Sanyo Denki Py 2 Manual
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4. WIRING 4－12 4.3.4 Sensor Connection Diagram (ABS-E Request Signal-unavailable Absolute 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 15 m or less 25 m or less +5 V 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 0 V wiring 16- and 20-pin connection (10, 11 and 18 pins need not be connected) 16-, 18- and 20-pin connection (10 and 11 pins need not be connected) 11-, 16-, 18- and 20-pin connection (10 pin need not be connected) 10-, 11-, 16-, 18- and 20-pin connection Fig. 4-4 Sensor Connection Diagram (ABS-E Absolute Encoder) Plug Shell Note 2)Note 1)Shield Note 3 Note 3 Sensor Absolute Encoder BlueW hite/blue Sensor Absolute Encoder YellowW hite/yellow OrangeW hite/orange BrownW hite/brown BlackGreen W hite/black White/greenRed White/red Plug Shell Note 2)Note 1) Note 3 Note 3 Absolute encoder (ABS-E): Lead wire type Absolute encoder (ABS-E): Cannon plug type
4. WIRING 4－13 4.3.5 Sensor Connection Diagram (ABS-RII Request Signal-available Absolute Sensor) Notes: 1. For the parts marked , use a twisted pair shielded cable. 2. Refer to 4.6.2 CN1 & CN2 Shielding Procedure. 3. When the sensor cable length is 5m or less, 11, 12, 17 and 18 pins need not be connected. When the length is between 5 m and 30 m, connect all pins. Fig. 4-5 Sensor Connection Diagram (ABS-RII Absolute Sensor) Shield Plug Shell Note 2)Note 1) Note 3 Note 3 Note 3 BlueBrownSensor Absolute Encoder GreenOrange Pink WhitePurple RedYellow Black Gray Plug Shell Note2)Note 1) Note 3 Note 3 Note 3 Sensor Absolute Encoder Absolute sensor (ABS-RII): Lead wire type Absolute sensor (ABS-RII): Cannon plug type
4. WIRING 4－14 4.3.6 Sensor Connection Diagram (Wiring-saved Absolute Sensor) Absolute sensor (E03B151302): Lead wire type 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 10 m or less 25 m or less 40 m or less +5 V wiring 19-pin connection (12 and 17 pins need not be connected) 17- and 19-pin connection (12 pin need not be connected) 12-, 17- and 19-pin connection 0 V wiring 20-pin connection (11 and 18 pins need not be connected) 18- and 20-pin connection (11 pin need not be connected) 11-, 18- and 20-pin connection 4. In case of application not using multi-rotational part, wiring of “EBAT+” and “EBAT-“ are not necessary. However, set Func6, bit5 to “1”. Fig. 4-6 Sensor Connection Diagram (Wiring-saved Absolute Encoder ABS-E.S1) Shield Plug Shell Note 3 Note 3 BlueBrownSensor Absolute Encoder PurplePink Red Black Absolute sensor (E03B151302): Cannon plug type Note 2Note 1 Plug Shell Note2Note 1 Note 3 Note 3 Sensor Absolute Encoder
4. WIRING 4－15 4.4 Connector Terminal Arrangement Input/ Output Signal Diagram 4.4.1 CN1: Interface Connector CN1 is an interface connector to a host computer or the like. The connector of the amplifier is 10250-52A2JL (made by Sumitomo 3M). １ ２ ３ ４ ５ ６ ７ ８ ９ １０ １１ １２ １３ １４ １５ １６ １７ １８ １９ ２０ ２１ ２２ ２３ ２４ ２５ ２６ ２７ ２８ ２９ ３０ ３１ ３２ ３３ ３４ ３５ ３６ ３７ ３８ ３９ ４０ ４１ ４２ ４３ ４４ ４５ ４６ ４７ ４８ ４９ ５０ ＢＡＴ－ ＢＡＴ＋ Ａ Ａ Ｂ Ｂ Ｃ Ｃ ＰＳ ＰＳ ＳＧＳＧ ＳＧＳＧＳＧ ＭＯＮ２ ＭＯＮ１ＣＯＰ ＣＯＰＧ ＰＩＬ ＮＩＬ ＶＣＭＤＧ ＴＣＭＤ ＴＣＭＤＧ／ ＶＣＭＤ ～２４Ｖ ＤＣ５Ｖ ～２４Ｖ ＣＯＭ ＤＣ１２Ｖ ～２４Ｖ ＣＯＭ ＤＣ１２Ｖ ＰＰＣ ＰＰＣ ＮＰＣ ＮＰＣ ＩＬＭ ＲＳＴ ＮＲＯＴ ＰＲＯＴ 汎用入力 汎用入力 汎用入力 ＳＯＮ 汎用出力 ５Ｖ ＳＲＤＹ ＨＢＯＮ ＡＬＭ１ ＡＬＭ２ ＡＬＭ８ＡＬＭ４ 汎用出力 ＤＣ１２Ｖ ～２４Ｖ ＤＣ５Ｖ ～２４Ｖ バッテリ マイナス側 プラス側 バッテリ 