Sanyo Denki Py 2 Manual
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2. FUNCTION, CHARACTERISTICS AND CONFIGURATION 2－11 2.3 Characteristics of Servomotor • Wide range of models (67 types in total) P1 series: from 0.3 to 5.5 kW (15 types) P2 series: from 1 to 5 kW (14 types) P3 series: from 30 to 750 W (6 types) P5 series: from 30 W to 1000 W (15 types) P6 series: from 0.5 to 7 kW (11 types) P8 series: from 0.75 to 4.5 kW (6 types) • High-speed motor Maximum speed of 2000 min− 1 and 3000 min− 1 for P1 Maximum speed of 3000 min− 1 and 4500 min− 1 for P2 Maximum speed of 4500 min− 1 for P3 and P5 Maximum speed of 3000 min− 1 for P6 and P8 The above enables the positioning time to be shortened. (For P1, P6/P8 series motor with output of 4.5 kW or above, however, maximum speed is little lower.) • Compatibility Compatible with the conventional models. • Compatible with various sensors Compatible with the wiring-saved incremental encoder, the ABS-E absolute sensor (encoder) or the ABS-R II absolute sensor (the settings inside the amplifier differ depending on sensor types). Table 2-2 Comparison of PY2 and PY Servomotor (for reference) P1 series (high rigidity) P2 series (low inertia) P3 series (low inertia) P5 series (high rigidity) P6 series (high rigidity) P8 series (flat type) Features ● High servo performance ● Compatible with 861 motor ● High inertia ● Series expanded ● Flange size □100 added ● Down-sizing 80% smaller than our conventional models ● Low inertia ● High power rate ● Successor to 862 series ● Upper capacity model of P3 series ● Down-sizing 40% smaller than our conventional models ● Low inertia ● High power rate ● Down-sizing 50% smaller than our conventional models ● Medium inertia, high rigidity ● Compatible with 865Z motor ● Flange size □35 and □42 added ● Down-sizing 70% smaller than our conventional models ● Medium inertia, high rigidity ● Upper capacity model of P5 series ● Compatible with “861” motor ● Supplements P8 series ● Down-sizing 50% smaller than our conventional models ● Medium inertia, super flat type ● Compatible with 868Z motor ● Down-sizing 70% smaller and 60% flatter than our conventional models Rated output 0.3 to 5.5 kW (15 types) 1 to 5 kW (14 types) 30 to 750 W (6 types) 30 to 1000 W (15 types) 0.5 to 7 kW (11 types) 0.75 to 4.5 kW (6 types) Sensor ● Incre. ● Absolute ABS-E ● Incre. ● Absolute ABS-E ABS-R II (R III) ● Incre. ● Absolute ABS-R II (R III) ● Incre. ● Absolute ABS-E ABS-R II (R III) ● Incre. ● Absolute ABS-E ABS-R II (R III) ● Incre. ● Absolute ABS-E ABS-R II (R III) Waterproo f ● IP67 ● IP67 ● IP40 (IP55 option) ● IP55 (□55 to □86) ● IP55 (□35 to □42) (IP55 option) ● IP67 ● IP67 Holding brake ● Standard specifications (24 V, 90 V) ● Standard specifications (24 V, 90 V) ● Standard specifications (24 V, 90 V) ●Standard specifications (24 V, 90 V) ●Standard specifications (24 V, 90 V) ●Standard specifications (24 V, 90 V) Oil seal ● Standard specifications ● Standard specifications ● Optional ● Standard specifications (□54 to □86) ● Optional (□35 to □42) ● Standard specifications ● Standard specifications Measures for CE ● TÜV obtained ● TÜV obtained ● TÜV obtained ● TÜV obtained ● TÜV obtained ● TÜV obtained
3. SERVO SYSTEM CONFIGURATION 3－1 SERVO SYSTEM CONFIGURATION 3.1 Block Diagram.............................................................................. 3-2 3.2 External Mounting and Wiring Diagram ....................................... 3-2 3.3 Names of Servo Amplifier Parts ................................................... 3-3 3.3.1 PY2A015/030.................................................................... 3-3 3.3.2 PY2E015/030.................................................................... 3-4 3.3.3 PY2A050 ...........................................................................3-5 3.4 Optional Peripheral Equipment List.............................................. 3-6
