Sanyo Denki Py 2 Manual
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5. INSTALLATION 5 - 8 Table 5-1 P Series Motor Allowable Radial and Thrust Load During assembly During operation Models Radial load (kg) Thrust load (kg) Radial load (kg) Thrust load (kg) FR F Direction F1 Direction FR F Direction F1 Direction P1 P10B10030 60 80 80 40 10 10 P10B10075 60 80 80 40 10 10 P10B13050 100 140 140 50 10 10 P10B13100 100 140 140 50 10 10 P10B13150 100 140 140 70 10 10 P10B18200 230 190 190 150 50 50 P2 P20B10100 100 30 30 70 30 30 P20B10150 100 30 30 70 30 30 P20B10200 100 30 30 70 30 30 P3 P30B04003 10 8 8 5 3 3 P30B04005 15 10 10 10 3 3 P30B04010 15 10 10 10 3 3 P30B06020 40 20 20 20 8 8 P30B06040 40 20 20 25 10 10 P30B08075 60 40 40 35 20 20 P5 P50B03003 7 7 7 6 2 2 P50B04006 15 10 10 10 3 3 P50B04010 15 10 10 10 3 3 P50B05005 20 20 15 15 8 8 P50B05010 20 20 15 15 8 8 B50B05020 25 20 15 15 8 8 P50B07020 25 50 20 20 10 10 P50B07030 25 50 20 20 10 10 P50B07040 25 50 20 25 10 10 P50B08040 60 80 30 35 20 20 P50B08050 60 80 30 35 20 20 P50B08075 60 80 30 35 20 20 P50B08100 60 80 30 35 20 20 P6 P60B13050 65 130 130 35 35 35 P60B13100 100 140 140 65 50 50 P60B13150 170 190 190 65 50 50 P8 P80B15075 100 140 140 65 50 50 P80B18120 150 140 140 95 50 50
5. INSTALLATION 5 - 9 LR LR/3 Thrust load F direction F1 direction Point loaded Fig. 5-9 Radially loaded position 5.3 Cable Installation • Be careful not to give stress or damage to cables. • When the motor and cables are moved by cable bearer, determine a bending radius of each cable by the necessary flexure lifetime and type of wire. It is recommended that the cable of a movable portion should have a structure that permits periodic replacement. When you desire to use a recommended cable for a movable portion, consult with our company. The allowable radial load refers to the maximum load applicable to the point one-third of the output shaft length away from the output shaft (see the figure below).
6. OPERATION 6－1 OPERATION 6.1 Operation Sequence.................................................................... 6-2 6.1.1 Power ON Sequence........................................................ 6-2 6.1.2 Stop Sequence..................................................................6-3 6.1.3 Servo OFF Sequence....................................................... 6-5 6.1.4 Alarm Reset Sequence..................................................... 6-6 6.1.5 Overtravel Sequence........................................................ 6-7 6.2 Display ......................................................................................... 6-8 6.2.1 Status Display................................................................... 6-8 6.2.2 Alarm Display.................................................................... 6-8 6.3 Be Sure to Check the Functioning at First ................................... 6-9 6.3.1 Minimum Wiring................................................................ 6-9 6.3.2 Jog Operation.................................................................... 6-10 6.3.3 Reseting and Turning the Power Off ................................. 6-12 6.4 Encoder Clear Using Remote Operator (When Absolute Encoder is Used) ............................................... 6-13
6. OPERATION 6－2 6.1 Operation Sequence The frequency of power ON/OFF should be 10 times/H or less, and 50 times/day or less. 6.1.1 Power ON Sequence Fig. 6-1 Control power ON (r, t) Sequence power ON (CN1) 2.5 Sec or less Amplifier ready output (RDY) Start ready ON (external switch) Main circuit power supply (R, S, T) Release Dynamic brake release Approx. 1.0 Sec 1 Start ready complete (SRDY) 1 The dotted line denotes an option. 2 RDY1 and RDY2 in the safety circuit are optional. 3 The thermostat output in the external regenerative resistor can be connected to general-purpose input CN1 of the amplifier. R S T r t Install a spark killer on the magnetic contactor (Okaya Electric Industries Co., Ltd.: CRE-50500) Safety circuit 3φ 200 V to 230 VAC 50 Hz to 60Hz External regenerative resistor: Overheating detection thermostat System erro rEmergency sto p Input to CN1 External regenerative resistor Start read y DC power supply for brake Holding brake Fast-blown fuse Prevention against common/ normal mode noise Circuit braker 2P Y RDY1 MC RDY2 MC MC Encoder signal CN1CN2 MC Controller Motor U V W E U V W 3 1 24 VDC OP 1 MC RY Noise filter 1 The time period from main circuit power ON to SRDY is approx. 1 sec. However, in case of single phase power of Amplifier with 50A capacity, that will be approx. 1.5 sec.