位置信号出力 位置信号出力 Ｃ相 (ｵｰﾌﾟﾝｺﾚｸﾀ 出力) Ｃ相 コモン モニタ モニタ 出力１ 出力２モニタ コモン 正転側 逆転側電流制限 電流制限電流制限 コモン 速度指令 トルク指令 コモン 速度指令 トルク指令 入 力ｼｰｹﾝｽ 電源１ 出 力ｼｰｹﾝｽ 電源コモン 出 力ｼｰｹﾝｽ 電源コモン 入 力ｼｰｹﾝｽ 電源２出 力ｼｰｹﾝｽ 電源正転パルス 指令 逆転パルス 指令 正転パルス 指令 指令 逆転パルス パルス指令 パルス指令コモン コモン電流制限 許可 警報 リセット 逆転側 正転側 オーバー トラベル オーバー トラベル 汎用入力 汎用入力汎用入力 汎用出力汎用出力 サーボオン 運転準備 完了 出 力ｼｰｹﾝｽ 電源 保 持ﾌﾞﾚｰｷ ﾀｲﾐﾝｸﾞ 出 力 警報出力 警報出力注１ 注１ 注１ 注１ 注２ 注２ 注２ 注２ 注２ 注２注２ 注３ 注３注５ 注５ 注６注６ 注６注６ 注８注８注７ 注７注７注４ 注４注３ 注９注６ Fig. 4-7 CN1 Connector Terminal Arrangement Diagram Notes : 1. Battery connector terminal and position signal output PS terminal: Available when being used together with the absolute encoder (ABS-E) or the absolute sensor (ABS-RII). 2. Command input : Functions differ depending on the control modes. 3. Current limit : The input method can optionally be set. 4. Overtravel : The input method can optionally be set. 5. Monitor output : The signal and output range to be monitored can be selected. 6. Alarm output : The output method and polarity can be selected. 7. General-purpose input : Selectable from multiple signals. The contents of signals differ depending on the control modes. 8. General-purpose output : Multiple signals can be selected. 9. Holding brake timing output : Timing output for operating the motor holding brake. The timing can be adjusted according to the machine. The above figure shows the arrangement when viewed from the wiring section of the connector. Connector at cable side is not attached to Servo Amplifier, and should be prepared by user. 12VDC to 24V Note2 Note2 Note3 Note5 Note5Note2Note3 Note1Note1 Note1 Note1 Note2 Note2 Note3Note4Note7Note8Note6 Note6 Note6 Note6Note8Note9 Note7Note7Note4Note6Note2 Note2 Output sequence power common Torque command Velocity/ torque command Forward revolution side current limit Monitor output 2Monitor commonPosition signal outputBattery negative side 12VDC to 24V 5VDC to 24V Output sequence power common Input sequence power 1 Velocity commandBackward revolution side current limit Current limit common Monitor output 1C-phase commonC-phase (open collector output) Position signal output Battery positive side 12VDC to 24V Output sequence power Pulse command common Alarm output Operation ready completeGeneral- purpose output General- purpose output General- purpose input General- purpose input Backward revolution side over travelCurrent limit permitBackward revolution pulse command Forward revolution pulse command Forward revolution pulse command Backward revolution pulse command Forward revolution pulse command Servo ON Alarm reset Alarm output Pulse command common 12VDC to 24V Input sequence power 2 General- purpose outputOutput sequence powerGeneral- purpose input General- purpose input General- purpose input General- purpose input General- purpose output Holding brake timing output