3. SERVO SYSTEM CONFIGURATION 3－2 3.1 Block Diagram Fig. 3-1 System Configuration Schematic Diagram 3.2 External Mounting and Wiring Diagram Optional Use one when load with large inertial is to be operated or in other necessary cases. External regenerative resistor DC power supply for brake Used when the Servomotor is equipped with a brake. Magnetic contactor (MC) Turns the Servo Amplifier power on and off. Install a spark killer on it. (Equivalent to CRE-50500 of Okaya Electric Industries Co., Ltd.) Noise filter Install a filter equivalent to the LF series of Tokin Corporation to prevent common mode noise and normal mode noise. Circuit breaker, fuse Used to protect the power line. On the “PY2” Servo Amplifiers, no fuse is built in. Be sure to connect a fast-blown fuse of the capacity indicated in the external connection diagram. To controller Power supply: 200 VAC 3φ 50 Hz/60 Hz 200 VAC 1φ 50 Hz/60 Hz 100 VAC 1φ 50 Hz/60 Hz See Fig. 6-1 in “6 Operation”. Brake control relay Safety circuit Encoderconnector Thermostat contact output Thermostat contact output The input power supply differs depending on the specifications of the amplifier and the motor. Be sure to connect the power supply within the specified range. The wiring required when the motor is equipped with a brake. Fig. 3-2 External Mounting and Wiring Diagram External regenerative resistorServo Amp. Upper controller Command Feedback Remote operator Holding brake excitation timing output Sensor Motor AMP ready
3. SERVO SYSTEM CONFIGURATION 3－3 CHARGEPOWER CN 1 2 CNＡ CNBCND CNC CN r t R S T P Ｙ U V W RDY1 2 RDY PY2 A015 1 2 3 4 5 67 8 9 10 11 12 13 ＯＰ 14 ＳＥＬＥＣＴ ＰＯＷＥＲ Ｎ 11 13 12 10 OP SELECT POWER RDY 2 RDY 1 PY2A015 CN 2 CNC CNB CND CHA W V U N CN 1 Y P T S R r t CHARGE POWER 6 5 4 3 2 1 9 8 7 14 Fig. 3-3 Front View of Servo Amplifier (PY2A015A0) 3.3 Names of Servo Amplifier Parts 3.3.1 PY2A015/030 1 Main circuit power supply charge (CHARGE) Indicates the charge of the smoothing capacitor of the main circuit power supply. 2 Control & main power supply inputs (CAN) Connect the control power supply (AC 200 V, single phase) to the r and t terminals and the main power supply (AC 200 V, 3-phase) to the R, S and T terminals. 3 Regenerative resistor connector terminal (CND) Connect a regenerative resistor between the P and Y (or COM) terminals. 4 Main circuit connector terminal (CNB) Connect a motor power cable to it. 5 AMP ready output terminal (CNC) Outputs a-contact when the control power supply is set up and no alarm occurs (250 VAC, 2 A/30 VDC, 2 A). 6 Protective earth terminal ( ) Grounds an earth cable for class 3 earthing. 7 Remote operator connector 8 HISTORY/GAIN changeover switch Sets the rotary switch to the alarm history or gain changeover function. 9 Rotary switch (SELECT) Used to check the alarm history and change the gain. 10 5 V power supply set-up (POWER) Comes on when the control power (r or t) is supplied. 11 7-segment LED Indicates the status of the amplifier and the type of alarm issued. 12 Interface connector (CN1) Connected to a host controller, etc. 13 Sensor signal connector (CN2) Connected to the sensor signal line from the motor. 14 Maintenance mode switch Used for maintenance by Sanyo operator. So, do not change the setting during general operation. When the Servo Amplifier is used, be sure to set the switch to the left when viewed from the front of the amplifier. (It is hard to view from the front since hidden in the Servo Amplifier case.) HISTORY GAIN Optional 14 Maintenance mode switch • Be sure to set this switch to the normal mode for operation (set it to the left when viewed from the front of the amplifier). • Never change the setting of this switch. If it is set to the maintenance mode, the system malfunctions. The 15 A and 30 A capacity amplifiers have different dimensions (width).
3. SERVO SYSTEM CONFIGURATION 3－4 CHARGEPOWER CN 1 2 CNＡ CNBCND CNC CN r t R S T P Ｙ U V W RDY1 2 RDY PY2 A015 1 2 3 4 5 67 8 9 10 11 12 13 ＯＰ 14 ＳＥＬＥＣＴ ＰＯＷＥＲ Ｎ OP SELECT POWER RDY 2 RDY 1 PY2E015 CN 2 CNC CNB CND CHA W V U N CN 1 11 Y P T S R r t CHARGE POWER 6 5 4 13 12 3 2 1 10 9 8 7 14 3.3.2 PY2E015/030 Fig. 3-4 Front View of Servo Amplifier (PY2E015A1) 2 Control and main power supply (CNA) Connect the control power supply (100 VAC, single-phase) to r and t, and the main power supply (100 VAC, single-phase) to R and T. Same as 1 and 3 to 14, 200 VAC input type. (Refer to 3.3.1 PY2A015/030.) 14 Maintenance mode switch • Be sure to set this switch to the normal mode for operation (set it to the left when viewed from the front of the amplifier). • Never change the setting of this switch. If it is set to the maintenance mode, the system will malfunction. The 15 A and 30 A capacity amplifiers have different dimensions (width).
