Sanyo Denki PY Series Installation And Operation Manual Download Page 107

Page: 107 / 138

PY Manual

AMERICA

, Inc.

106

Velocity Loop, Integral Time Constant

Tvi

Remote Operator Mode:

Page:

Default Value:

15 (20) ms

Function:

Tune

Setting Range:

1 to 1000 ms

Description:

•

Integration time constant of the velocity controller (PI control).

•

Parameter can also be changed from Mode 0, Page 3

•

If you specify 1000 ms, proportional control is selected.

Velocity Command Zero Adjustment

Vzero

Remote Operator Mode:

Page:

Default Value:

$$$$

Function:

Tune

Setting Range:

+/- 16383

Description:

•

Offset of the velocity command (adjustment).

•

The value varies according to the adjustments done at shipment. You can change the setting by executing
offset adjustment of the test mode (Page 2 and 3).

Kvp (1+

∫

1/Tvi dt)

Velocity
Error

Velocity Regulator
Output

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Summary of Contents for PY Series

Page 1: ...l service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE INSPECTION Remotely inspect equipment before purchasing with our interactive website at www instraview com LOOKING FOR MORE INFORMATION Visit us on the web at www artisantg com for more information on ...

Page 2: ... PY Servo System Installation and Operation Manual Tel 86 10 51298818 Fax 86 10 61746631 China sanyodenki net SANYO DENKI Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 3: ...on Diagram PY2 with P3 P5 Motor 34 Connection Diagram PY2 with P2 P6 Motor 35 Connection Diagram PY0 with P3 P5 Motor 36 Connection Diagram PY0 with P2 P6 Motor 37 CNA CND and CNB Connectors 38 Input Output Internal Circuits 39 CN1 Control Connector 41 CN2 Motor Encoder Connector 45 Operator Terminal 46 External Regeneration Resistors 47 Wiring Check List 53 OPERATION 54 Chapter Overview 54 Pre Op...

Page 4: ...er Overview 77 Parameter Summary by Mode and Page 80 Detailed Description of Parameters 83 MAINTENANCE AND TROUBLESHOOTING 117 Chapter Overview 117 Maintenance 118 Troubleshooting 118 SPECIFICATIONS 128 Chapter Overview 128 Acceleration and Deceleration Time 129 Dynamic Brake 130 Miscellaneous Servo Motor Specifications 132 INDEX 133 Artisan Technology Group Quality Instrumentation Guaranteed 888 ...

Page 5: ...tem Leakage Current 33 Table 11 CNA CND and CNB Connector Pin Assignments 38 Table 12 CN1 Internal Circuits 39 Table 13 CN1 Pin Assignments 41 Table 14 CN2 Pin Assignments 45 Table 15 Amplifier Regeneration Power 47 Table 16 Regeneration Resistor Selection 50 Table 17 Amplifier Status Display 55 Table 18 Monitor Mode Page Descriptions 74 Table 19 Alarm Mode Page Descriptions 75 Table 20 Quick Setu...

Page 6: ...th the application of servo motors and amplifiers informs you about all your product support options and finally provides an overview of the PY family of amplifiers the P2 P3 P5 and P6 family of motors and system options and accessories Chapter 2 Installation provides detailed directions that take you step by step from unpacking your system through installing the motor and installing the amplifier...

Page 7: ...ns for PY drive systems This includes a detailed reference for all the amplifier parameters To help you locate and interpret information easily this guide uses consistent visual cues and text formats The different symbols and typefaces displayed in this guide are used for the following purposes Table 1 Manual Syntax This symbol is used to identify important information of which you should take not...

Page 8: ...could result in severe injury or loss of life and equipment damage WARNING Perform the initial power up with the motor shaft disconnected from the load and the shaft key removed Improper wiring or undiscovered shipping damage could result in undesired motion Be prepared to remove power if excessive motion occurs Failure to observe this precaution could result in bodily injury WARNING Large leakage...

Page 9: ...e unit 3 Never install the system in a location where water or other fluids may be splashed or in a flammable gas atmosphere 4 Never place objects on this equipment Doing so may result in damage burns or fire 5 Avoid strong shocks to equipment This may result in injury or damage to equipment WARNING During normal operation the amplifier motor and peripheral equipment could become hot enough to cau...