4. WIRING 4－16 4.4.2 CN2 Sensor Connector The amplifier-side connector is 10220-52A2JL (made by Sumitomo 3M). ● Incremental encoder (INC-E) terminal arrangement diagram Fig. 4-8 CN2 Connector (INC-E Incremental Encoder) Terminal Arrangement Diagram ● Request signal-unavailable absolute encoder (ABS-E) terminal arrangement diagram Fig. 4-9 CN2 Connector (ABS-E Request Signal-unavailable Absolute Encoder) Terminal Arrangement Diagram 2 4 A 6 B C 8 SG 10 1 3 A 5 B C 7 SG 9 5 V 12 14 16 SG SG 18 SG 20 SG 11 13 15 5 V 17 5 V 19 BAT− PS ECLR PS BAT+ Reserved 2 4 A 6 B C 8 SG 10 Reserved 1 3 A 5 B C 7 5 V 9 5 V 12 14 Reserved 16 SG SG 18 SG 20 SG 11 13 15 5 V 17 5 V 19 ReservedReserved • Connection differs depending on the type of the Servomotor sensor to be combined with the Servo Amplifier. • Note that the hardware inside the Servo Amplifier differs between the incremental encoder (INC-E) or the request signal-unavailable absolute encoder (ABS-E) and the request signal-available absolute sensor (ABS-RII) or wiring-saved absolute sensor (ABS-E.S1).
4. WIRING 4－17 ● Request signal-available absolute sensor (ABS-RII) terminal arrangement diagram Fig. 4-10 CN2 Connector (ABS-RII Request Signal-available Absolute Sensor) Terminal Arrangement Diagram ● Wiring-saved absolute sensor (ABS-E.S1) terminal arrangement diagram Fig. 4-11 CN2 Connector (ABS-E.S1 Wiring-saved Absolute Sensor) Terminal Arrangement Diagram 2 4 REQ− 6 SG SG 8 SG 10 1 3 REQ+ 5 −5 V −5 V 7 5 V 9 5 V 12 14 16 SG SG 18 SG 20 SG 11 13 15 5 V 17 5 V 19 BAT− PS ECLR PS BAT+ 2 4 OPEN 6 OPEN OPEN 8 SG 10 1 3 OPEN 5 OPEN OPEN 7 5 V 9 5 V 12 14 16 SG SG 18 SG 20 SG 11 13 15 5 V 17 5 V 19 BAT− ES OPEN ES BAT+
4. WIRING 4－18 4.5 Wiring Procedure The Servo Amplifier is control unit to process signals of several mV or less. Therefore, perform wiring observing the following items. 1 Input/output or sensor signal line For the input/output or sensor signal line, use recommended cables or their equivalent (twisted wires or multi-conductor twisted lump shielded wires). Wire them by taking the following precautions into account. • Wire them in the shortest distance. • Separate the main circuit line from the signal circuit line. • Do not wire the main circuit line on the side of the amplifier or near another amplifier. • We recommend 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 AWG12 wire is used.) 2 Earth cable • Earth the wire with the diameter of 2.0 mm 2 at one point. • Perform class 3 earth (earth resistance value: 100 Ω max.). • Be sure to connect the frame of the Servomotor (the grounding wire and the terminal) to the PE (protective earth) terminal ( ) of the Servo Amplifier. • Be sure to connect the PE (protective earth) terminal ( ) for the Servo Amplifier to that for the control panel. Be sure to ground it at one point. 3 Measures against malfunction due to noise Note the following to prevent malfunction due to noise. • Arrange the noise filter, the Servo Amplifier, and the upper controller as near as possible. • Be sure to install a surge absorbing circuit on the coils for the relay, the magnetic contactor, the induction motor and the brake solenoid. • Don’t pass main circuit signal lines in the same duct or overlap them. • When a large noise source such as an electric welding machine or an electric discharge machine exists nearby, insert a noise filter into the power supply and the input circuit. • Dont bind the noise filter primary and secondary side wires together. • Dont make the earth cable longer. 4 Measure against radio interference Since the Servo Amplifier is an industrial equipment, no measure against radio interference has been taken to it. If the interference causes some problem, insert a line filter to the power line input.