6. OPERATION 6－3 6.1.2 Stop Sequence 6.1.2.1 Stop and recovery due to emergency stop input 1 • Release emergency stop before inputting start ready. 2 • The holding brake timing (standard value 300 ms, in Parameter Mode 1 on page 13) can be changed to 0 to 1 sec. However, when it is set at 0 msec, command ineffective (forced zero) status continues for 4 msec after SON. • The current is limited by the sequence current limit value (standard value 120 %, in parameter Mode 1 on page 12) between t2 and t3. 3 • It is possible to make commands ineffective (forced zero) during t3 after SON by setting Func1 bit5 to 0 when setting parameters. In case of the position control type, however, the command pulse remains as a deviation for t3. • It is possible to make commands effective immediately after SON by setting Func1 bit5 to 1 when setting parameters. However, the sequence current limit value is applied when switching from SON to SOFF and is not applied when switching from SOFF to SON. 4 • If an emergency stop occurs in a heavy load status, MPE (Main circuit Power Error, alarm 9) may be activated. 5 • It is possible to output the command effectiveness from CN1-39 and 40 pins by using parameter Func4. 6 • The time period from main circuit power ON to SRDY is approx. 1 sec. However, in case of single phase power of Amplifier with 50A capacity, that will be approx. 1.5 sec. 7 • When the alarm generates, assemble the safety circuit outside of the amplifier. Running away, injury, burning, fire, and secondary damage may be caused. ON OFF ON OFF 300 mSec ( 2) Contact open Start ready ON (external switch) Emergency stop (EMR) Main circuit power supply (R, S, T) Amplifier ready output (RDY) Dynamic brae Servo ON (SON) Holding brake excitation timing output (HBON) Start ready complete output (SRDY) Motor excitation Command effectiveness output ( 5) ( 1) 300 mSec ( 2) OFF OFF OFF OFF (holding brake operation) ON (operating) OFF OFF OFF Command ineffective (forced zero) Approx. 50 to 100 mSec ON Effective ON t1t3 t2 ON (release) ON OFF ON ON ON ON ( 3) (release)
6. OPERATION 6－4 6.1.2.2 Stop and recovery due to an internal error 1 • In an internal error status, inputting emergency stop has no effect. However, release it before inputting start ready. 2 • As per the alarm reset sequence. 3 • The holding brake timing (standard value 300 ms, in Parameter Mode 1 on page 13) can be changed to 0 to 1 sec. However, when it is set at 0 msec, command ineffective (forced zero) status continues for 4 msec after SON. • The current is limited by the sequence current limit value (standard value 120 %, in parameter Mode 1 on page 12) within 300 msec. 4 • It is possible to make commands ineffective (forced zero) for 300 msec after SON by setting Func1 bit5 to 0 when setting parameters. In case of the position control type, however, the command pulse remains as a deviation for 300 msec. • It is possible to make commands effective immediately after SON by setting Func1 bit5 to 1 when setting parameters. However, the sequence current limit value is applied when switching from SON to SOFF and is not applied when switching from SOFF to SON. 5 • It is possible to output the command effectiveness from CN1-39 and 40 pins by using parameter Func4. 6 • The time period from main circuit power ON to SRDY is approx. 1 sec. However, in case of single phase power of Amplifier with 50A capacity, that will be approx. 1.5 sec. Contact open Start ready ON (external switch) Emergency stop (EMR) Main circuit power supply (R, S, T) Amplifier ready output (RDY) Dynamic brae Internal abnormality (ALM) Servo ON (SON) Holding brake excitation timing output (HBON) Start ready complete output (SRDY) Motor excitation Command effectiveness output ( 5) ( 1) OFF OFF OFF (holding brake operation) ON (operating) OFF ON Command ineffective (forced zero) OFF OFF OFF 300 mSec ( 2) ON Effective ON ON ON t3 ON ON ON ON ( 4) ( 2)