Page 10: ...ervo Systems application notes and answers to frequently asked questions from this site Sanyo Denki America maintains a Technical Support center that is staffed weekdays except holidays between 8 30 AM and 5 30 PM Eastern Standard Time Telephone 770 497 8086 or Toll Free 1 888 531 8213 Facsimile 770 497 8666 Online Support Telephone Support Artisan Technology Group Quality Instrumentation Guarante...

Page 11: ...ki designs and manufactures a wide range of servo and stepper motors Twenty 10 without brakes and 10 with brakes models from the P2 P3 P5 and P6 families are available to you from Sanyo Denki America via MotionOnline com P20B10150D 1 5kW 4 9Nm P30B06040D 400W 1 37Nm P20B10250D 2 5kW 8 8Nm P30B08075D 750W 2 55Nm P20B13300D 3 0kW 10 8Nm P50N05020D 200W 0 686Nm P20B13500D 5 0kW 18 1Nm P50N08100D 1kW ...

Page 12: ...D 1500 4 9 P20B10250D 2500 8 8 P20B13300D 3000 10 8 P20B13500D 5000 18 1 P50N05020D 200 0 686 P50N08100D 1000 3 92 P60B13150H 1500 7 5 The remote operator or PY software is required to set change all the parameters in the traditional PY amplifiers The remote operator is not required for operation and may therefore be shared between all the drives in a system The same remote operator is used for th...

Page 13: ...bles These cables may be ordered in standard 10 15 20 30 50 75 or 100 ft or custom lengths Standard cables are usually available directly from stock Optional external regeneration resistors are available to extend the continuous regeneration power of the amplifier Cables External Regen Resistors Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 14: ...k the Amplifier 14 Inspection 14 Amplifier Installation 15 General Requirement 15 Mounting and Clearance Requirements 16 Amplifier Environmental Requirements 18 Power Dissipation 18 Enclosure Size 19 Motor Installation 20 Environmental Requirements 20 Motor Mounting 21 Motor Mounting 22 Motor Orientation and Cable Routing 23 Connecting the Load to the Motor 24 Bearing Load Specifications 26 Instal...

Page 15: ...the product match the box If they do not please contact Sanyo Denki America see page 9 Technical Support After unpacking verify that the servo amplifier and motor are free from any physical damage that may have occurred during shipment If you find damage contact your Buyer to make a claim with the shipper Perform the Inspection Test to verify functionality of the system Unpack the Amplifier Inspec...

Page 16: ... Therefore never install the amplifier in a corrosive gas environment Explosive Or Combustible Gas Environment Never install the amplifier in an explosive gas or combustible gas environment Relays and contactors which generate arcs sparks inside boxes and hot parts such as regeneration brake resistor may become ignition sources causing a fire or explosion Dust And Oil Environments Never install th...

Page 17: ...e provided on each side of the amplifier to allow air flow A B C D PY2A015 160 mm NA 25 mm NA PY2A030 160 mm NA 25 mm NA PY2A050 160 mm NA 50 mm NA PY0A015 225 mm NA 25 mm NA PY0A030 225 mm NA 25 mm NA PY0A050 225 mm 197 mm 50 mm 67 mm PY0A100 225 mm 197 mm 50 mm 92 mm PY0A150 225 mm 197 mm 75 mm 142 mm Only the PY0A050 PY0A100 and PY0A150 are equipped with the cooling fins Mounting and Clearance ...

Page 18: ...5 mm NA PY0A050 225 mm 212 mm 50 mm 67 mm PY0A100 225 mm 212 mm 50 mm 92 mm PY0A150 225 mm 212 mm 75 mm 142 mm Only the PY0A050 PY0A100 and PY0A150 are equipped with the cooling fins 50 mm or more 50 mm or more Front Surface Mounting 4 M5 A C Front Surface Cut out D B Cooling Air Flow 90 mm or more Fins Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 19: ...e power dissipation information and the formulas that follow Table 4 Power Dissipation Power Dissipation W Drive Model Motor Model Total PCB Heatsink PY2A015 P30B04010D 19 PY2A015 P50N05020D 23 PY2A030 P30B06040D 32 PY2A030 P30B08075D 45 PY2A050 P50N08100D 54 PY2A050 P20B10150D 85 55 30 PY2A050 P60B13150H 85 50 50 PY0A015 P30B04010D 19 PY0A015 P50N05020D 23 PY0A030 P30B06040D 32 PY0A030 P30B08075D...

