Sanyo Denki Py 2 Manual
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4. WIRING 4－2 4.1 Applicable Wire Sizes • The table below shows typical sizes of external terminals and wires used for the Servo Amplifier. • Select the wire to use and its size based on the wiring distance, operation environment and current capacity. • Table 4-1 assumes that the rated current flows on three lead wiring harnesses at an ambient temperature of 104°F (40°C). Table 4-1 Applicable Wire Sizes Model Example of applicable wire size External terminal name Terminal code PY2A015 PY2E015 PY2A030 PY2E030 PY2A050 Main circuit power supply input terminal CNA (R. S. T) Equivalent to AWG16 Equivalent to AWG14 Equivalent to AWG12 Control power supply input terminal CNA (r. t) Equivalent to AWG16 Motor connector terminal (power line) CNB (U, V, W) Equivalent to AWG16 Equivalent to AWG14 Equivalent to AWG12 PE (protective earth) terminal ( ) Equivalent to AWG14 AMP ready output terminal (optional) CNC (RDY1, RDY2) Equivalent to AWG20 Regenerative resistor connection input terminal CND (P, X, Y) Equivalent to AWG16 Equivalent to AWG14 I/O signal connector CN1 AWG24 or greater (A twisted pair lump shielded wire is partly used.) Sensor signal connector CN2 AWG 24 or greater twisted pair lump shielded wire Signal circuit 1 For bundling wires or putting them in a duct, take the allowable current reduction ratio of the wires into consideration. 2 When the ambient temperature is high, the life will be shortened due to thermal degradation. In this case, use a heat-resistant vinyl cable. 3 The size of the wire to be connected to the main circuit power supply input terminal or motor connecting terminal can be smaller than listed in the above table, depending on the capacity of the Servomotor. (Use a wire of suitable size, referring to Power Supply Capacity in Section 9.) 4 We prepare an optional sensor signal line connector cable, which can be purchased by specifying the model number. 5 It is recommended to use an insulation sleeve-equipped bar terminal if a certain insulation distance is required to be secured between main circuit wires or between main and signal circuit wires. (This terminal cannot be used when the wire used is AWG12 or greater.) 6 The recommended tightening torque of the jack screw (screw) in the shell (connector cover : 10320-52A0-008) is 0.196±0.049N･m(2.0±0.5kgf･cm). We ask you to tighten with this torque. 7 The jack screw with a stopper can prevent over-tightening. The product no. (with a stopper) is 3342-26 and the recommended tightening torque is 0.441±0.049N･m (4.5±0.5kgf･cm)．
4. WIRING 4－3 4.2 Specifications of Sensor Cable Table 4-2 Specifications of Cable Specifications Wiring-saved incremental encoder (INC-E : wiring distance 20 m or less) Wiring-saved incremental encoder (INC-E : wiring distance 20 m to 30 m) Absolute encoder (ABS-E, ABS-RII) Connecting Method By soldering By soldering Maker names Tonichi Cable, Ltd. Tatsuta Electric Wire and Cable Co., Ltd. Approximate specification 6-pairs × 0.2 mm2 (Tinned annealed copper wire) 10-pairs × 0.2 mm2 (High-strength copper alloy twisted wire) Finished outside diameter 8.0 mm MAX 10.0 mm MAX Bulk resistance 91 Ω /km MAX 123 Ω/km MAX Internal composition and Lead color 対 押え 巻 横線ｼｰﾙﾄﾞ ﾄﾞ ﾚ ｲ ﾝ ﾜ ｲ ﾔ ｼｰｽ １２ ３４５ ６ 1 : Red-Black (Twisted pair) 2 : Blue-Brown (Twisted pair) 3 : Green-Purple (Twisted pair) 4 : White-Yellow (Twisted pair) 5 : Skyblue-Pink (Twisted pair) 6 : Orange-Gray (Twisted pair) 対 押え 巻ﾃｰﾌﾟ 銅箔糸編組 ﾄﾞ ﾚｲﾝﾜｲﾔ ｼｰｽ １ ２ ３ ４ ５ ６７８ ９ 10 しゃへい 1 : Blue-White (Twisted pair) 2 : Yellow-White (Twisted pair) 3 : Green-White (Twisted pair) 4 : Red-White (Twisted pair) 5 : Purple-White (Twisted pair) 6 : Blue-Brown (Twisted pair) 7 : Yellow-Brown (Twisted pair) 8 : Green-Brown (Twisted pair) 9 : Red-Brown (Twisted pair) 10 : Purple-Brown (Twisted pair) Our available specifications Our Model No. 6879019-1, No terminal treatment (without connector)Our Model No. 6870010-1, No terminal treatment (without connector) Sheath Binding tape Copper foil yarn mesh shielding Sheath Drain wire Pair Drain wire Striping shield Binding tape Pair 6 5 4 3 2 1 9 86 7 25 1 34 10
4. WIRING 4－4 1 When applicable cables are used, the permissible distance between the Servo Amplifier and the motor (sensor) is as follows: • Wiring-saved incremental encoder (INC-E): 20 m max. when 6 pairs of cables of 91 Ω/km or less are used. • Wiring-saved incremental encoder (INC-E): 30 m max. when 10 pairs of cables of 123 Ω/km or less are used. • Absolute encoder (ABS-E): 25 m max. when 10 pairs of cables of 123 Ω/km or less are used. • Absolute sensor (ABS-R II): 30 m max. when 10 pairs of cables of 123 Ω/km or less are used. 2 The permissible wiring distance can be extended to 50 m by using a cable with low conductor resistance (a thick cable) or increasing the number of wires. Contact us for details. 3 When ordering cables from us, please specify our Model Nos. and lengths. 4 Before using these cables to any moving elements, please consult with us.
4. WIRING 4－5 4.3 External Wiring Diagram 4.3.1 External Wiring Diagram (200 VAC Input Type) Fig. 4-1 (a) External Wiring Diagram (200 VAC Input Type) AC power supply 3φ 200 to 230 V 50/60 Hz User unit En- coder SERVO MOTOR Orange (yellow) Holding brake (for the type with a brake only) Short bar Note 15) SERVO AMPLIFIER Note 3) Note 16) Note 14) Note 17) Start ready ON System error System error DC 5 V to 24 V Emergency stop Emergency stop Servo ON Alarm reset Current limit permit Note 9) Forward revolution overtravel Note 9) Backward revolution overtravel Note 10) General-purpose input Note 10) General-purpose input Note 10) General-purpose input Note14) 12 VDC to 24 V Note 11) General-purpose output Note 11) General-purpose output Start ready complete output Holding brake relay excitation timing output ALM1 ALM2 Note 12) Alarm output ALM4 ALM8 Output common Note 13) Forward revolution current limit Note 18) Lithium battery 3.6 VDC Note 13) Backward revolution current limit Note 8) Line driver 26LS31 Note 8) Velocity command input Note 8) Torque compensation/ command input Monitor 1 Monitor 2 Monitor common Note 18) Encoder signal Open collector output Plug: 10150−3000 VE, Shell: 10350-52A0-008 Forward revolution pulse Backward revolution pulse Position command pulse input Start ready OFF Start ready OFF Note 19) Note 14) 5 VDC Built-in type regenerative resistor W hen connecting an external regenerative resistor Note 4) PY2A050 built-in type regenerative resistor Regenerative resistor Note 4)Note 6) Red White Black (Green/yellow)Green Note 7) Plug : 10120-3000VE, Shell : 10320-52A0-008 Note 5) Sensor connector Series regulator Note 2) Line receiver: 26LS32 Line driver: 26LS31 Note 5)
4. WIRING
4－6
Note 1) : For the parts marked , use a twisted pair shielded cable.
Note 2) : Select the power supply from the two types, 5 V or 12 V to 24 V.
CN1 -
38 pin CN1 -
49 pin
5 V used Connected Open
12 to 24 V used Open Connected
Note 3) : RDY (RDY1 or 2 terminal) output is optional.