6. OPERATION 6－5 6.1.3 Servo OFF Sequence 6.1.3.1 When holding brake timing THB is set at 300 msec (standard) 6.1.3.2 When holding brake timing THB is set at 0 msec ( 1) 1 • The current is limited by the sequence current limit value (standard value 120%, which is changed in Parameter Mode 1 on Page 12) for 300 mSec. 2 • It is possible to make commands ineffective (forced zero) for 300 msec after SON by setting Func1 bit5 to 0 when setting parameters. In case of the position control type, however, the command pulse remains as a deviation for 300 msec. • It is possible to make commands effective immediately after SON by setting Func1 bit5 to 1 when setting parameters. However, the sequence current limit value is applied when switching from SON to SOFF and is not applied when switching from SOFF to SON. 3 • It is possible to output the command effectiveness from CN1-39 and 40 pins by using parameter Func4. 1 This setting cannot prevent a self-weight fall by using holding brake excitation timing output. Secure command input timing that does not hold off braking. 2 It is possible to make commands effective immediately after SON regardless of THB setting, by setting Func1 bit5 to 1 when setting parameters. ON ( 2) ON Effective Start ready complete output (SRDY) Servo ON (SON) Holding brake excitation timing output (HBON) Motor excitation Command effectiveness output ( 3) 12 mSec or less OFF (holding brake operation) 300 mSec ( 1) 300 mSec or less 12 mSec or less ON (release) ON ON ON Command ineffective (forced zero) OFF OFFON ON OFFOFF ON ON Effective Start ready complete output (SRDY) Servo ON (SON) Motor excitation Command effectiveness out put 12 mSec or less ( 2) 12 mSec or less ON ON ON Command ineffective (forced zero) OFF OFFON ON OFF OFFOFF ON 4 mSec
6. OPERATION 6－6 6.1.4 Alarm Reset Sequence 40 mSec or more ON OFF OutputNot output ON OFF Display/alarm output clear Reset input CN1-30 (23: common) (RST) Alarm code output or alarm bit output (ALM) Amplifier ready output (RDY) 1 Regarding the upper controller, turn off reset input after checking that no alarm occurs by watching the alarm output. 2 When the alarm status continues in spite of reset input, the alarm output is not cleared. It is necessary to set a time-out period of 40 mSec or more to return reset input to the original status. 3 Sensor error (DE), servo processor error (DSPE), memory error (MEME) and CPU error (CPUE) cannot be reset unless the control power supply is turned off. 4 The battery alarm (AEE) output will not be cleared unless encoder clear is operated. When turning the control power on or off to reset an alarm, allow a sufficient control power off time. If the time is too short, another alarm may be issued.
6. OPERATION 6－7 6.1.5 Overtravel Sequence ONForward revolution side overtravel (PROT) OFF Backward revolution side overtravel (NROT) Input command Internal command Backward revolution command Forward revolution command Input command effective Input command effective Current limit Normal limit Normal limit 12 mSec or less 12 mSec or less OFF OFF Command ineffective (forced zero) Sequence current limit value ( 2) ON OFF OFF OFF Forward revolution side overtravel (PROT) Backward revolution side overtravel (NROT) Input command Internal command Current limit 12 mSec or less 12 mSec or lessNormal limit Normal limit Sequence current limit value ( 2) Input command effective Input command effective Command ineffective (forced zero) Forward revolution command Backward revolution command 1 Operation of command invalidation (forced zero) differs between the position and velocity control types. For the position control type, command pulses are inhibited, and for the velocity control type, the velocity command becomes zero (VCMD = 0). These settings are validated when the acceleration/deceleration time (Tvac, Tvde) or low pass filter (VLPF) parameter is set. 2 Sequence current limit value can be changed by SILM in the Parameter Mode 1 on Page 12.
6. OPERATION 6－8 6.2 Display The Servo Amplifier status and alarms are displayed by LED and 7-segment LED. 6.2.1 Status Display Table 6-1 Status Display Display Explanation of status LED POWER ON The control power supply of +5 V is set up. 7-segment LED The control power supply (r, t) is set up and the amplifier ready output (RDY) signal is ON. 7-segment LED The main power supply (R, S, T) is being turned on or set up but the start ready complete signal is OFF. 7-segment LED The main power supply (R, S, T) is set up and the start ready complete signal is ON. 7-segment LED Rotates in the form of the figure 8. The Servo ON signal is ON. 7-segment LED This indicates a battery warning status due to the lowering of the external battery power when an absolute encoder is used. (Replace the external battery.) 7-segment LED In the position/velocity control type, the forward revolution side is in an overtravel status. 7-segment LED In the position/velocity control type, the backward revolution side is in an overtravel status. LED CHARGE ON The smoothing capacitor of the main power supply is being charged. 6.2.2 Alarm Display For alarm display, refer to the paragraph pertaining to troubleshooing in Maintenance. When the alarm history is displayed by 7-segment LED, the battery warning . is not displayed.