Page 20: ...nclosure required 1 1 08 4 A Q T Where T Temperature difference between inside air 130 F maximum and outside air F Q Total amount of heat generated in the enclosure W A Surface area of the enclosure in ft2 2DW 2DH 2WH 144 D Depth in inches H Height in inches W Width in inches Enclosure Size Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 21: ...nvironmental Requirements Item Specification Ambient Temperature Operating Non operating 0 to 40C 32 to 104 F 20 to 65C 4 to 149 F Humidity Maximum 20 to 90 Non condensing Air Quality Dust free Oil free Non corrosive Non combustible Non explosive Environmental Requirements Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 22: ... 52 90 70 0 000 0 030 3 107 80 6 6 40 16 0 000 0 011 35 M5 12 6 7 P50N05020 105 134 5 38 66 68 38 1 0 000 0 051 1 524 71 5 57 15 5 207 30 11 0 000 0 011 25 M4 10 7 5 P50N08100 172 212 8 55 98 43 73 025 0 000 0 051 2 5 115 86 5 588 35 16 0 000 0 011 30 M5 12 7 5 Motor Mounting LC 4 ØLZ1 ØLH ØLA LG LE LR ØLB 07 M 02 06 M M ØS Q LL QE tap Depth LT 1000 100 1000 100 ØD1 Ø4 7 KL OPTIONAL BRAKE CONNECTO...

Page 23: ...10 0 000 0 035 4 165 130 M6 55 28 0 000 0 013 50 42 6 0 000 0 030 P20B13500 267 58 309 100 190 P60B13150 152 57 185 90 75 98 21 12 145 110 0 000 0 035 4 165 130 M6 55 22 0 000 0 013 50 42 6 0 000 0 030 Motor Mounting LC 4 Ø9 ØLH ØLA KL1 KL2 2 LZ2 THROUGH TAPPPING FOR MOTOR LL LG LE LR ØLB Q QK 3 ØS H H 08 M 02 08 M M KB1 KB2 SECTION H H W 2 5 6 KL 19 KEY POSITION MOTOR OPTIONAL BRAKE ENCODER SHAFT...

Page 24: ... are not attached Protected against dust limited ingress no harmful deposit and low pressure jets of water from all directions limited ingress permitted P2 P6 IP67 Motor shaft seal installed standard Cable with environmental connectors are connected to motor standard The motor is not protected when cables are not attached Protected against dust and effects of immersion Since the IEC standard is in...

Page 25: ...nto the motor The mechanical connection between the motor and the load is critical An improper connection can limit performance and shorten the life of the motor Perform centering accurately between the motor shaft and the load as shown in the figure below Note that with a rigid coupling a slight offset will lead to damage of the output shaft Connecting the Load to the Motor Seal with a gasket Do ...

Page 26: ...t flange with a rubber or plastic hammer When installing the motor to the machine make the mounting holes precise Also make the mounting surface as flat as possible to avoid damage to the motor shaft or bearing When installing a gear pulley or coupling on the shaft avoid striking the shaft which will damage the motor encoder Use a bolt on the end of the shaft to pull tight fitting parts together M...

Page 27: ...wable loads when independently applied to the shaft Table 7 Allowable Radial and Thrust Loads During Assembly During Operation Model Radial Load Fr kg Thrust Load Ft kg Radial Load Fr kg Thrust Load Ft kg P30B04010D 15 10 10 3 P30B06040D 40 20 25 10 P30B08075D 60 40 35 20 P50N05020D 25 20 15 20 8 P50N08100D 60 80 30 35 20 P20B10150D 100 30 70 30 P20B10250D 100 30 70 30 P60B13150H 173 194 65 50 P20...

Page 28: ... near the amplifier does not exceed 55 C during operation The motor has been securely mounted to the machine and the load has been securely attached to the motor shaft The radial and perpendicular alignments of the motor and load have been measured and are within specification The radial and thrust loading on the motor shaft have been measured and are within specification Artisan Technology Group ...

Page 29: ...ion Diagram PY2 with P2 P6 Motor 35 Connection Diagram PY0 with P3 P5 Motor 36 Connection Diagram PY0 with P2 P6 Motor 37 CNA CND and CNB Connectors 38 Input Output Internal Circuits 39 CN1 Control Connector 41 CN2 Motor Encoder Connector 45 Operator Terminal 46 External Regeneration Resistors 47 When to use an External Regeneration Resistor 47 Selecting the Right External Regen Resistor 50 How to...