3. SERVO SYSTEM CONFIGURATION 3－5 CHARGE CN 1 2 CNＡ CNBCND CNC CN ｒ ｔ R S T Ｙ U V W RDY1 2 RDY PY2A050 1 2 3 4 5 67 8 9 10 11 12 13 ＯＰ 14 ＳＥＬＥＣＴ ＰＯＷＥＲ Ｎ Ｘ Ｐ PY2A050 CNC 6 5 RDY 2 RDY 1 CN 2 CNB W V 12 13 4 U CN 1 Y X Y P CND 3 POWERSELECT OP 2 1 T S R t r CNA 10 11 8 9 CHARGE 7 14 3.3.3 PY2A050 3 Regenerative resistor connecting terminal (CND) When a built-in regenerative resistor is used, use it at the settings made on shipment (i.e. short-circuit the P and X terminals using a short-circuit bar). When an external regenerative resistor is used, remove the short-circuit bar from across the P and X terminals and install a regenerative resistor between the P and Y terminals. Same as 1, 2 and 4 to 14, PY2A015/030. (Refer to 3.3.1 PY2A015/030.) Fig. 3-5 Front View of Servo Amplifier (PY2A050A4) 14 Maintenance mode switch • Be sure to set this switch to the normal mode for operation (set it to the left when viewed from the front of the amplifier.) • Never change the setting of this switch. If it is set to the maintenance mode, the system will malfunction.
3. SERVO SYSTEM CONFIGURATION 3－6 3.4 Optional Peripheral Equipment List The following optional peripheral devices are available for the PY2 Servo Amplifiers. Please order as necessary. ● I/O connectors The table below lists I/O connector plugs and housings. (Connectors of standard shapes are listed as optional equipment.) Connector List for PY2A (200 VAC input type) Application Model No. Set contents Maker Maker’s model No. 10150-3000VE AL-00385594 CN1 plug and housing Sumitomo 3M 10350-52A0-008 10120-3000VE AL-00385596 CN2 plug and housing Sumitomo 3M 10320-52A0-008 AL-00329461-01 CNA plug Phoenix Contact MSTB2.5/5-STF-5.08 AL-00329458-01 CNB plug Phoenix Contact IC2.5/3-STF-5.08 AL-00329460-01 CNC plug Phoenix Contact MSTB2.5/2-STF-5.08 Single item AL-00329459-01 CND plug Phoenix Contact IC2.5/4-STF-5.08 10150-3000VE 10350-52A0-008 10120-3000VE Low-voltage circuit connector set AL-00292309 CN1 or CN2 plug and housing Sumitomo 3M 10320-52A0-008 MSTB2.5/5-STF-5.08 IC2.5/3-STF-5.08 High-voltage circuit connector set AL-00377169 CNA, CNB or CND plug Phoenix Contact IC2.5/4-STF-5.08 10150-3000VE 10350-52A0-008 10120-3000VE 10320-52A0-008 MSTB2.5/5-STF-5.08 IC2.5/3-STF-5.08 PY2A015 and PY2A030 (without RDY output) set AL-00382550 CN1 or CN2 plug and housing CNA, CNB or CND plugSumitomo 3M Phoenix Contact IC2.5/4-STF-5.08 PY2A015 and PY2A030 (with RDY output) set AL-00382550 AL-00329460-01 CN1 or CN2 plug and housing CNA, CNB, CNC or CND plug Sumitomo 3M Phoenix Contact PY2A015 (built-in 10150-3000VE Regenerative resistor) 10350-52A0-008 PY2A030 (built-in 10120-3000VE Regenerative resistor) 10320-52A0-008 PY2A050(without MSTB2.5/5-STF-5.08 RDY output) set AL-00393603 Sumitomo 3M Phoenix Contact IC2.5/3-STF-5.08 PY2A015 (built-in Regenerative resistor) PY2A030 (built-in Regenerative resistor) PY2A050 (with RDY output) set AL-00393605 CN1 or CN2 plug and housing CNA, CNB or CNC plugSumitomo 3M Phoenix Contact
3. SERVO SYSTEM CONFIGURATION 3－7 Connector List for PY2E (100 VAC input type) Application Model No. Set contents Maker Maker’s model No. Single item AL-00329461-02 CNA plug Phoenix Contact MSTB2.5/4-STF-5.08 10150-3000VE 10350-52A0-008 10120-3000VE 10320-52A0-008 MSTB2.5/4-STF-5.08 IC2.5/3-STF-5.08 PY2E015 and PY2E030 (without RDY output) set AL-00397841 CN1 or CN2 plug and housing CNA, CNB or CND plug Sumitomo 3M Phoenix Contact IC2.5/4-STF-5.08 PY2E015 and PY2E030 (with RDY output) set AL-00397841 AL-00329460-01 CN1 or CN2 plug and housing CNA, CNB, CNC or CND plug Sumitomo 3M Phoenix Contact PY2A015 (built-in Regenerative resistor) PY2A030 (built-in Regenerative resistor) (without RDY output) set AL-00329461-02 AL-00329458-01 AL-00292309 CN1 or CN2 plug and housing CNA or CNB plug