RDY (RDY1 or 2 terminal) is a contact output.
Contact rating: 250 VAC, 2 A
30 VDC, 2 A
Inductive load: COSφ = 0.4, L/R = 7 mS
Note 4) :
Amp. capacity CND terminal
*1 Built-in type
regenerative resistorUse of built-in type
regenerative resistor *2 Method of connecting external
regenerative resistor *3
15, 30 A
(Normal) P, Y (or COM), N None Connect it between
the P and Y (or COM) terminals.
30 A
(Special) P, Y, N Equipped Same as default connection.
Connect it between
the P and Y terminals. Connect it between
the P and Y terminals after removing
the wiring connected between
the P and Y terminals.
*4
50 A
(Normal) P, Y, X, N Equipped Same as the default.
Short-circuit the P and X
terminals using a short-circuit
bar. Connect it between the P and X
terminals after removing the
short-circuit bar across
P and X terminals.
*1 : The N terminal is for maintenance (high-voltage circuit). So, do not wire the N terminal.
*2 : The thermostat contact output of the built-in regenerative resistor is connected inside the amplifier.
*3 : A thermostat for the external regenerative resistor shall be built into the user device, or connected to the external overheat detection
input to protect the resistor.
*4 : Be careful not to bring the removed wire into contact with the conductive parts.
Note 5) : Refer to 4.6.2 CN1 & CN2 Shielding Procedure.
Note 6) : Motor connection differs to the motor specifications. The indications of red, white, black, green and orange apply when the motor
power and brake lines are the lead type. When they are the cannon plug type, connect them according to the motor specifications.
Note 7) : For how to wire the sensor connector, refer to the sensor wiring diagram.
Note 8) : The functions of command input differ depending on control modes.
Command input terminal
Control mode Position command
pulse input
Velocity command input
Torque command input
Position control type Position command
pulse input Velocity addition input is assumed
depending on the setting of Func1. Torque compensation input is
assumed depending on the setting of
Func1.
Velocity control type − Velocity command input Torque compensation input is
assumed depending on the setting of
Func1.
Torque control type − − Torque command input
Velocity/torque
switch type No switching − Velocity command input Torque compensation input is
assumed depending on the setting of
Func1.
During
switching − − Torque command input
Position/torque
switch type No switching Position command
pulse input Velocity addition input is assumed
depending on the setting of Func1. Torque compensation input is
assumed depending on the setting of
Func1.
During
switching − − Torque command input
Position/velocity
switch type No switching Position command
pulse input Velocity addition input is assumed
depending on the setting of Func1. Torque compensation input is
assumed depending on the setting of
Func1.
During
switching − Velocity command input Torque compensation input is
assumed depending on the setting of
Func1.
5 V input 38
12 V to 24 V
input
Max.
30 VDC O I 49
G
5 V input:
10 mA max.
12 to 24 V input:
50 mA max.