Page 30: ...s Power Cable Part Motor PC D2 M2 XXX P2 1 5kW PC D3 M2 XXX P2 2 5kW PC D3 M3 XXX P2 3 5kW PC D2 M3 XXX P6 1 5kW PC D1 M1 XXX P3 P5 except P5 1kW PC D2 M1 XXX P5 1kW For 1Φ single phase power do not connect 230VAC to the S terminal of the bus power Leave this terminal unconnected Cable Connection Diagram for PY0 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisant...

Page 31: ...nection diagram follows Power Cable Part Motor PC D2 M2 XXX P2 1 5kW PC D2 M3 XXX P6 1 5kW PC D1 M1 XXX P3 P5 except P5 1kW PC D2 M1 XXX P5 1kW For 1Φ single phase power do not connect 230VAC to the S terminal of the bus power Leave this terminal unconnected Cable Connection Diagram for PY2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 32: ...ers and motion controller as closely to each other as possible to minimize signal length and reduce effects of noise 4 Install surge suppression circuits on relays electromagnetic contactors brake solenoids and other inductive loads 5 Do not pass the bus power and circuits and control signals in the same conduit or bind them together 6 When a large electrical noise source such as an arc welder is ...

Page 33: ...ver current protection are of particular importance Failure to observe this could result in severe injury or loss of life Table 8 Applicable Wire Sizes Terminal PY2A015 PY0A015 PY2A030 PY0A030 PY2A050 PY0A050 PY0A100 PY0A150 Bus Power R S T 16 14 12 10 8 Control Power r t 16 Motor Power U V W 16 14 12 10 8 Regen Resistor Power Thermostat Y COM P H1 H2 16 20 14 20 Drive Ready Relay RDY1 RDY2 20 Enc...

Page 34: ...40A PY0A050 P60B13150H 2 5kVA 7 3A 18A 40VA 0 2A 40A PY0A050 P20B10150D 3 0kVA 8 7A 18A 40VA 0 2A 40A PY0A100 P20B10250D 4 2kVA 12 2A 18A 40VA 0 2A 40A PY0A100 P20B13300D 5 0kVA 14 5A 18A 40VA 0 2A 40A PY0A150 P20B13500D 8 3kVA 24 0A 18A 40VA 0 2A 40A Zero to peak currents not RMS current Leakage Current The servomotor is driven under the PWM control of an IGBT inverter in the amplifier This produ...

Page 35: ...ils command or torque command The analog input can be programmed for velocity The position command is not available when drive is programmed for velocity or torque mode required for the inputs An external power supply 5 to 24VDC is breakout screw terminal board with CN1 cable Automation Intelligence offers an optional custom length motor power and brake cables Automation Intelligence offers standa...

Page 36: ...r torque command The analog input can be programmed for velocity The position command is not available when drive is programmed for velocity or torque mode required for the inputs An external power supply 5 to 24VDC is breakout screw terminal board with CN1 cable Automation Intelligence offers an optional custom length motor power and brake cables Automation Intelligence offers standard and custom...

Page 37: ...p details command or torque command The analog input can be programmed for velocity The position command is not available when drive is programmed for velocity or torque mode required for the inputs An external power supply 5 to 24VDC is breakout screw terminal board with CN1 cable Automation Intelligence offers an optional custom length motor power and brake cables Automation Intelligence offers ...

Page 38: ... velocity The position command is not available when drive is programmed for velocity or torque mode required for the inputs An external power supply 5 to 24VDC is breakout screw terminal board with CN1 cable Automation Intelligence offers an optional custom length motor power and brake cables Automation Intelligence offers standard and custom length encoder feedback cables Automation Intelligence...

Page 39: ...or is not used the internal resistor is connected to X and COM PY0 Drive and X and P PY2 Drive When an external regeneration resistor is used the internal resistor must be disconnected and the external resistor s are connected between COM and Y PY0 Drive and P and Y PY2 Drive RDY1 RDY2 Amplifier ready output terminals RDY1 and RDY2 are two terminals of a relay When the control power supply is ON a...

Page 40: ...ON PMUL INH ZCMD CN1 36 PCON PMUL INH ZCMD CN1 37 SON 2 Line Driver Inputs This input circuit is designed to receive signals for a line driver output equivalent to a 26LS31 It may also be connected to an open collector type output CN1 26 PPC CN1 27 PPC CN1 28 NPC CN1 29 NPC 3 Analog Input CN1 21 VCMD CN1 22 TCOMP TCMD 4 Analog Input This input is designed to receive positive analog voltage CN1 18 ...

