 
● Discharge  circuit 
● Control  mode 
switching 
● Internal  velocity 
command 
function 
● Gain 
change-over 
using a rotary 
switch 
● Gain 
changeover 
● Personal 
computer 
interface 
functions ● Regenerative 
processing  
● Auto  tuning   
● Electronic  gear 
● Remote  operator 
● Vibration 
restraining 
function  
● Dynamic  brake 
● Holding  brake 
excitation timing 
output  
● Rush  prevention 
● Discharge  circuit● Regenerative 
processing  
● Auto  tuning 
● Electronic  gear 
● Remote  operator● Built-in  pattern 
generator  
● Rush  prevention 
● Discharge  circuit● Built-in  pattern 
generator 
● Rush  prevention 
● Discharge  circuit ● Regenerative 
processing  
● Vibration 
restraining 
function  
● Dynamic  brake 
● Rush  prevention
Measures 
for 
overseas 
standards TÜV recognition to be 
obtained 
UL recognition to be 
obtained TÜV recognition 
obtained 
UL recognition 
obtained TÜV recognition 
obtained 
(PE type only)  TÜV recognition 
obtained TÜV recognition 
obtained TÜV recognition 
obtained 
UL recognition 
obtained