Output common
4. WIRING 4－7 For the details of the control mode and Func1 setting, refer to the users manual. The polarity of command input can be reversed. Refer to the figure on the right when connecting the position command pulse input to the open collector output. Note 9) : Forward/backward revolution overtravel input By setting Func0, this function can be deleted or set to the a-contact input. Note 10) : The function of the general-purpose input can be selected from the table below. General-purpose input terminal Control mode 34 pin 35 pin 36 pin Position control type Deviation clear (1) (1) Velocity control type Internal velocity command, revolution direction input (2) (2) Torque control type − (3) (3) Velocity/torque switch type No switching Internal velocity command, revolution direction input Control mode switching input or (2). Control mode switching input or (2). During switching − Control mode switching input or (3). Control mode switching input or (3). Position/torque switch type No switching Deviation clear Control mode switching input or (1). Control mode switching input or (1). During switching − Control mode switching input or (3). Control mode switching input or (3). Position/velocity switch type No switching Deviation clear Control mode switching input or (1). Control mode switching input or (1). During switching Internal velocity command, revolution direction input Control mode switching input or (2). Control mode switching input or (2). (1) : Functions can be selected among external overheating detection, proportional control, command multiplication and command pulse inhibit. (2) : Functions can be selected among external overheating detection, proportional control, zero clamp and internal setting velocity select. (3) : Available as the external overheating detection input function. In addition to the above, it can also be set as the gain switch input. One pin can be set to have several or no functions. For details, refer to the operation manual. Note 11) : General-purpose output By setting Func4, functions can be selected among current limit, low velocity, high velocity, velocity match, positioning complete and command receive enabled. Output logic can also be selected. Note 12) : Alarm output Output alarm state using codes. It can also be output using bits by setting. Note 13) : Forward/backward revolution current limit input By changing the setting, both forward and backward revolution currents can be limited using the revolution current limit or the backward revolution current can be limited using positive voltage. It can also be limited using the internal setting. Note 14) : Your are required to prepare the power. Either of the inputs can be selected. Note 15) : The R, S, T, r, t, RDY1, RDY2, P, Y (or COM), N, U, V and W terminals are high-voltage circuits and the others are low-voltage circuits. For the wiring-related reason, allow sufficient distance between high- and low-voltage circuits. Note 16) : We recommend that a UL-approved earth leakage breaker be used that complies with IEC or EN standard. Note 17) : Do not wire the S phase for a single-phase power amplifier. Note 18) : The lithium battery connector terminals (1 and 2 pins) and encoder signals PS and PS (9 and 10 pins) are available when your encoder is the absolute type (ABS-E, ABS-RII or ABS-E.S1). Note 19) : Be sure to install the following types of UL-approved fuses for the main circuit power supply input. Amplifier capacity 15 A, 30 A : 30 A fast-blown type Amplifier capacity 50 A : 50 A fast-blown type Note 20) : Make sure to connect SG (signal ground) for difference input signal (line driver of position command/ line driver of dividing output), or wrong operation and breakage may occur. Fig. 4-1 (b) External Wiring Diagram (200 VAC Input Type), Precautions 26 47 Forward revolution pulse Backward revolution pulse 28 48
4. WIRING 4－8 4.3.2 External Wiring Diagram (100 VAC Input Type) Fig. 4-2 (a) External Wiring Diagram (100 VAC Input Type) AC power supply 3φ 100 to 115 V 50/60 Hz User unit En- coder SERVO MOTOROrange (yellow) Holding brake (for the type with a brake only) Note 15) SERVO AMPLIFIER Note 3) Note 16) Note 14) Start ready ON +10% −15% System error System error DC 5 V to 24 V Emergency stop Emergency stop Servo ON Alarm reset Current limit permit Note 9) Forward revolution overtravel Note 9) Backward revolution overtravel Note 10) General-purpose input Note 10) General-purpose input Note 10) General-purpose input Note14) 12 VDC to 24 V Note 11) General-purpose output Note 11) General-purpose output Start ready complete output Note 13) Forward revolution current limit Note 13) Backward revolution current limit Note 8) Line driver 26LS31 Note 8) Velocity command input Note 8) Torque compensation/ command input Monitor 1 Monitor 2 Monitor common Note 17) Encoder signal Open collector output Plug: 10150−3000 VE, Shell: 10350-52A0-008 Forward revolution pulse Backward revolution pulse Position command pulse input Start ready OFF Start ready OFF Note 18) Note 14) 5 VDC Regenerative resistor Note 4) Note 4)Note 6) Red White Black (Green/yellow)Green Note 7) Note 5) Sensor connector Series regulator Note 2) Line receiver: 26LS32 Line driver: 26LS31 Note 5) ALM1 ALM2 Note 12) Alarm output ALM4 ALM8 Output common Holding brake relay excitation timing output Plug : 10120-3000VE, Shell : 10320-52A0-008 Note 18) Lithium battery 3.6 VDC
4. WIRING
4－9
Note 1) : For the parts marked , use a twisted pair shielded cable.