Page 41: ...4 ALM2 CN1 45 ALM4 CN1 46 ALM8 7 Open Collector Output CN1 11 COP 8 Line Driver Output This line driver output circuit is designed to drive signals for a line receiver input equivalent to a 26LS32 Signals valid about 1 second after control power is applied CN1 3 A CN1 4 A CN1 5 B CN1 6 B CN1 7 C CN1 8 C 9 Analog Output CN1 15 MON1 CN1 16 MON2 1KΩ SG SG Max 50 mA 12 to 24 V and max 10 mA 5V 1 0 COM...

Page 42: ...utput 8 9 None Reserved N A 10 None Reserved N A 11 47 COP Encoder C channel Open Collector Output The logic can be reversed using the Func5 parameter Mode 2 Page 6 Bit 6 7 12 33 SG Encoder Signal Ground N A 13 48 COPG Signal Ground for COP signal Pin 11 N A 14 44 SG Monitor Signal Ground for MON1 and MON2 Pins 15 and 16 N A 15 43 MON1 Monitor 1 Output 2V 10 per 1000RPM velocity monitor Positive v...

Page 43: ...e rated torque Tr and is limited to the instantaneous maximum stall torque 3 23 34 12 24 VDC Input sequence power supply 1 External power for CN1 30 31 32 33 36 and 37 N A 24 28 12 24 VDC COM Output sequence power common Common for CN1 39 40 41 42 43 44 45 and 46 N A 25 11 12 24 VDC COM Output sequence power common Common for CN1 39 40 41 42 43 44 45 and 46 N A 26 5 PPC Positive Pulse Command Coun...

Page 44: ...unc3 parameter Mode 2 Page 4 Bits 0 and 1 PCON Proportional Control On With this input ON the velocity loop becomes proportional control ECLR This switch is turned ON to clear the position deviation PMUL VC S1 Pulse Multiplier With this input ON command pulses are multiplied by the gear ratio set by the PMUL parameter Mode 1 Page 3 35 36 49 20 INH ZCM D Inhibit With this input ON incoming pulses a...

Page 45: ...ol the holding brake relay 6 43 27 ALM1 Alarm Output 1 Alarm output 1 may be set to indicate any alarm Alarm bit or to be the least significant bit of a four bit alarm code This choice is made using the Remote Operator to set Func2 bit 6 Mode 2 page 3 The default is Alarm Code Output 6 44 26 ALM2 Alarm Output 2 see ALM1 6 45 25 ALM4 Alarm Output 3 see ALM1 6 46 24 ALM8 Alarm Output 8 see ALM1 6 47...

Page 46: ...B Encoder Negative B Signal Input 2 7 C Encoder Positive Index Signal Input 2 8 C Encoder Negative Index Signal Input 2 9 None Reserved N A 10 None Reserved N A 11 SG Signal Ground N A 12 SEN Sense This signal is used to sense the power supply voltage at the motor The amplifier then regulates the supply to maintain the proper voltage at the encoder N A 13 None Reserved N A 14 None Reserved N A 15 ...

Page 47: ...perator terminal connector is only intended to be used with the optional cable for the Sanyo Denki Remote Operator or PY Setup Software This connector is therefore not specified further Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 48: ...quired the amount of energy generated must be calculated and then compared to the capacity of the internal resistor An external regeneration Regen resistor is used when the internal regeneration resistor s allowable power is exceeded See the table below Table 15 Amplifier Regeneration Power Maximum Regeneration Power W Drive Model Internal Maximum available from AI PY2A015 0 220 PY2A030 0 220 PY2A...

Page 49: ...0 31 P20B13300D 0 80 0 0280 0 19 P20B13500D 0 85 0 0297 0 11 P30B04010D 0 292 0 0102 4 30 P30B06040D 0 533 0 0186 1 40 P30B08075D 0 565 0 0197 0 52 P50N05020D 0 436 0 0152 3 4 P50N08100D 0 553 0 0193 0 41 P60B13150H 0 900 0 0314 0 27 Horizontal load t0 cycle time tb time to decelerate Tb torque to decelerate Tb Tc Tf Tf friction torque Tc Tf torque to accelerate Motor Speed N Motor Speed and Torqu...