4. WIRING 4－19 1 Noise processing The main circuit of the Servo Amplifier uses IGBTs under PWM control. If the wiring processing is not earthed properly, switching noise may occur by di/dt and dv/dt generated when IGBT is switched. Because the Servo Amplifier incorporates electronic circuits such as the CPU, it is necessary to perform wiring and processing so as to prevent external noise from invading to the utmost. To prevent trouble due to this noise in advance, perform wiring and grounding securely. The power noise resistance (normal, common noise) of the Servo Amplifier is within 30 minutes at 1500 V, 1 µsec. Do not conduct a noise test for more than 30 minutes. 2 Motor frame earth When the machine is grounded through the frame, Cf x dv / dt current flows from the PWM power unit of the Servo Amplifier through the motor floating capacity (Cf). To prevent any adverse effect due to this current, be sure to connect the motor terminal (motor frame) to the PE (protective earth) terminal ( ) of the Servo Amplifier. Also, be sure to ground it directly. 3 Wire grounding When a motor is wired to a metal conduit or box, be sure to ground the metal. In this case, perform one-point grounding. 4 Miswiring Since miswiring in the Servo Amplifier and the Servomotor may damage equipment, be sure to check that wiring has been performed properly. 5 Protection against input overcurrent Be sure to connect a UL-approved circuit breaker and a fast-blown fuse to the Servo Amplifier input to protect the power line. For the capacity of the fast-blown fuse, refer to the following. Amplifier capacity 15 A, 30 A : 30 A fast-blown type Amplifier capacity 50 A : 50 A fast-blown type ｒ ｔ Ｒ Ｓ Ｔ 速断タ イ プ ヒ ュ ーズ ＭＣ ＡＣ電源 サーキッ ト ブ レ ーカサーボア ン プ Ｐ Ｙ ２ ＣＮＡ 4.6 Precautions on Wiring Perform wiring observing the following completely. PY2 Servo Amplifier CNA AC power supply Fast-blown fuse Circuit breaker r t R S T MC
4. WIRING 4－20 6 Leakage current Even after the motor frame is grounded as specified, leakage current flows in the input power line. When selecting a leak detection-type breaker, make sure that no oversensitive operation is caused by high-frequency leakage current by referring to “Servo Amplifier/Servomotor Leakage Current” in the specifications. 7 Power supply surge When a surge voltage occurs in the power supply, connect a surge absorber between the powers to absorb the voltage before operation. 8 Lightning surge When there is a possibility that a lightning surge over 2kV may be applied to the Servo Amplifier, take countermeasures against the surge at the control panel inlet. For lightning surge protectors to be inserted to each Servo Amplifier inlet, the product in the following table or its equivalent is recommended.
4. WIRING 4－21 4.6.1 Recommended Surge Protector When purchasing the following, directly make a reference to the maker for it. Item Specification Model No. R.A.V-781BXZ-2A (Okaya Electric Industries Co., Ltd.) External dimensions Maximum allowable circuit voltage 300 Vrms Clamp voltage 783 V±10% Surge-resistant current 2500 A (waveform) 8 × 20 µs Surge-resistant voltage 20 kV (waveform) 1.2 × 50 µs Connection diagram Weight Approx. 100 g Fig. 4-12 Recommended Surge Protector 3 2 1Yellow/green Black Black Black Yellow/green 11±1 28.5±1 200 28.5±1 4.5 φ4.2 Resin : Expoxy, black Case : PBT, black UL-1015AWG16 (0.26.26) black, yellow/green Black +30 −0 5.5±144.5±1