Note 2) : Select the power supply from the two types, 5 V or 12 V to 24 V.
CN1 -
38 pin CN1 -
49 pin
5 V used Connected Open
12 to 24 V used Open Connected
Note 3) : RDY (RDY1 or 2 terminal) output is optional.
RDY (RDY1 or 2 terminal) is a contact output.
Contact rating: 250 VAC, 2 A
30 VDC, 2 A
Inductive load: COSφ = 0.4, L/R = 7 mS
Note 4) :
Amp. capacity CND terminal
*1 Built-in type
regenerative resistorUse of built-in type
regenerative resistor *2 Method of connecting external
regenerative resistor *3
15, 30 A
(Normal) P, Y (or COM), N None Connect it between
the P and Y (or COM) terminals.
30 A
(Special) P, Y, N Equipped Same as default connection.
Connect it between the P and
Y terminals in the same way
as on shipment. Connect it between
the P and Y terminals after removing
the wiring connected between the P
and Y terminals.
*4
*1 : The N terminal is for maintenance (high-voltage circuit). So, do not wire the N terminal.
*2 : The thermostat contact output of the built-in regenerative resistor is connected inside the amplifier.
*3 : A thermostat for the external regenerative resistor shall be built into the user device, or connected to the external overheat detection
input to protect the resistor.
*4 : Be careful not to bring the removed wire into contact with the conductive parts.
Note 5) : Refer to 4.6.2 CN1 & CN2 Shielding Procedure.
Note 6) : Motor connection differs to the motor specifications. The indications of red, white, black, green and orange apply when the motor
power and brake lines are the lead type. When they are the cannon plug type, connect them according to the motor specifications.
Note 7) : For how to wire the sensor connector, refer to the sensor wiring diagram.
Note 8) : The functions of command input differ depending on control modes.
Command input terminal
Control mode Position command
pulse input
Velocity command input
Torque command input
Position control type − Velocity addition input is assumed
depending on the setting of Func1. Torque compensation input is
assumed depending on the setting of
Func1.
Velocity control type − Velocity command input Torque compensation input is
assumed depending on the setting of
Func1.
Torque control type − − Torque command input
Velocity/torque
switch type No switching − Velocity command input Torque compensation input is
assumed depending on the setting of
Func1.
During
switching − − Torque command input
Position/torque
switch type No switching Position command
pulse input Velocity addition input is assumed
depending on the setting of Func1. Torque compensation input is
assumed depending on the setting of
Func1.
During
switching − − Torque command input
Position/velocity
switch type No switching Position command
pulse input Velocity addition input is assumed
depending on the setting of Func1. Torque compensation input is
assumed depending on the setting of
Func1.
During
switching − Velocity command input Torque compensation input is
assumed depending on the setting of
Func1.
5 V input 38
12 V to 24 V
input
Max.
30 VDC O I 49
G
5 V input:
10 mA max.
12 to 24 V input:
50 mA max.