Sumitomo 3M Phoenix Contact PY2A015 (built-in Regenerative resistor) PY2A030 (built-in Regenerative resistor) (with RDY output) set AL-00329461-02 AL-00329458-01 AL-00329460-01 AL-00292309 CN1 or CN2 plug and housing CNA, CNB or CNC plug Sumitomo 3M Phoenix Contact ● Remote operator Connected to the Servo Amplifier to set various parameters or check the internal status. Model No. RP-001 • Although a commercially available plug not listed in the above table may be used, it may not engage with the amplifier properly depending on its shape. • Consult with us when using a plug or housing whose engagement with the amplifier is not confirmed. • The power supply input connector CNA models differ depending on the input power supply voltage type (200 VAC or 100 VAC input). • CND connector (IC2.5/4-STF-5.08) is normally attached to Servo Amplifier having an amplifier capacity of 50 A. • CND connector (IC2.5/4-STF-5.08) is normally attached to 15A and 30A Servo Amplifier with built-in regenerative resistor.
3. SERVO SYSTEM CONFIGURATION 3－8 ● Personal computer interface The following parts are available for communication with PC. Model No. Remarks AL-00356620-01 Specialized cable SFY95-00 Communication program ● External regenerative resistor Use one when load with large inertia is to be operated or in other necessary cases. Model No. Model No. REGIST-080W 100B REGIST-220W 20B REGIST-080W 50B REGIST-500W 20B REGIST-120W 100B REGIST-500W 14B REGIST-120W 50B REGIST-500W 10B REGIST-220W 100B REGIST-500W 7B REGIST-220W 50B ● Cable Only sensor cables are available. Terminals, however, are not treated. Model No. Remarks 6879019-1 For wiring-saved incremental encoder (20 m or shorter) 6870010-1 For wiring-saved incremental encoder (20 m or longer) For absolute encoder (ABS-E) Absolute sensor (ABS-R II) ● Cannon connector Use a connector to wire the Servo Amplifier and the motor. Model No. Remarks MS06B24-11S-16 Straight plug for the P1, P2, P6 or P8 motor power line. MS06B20-29S-12 Straight plug for the P1, P2, P6 or P8 motor sensor line. ● Anti-noise parts The following anti-noise parts are available. Model No. Remarks CRE-50500 Spark killer R·A·V-781BXZ-2A Surge protector The PC interface can be used only on Windows 95. A type without a thermal (no B at the end of the model number) is also available.
4. WIRING 4－1 WIRING 4.1 Applicable Wire Sizes .................................................................. 4-2 4.2 Specifications of Sensor Cable ....................................................4-3 4.3 External Wiring Diagram .............................................................. 4-4 4.3.1 External Wiring Diagram (200 VAC Input Type) ................ 4-4 4.3.2 External Wiring Diagram (100 VAC Input Type) ................ 4-6 4.3.3 Sensor Connection Diagram (INC-E) ................................4-8 4.3.4 Sensor Connection Diagram (ABS-E) ...............................4-9 4.3.5 Sensor Connection Diagram (ABS-RII) ............................ 4-10 4.3.6 Sensor Connection Diagram (ABS-E.S1) .......................... 4-11 4.4 Connector Terminal Arrangement Input/Output Signal Diagram........................................................ 4-12 4.4.1 CN1: Interface Connector ................................................. 4-12 4.4.2 CN2: Sensor Connector .................................................... 4-13 4.5 Wiring Procedure......................................................................... 4-15 4.6 Precautions on Wiring.................................................................. 4-16 4.6.1 Recommended Surge Protector ........................................ 4-17 4.6.2 CN1 & CN2 Shielding Procedure ...................................... 4-18 4.6.3 Typical CN2 Compression Insert Application .................... 4-20