Output common
4. WIRING 4－10 For the details of the control mode and Func1 setting, refer to the users manual. The polarity of command input can be reversed. Refer to the figure on the right when connecting the position command pulse input to the open collector output. Note 9) : Forward/backward revolution overtravel input By setting Func0, this function can be deleted or set to the a-contact input. Note 10) : The function of the general-purpose input can be selected from the table below. General-purpose input terminal Control mode 34 pin 35 pin 36 pin Position control type Deviation clear (1) (1) Velocity control type Internal velocity command, revolution direction input (2) (2) Torque control type − (3) (3) Velocity/torque switch type No switching Internal velocity command, revolution direction input Control mode switching input or (2). Control mode switching input or (2). During switching − Control mode switching input or (3). Control mode switching input or (3). Position/torque switch type No switching Deviation clear Control mode switching input or (1). Control mode switching input or (1). During switching − Control mode switching input or (3). Control mode switching input or (3). Position/velocity switch type No switching Deviation clear Control mode switching input or (1). Control mode switching input or (1). During switching Internal velocity command, revolution direction input Control mode switching input or (2). Control mode switching input or (2). (1) : Functions can be selected among external overheating detection, proportional control, command multiplication and command pulse inhibit. (2) : Functions can be selected among external overheating detection, proportional control, zero clamp and internal setting velocity select. (3) : Available as the external overheating detection input function. In addition to the above, it can also be set as the gain switch input. One pin can be set to have several or no functions. For details, refer to the operation manual. Note 11) : General-purpose output By setting Func4, functions can be selected among current limit, low velocity, high velocity, velocity match, positioning complete and command receive enabled. Output logic can also be selected. Note 12) : Alarm output Output alarm state using codes. It can also be output using bits by setting. Note 13) : Forward/backward revolution current limit input By changing the setting, both forward and backward revolution currents can be limited using the revolution current limit or the backward revolution current can be limited using positive voltage. It can also be limited using the internal setting. Note 14) : Your are required to prepare the power. Either of the inputs can be selected. Note 15) : The R, S, T, r, t, RDY1, RDY2, P, Y (or COM), N, U, V and W terminals are high-voltage circuits and the others are low-voltage circuits. For the wiring-related reason, allow sufficient distance between high- and low-voltage circuits. Note 16) : We recommend a UL-approved earth leakage breaker be used that complies with IEC or EN standard. Note 17) : The lithium battery connector terminals (1 and 2 pins) and encoder signals PS and PS (9 and 10 pins) are available when your encoder is the absolute type (ABS-E, ABS-RII or ABS-E.S1). Note 18) : Be sure to install a UL-approved, 30 A fast-blown type fuse for the main circuit power supply input. Note 19) : Make sure to connect SG (signal ground) for difference input signal (line driver of position command/ line driver of dividing output), or wrong operation and breakage may occur. Fig. 4-2 (b) External Wiring Diagram (100 VAC Input Type), Precautions 26 47 Forward revolution pulse Backward revolution pulse 28 48
4. WIRING 4－11 Incremental encoder (INC-E): Cannon plug type BlackRedYellowWhiteVioletGreenBrownBlue Plug Shell Plug Shell Note 2) Note 1)Shield Note 3) + 5 DCV Note 3) GND (0 V) Note 2)Note 1) Note 3) +5 VDC Note 3) GND (0 V) Case Earth Incremental encoder (INC-E): Cannon plug type Incremental encoder (INC-E): Lead wire type A or U channel input A or U channel input B or V channel input B or V channel input C or W channel input C or W channel input Optical Encoder GND (0 V) Sensor Incremental Encoder +5 VDC A or U channel output A or U channel output B or V channel output B or V channel output C or W channel output C or W channel output GND (0 V) Optical Encoder Sensor Incremental Encoder +5 VDC A or U channel output A or U channel output B or V channel output B or V channel output C or W channel output C or W channel output A or U channel input A or U channel input B or V channel input B or V channel input C or W channel input C or W channel input 4.3.3 Sensor Connection Diagram (INC-E Wiring-saved Incremental Encoder) Notes: 1. For the parts marked , use a twisted pair shielded cable. 2. Refer to 4.6.2 CN1 & CN2 Shielding Procedure. 3. The sensor power connection differs depending on the cable length. Refer to the following table. Sensor cable length 5 m or less 10 m or less 20 m or less 30 m or less +5 VDC wiring 19-pin connection (9, 12 and 17 pins need not be connected) 17- and 19-pin connection (9 and 12 pins need not be connected) 12-, 17- and 19-pin connection (9 pin need not be connected) 9-, 12-, 17- and 19-pin connection GND (0 V) wiring 20-pin connection (10, 11, 16 and 18 pins need not be connected) 18- and 20-pin connection (10, 11 and 16 pins need not be connected) 11-, 18- and 20-pin connection (10 and 16 pins need not be connected) 10-, 11-, 16-, 18- and 20-pin connection Fig. 4-3 Sensor Connection Diagram (INC-E Wiring-saved Incremental Encoder)