Page 50: ...me tUb time to decelerate with gravity TUb torque to decelerate with gravity Tf Tm friction torque torque due to offset gravity Tc Tf Tm torque to accelerate Motor Speed N Motor Speed and Torque Profile with Vertical Load Going Up Going Down N time to decelerate against gravity Tm load torque due to gravity Tm TDb torque to decelerate against gravity tDb TD torque to drive load down tD time to dri...

Page 51: ...0 230 20 60 230 20 110w Connection Diagram Type S Type P Resistor Part Number REGIST 500W20B 500W10B 50W7B Quantity 1 1 1 Resistance Ω 20 10 7 Power W 125 125 125 Dimensions w l d mm 80 250 40 80 250 40 80 250 40 125W Connection Diagram Type D Type D Type D Resistor Part Number REGIST 220W100B 220W50B Quantity 4 4 Resistance Ω 100 50 Power W 55 55 Dimensions w l d mm 60 230 20 60 230 20 220w Conne...

Page 52: ...sistor s above the amplifier The resistors get hot so protect adjacent equipment from the heat generated by the regen resistors How to connect a Regen Resistor CN5 3 CN5 2 CN1 10 CN1 11 External Regeneration Resistor Twist the wires for better EMC Servo Amplifier One External Regen Resistor Type D Twist the wires for better EMC CN5 3 CN5 2 CN1 10 CN1 11 Servo Amplifier Two External Regen Resistors...

Page 53: ... 4 200 60 0 4 42 7 4 3 300 270 6 6 Ø4 3 Silicone rubber glass braided wire 0 75mm black Silicone rubber glass braided wire 0 5mm white Thermostat 218 40 80 4 5 250 234 8 60 Ground mark 2 Ø4 5 Press fitting terminal for M5 2 M5 350 700 M3 3 M3 UL 1430 wire 0 2mm white 3 THERMOSTAT Silicone rubber glass braided wire 2mm white Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE ...

Page 54: ...onnections are secure 6 The bus power R S and T voltage and control signal voltages are within specification 7 If an external regeneration resistor is used ensure that the internal resistor is disconnected from H1 H2 PY0 and X COM PY2 8 If an external regeneration resistor is used ensure that power leads are twisted together and the thermostat leads are twisted together 9 Control wires are as shor...

Page 55: ...hapter Overview 54 Pre Operation 55 Amplifier Status Display 55 Power On Sequence 56 Stop Sequences 57 Stop and recovery due to loss of bus power interlock 57 Stop and recovery due to an internal error 58 Servo OFF Sequence 59 With 300mS Brake Delay 59 With no Brake Delay 60 Alarm Reset Sequence 61 Over travel Sequence 62 Positive Over Travel 62 Negative Over Travel 62 Artisan Technology Group Qua...

Page 56: ...nt and the amplifier ready output RDY signal is ON The bus power R S and T is present but the start ready complete SRDY signal is OFF The bus power R S and T is present and the start ready complete SRDY signal is ON The Servo ON signal is ON In the position velocity control the forward over travel limit PROT input is active In the position velocity control the reverse over travel limit NROT input ...

Page 57: ...ning on the power to the amplifier 1 Second or less Approximately 0 7 Seconds Release Control Power ON r t Sequence Power ON CN1 Amplifier Ready Output RDY Start Ready ON external switch Main Circuit Power Supply R S T Dynamic Brake Release Start Ready Complete Output SRDY Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 58: ...ent limit SILM is 120 It may be change in Mode 1 Page 12 3 It is possible to force the command to 0 for 300mS after Servo ON SON by setting ZCLP When in position mode the command pulses continue to affect the deviation for 300mS It is possible to make the command effective immediately after Servo ON SON by setting INH 4 If an interlock condition occurs while moving a heavy load a Bus Circuit Power...

Page 59: ...S by setting the Holding Brake Excitation Timing to 0 Mode 1 Page 13 The current is limited by the sequence current limit value for 300mS The default value for the sequence current limit SILM is 120 It may be change in Mode 1 Page 12 Stop and recovery due to an internal error Start Ready ON external switch Emergency Stop EMR Main Circuit Power Supply R S T Dynamic Brake Holding Brake Excitation Ti...

Page 60: ...uring this 300mS delay and will be present as a position error when the motor is enabled This 300mS delay may be eliminated by setting the Holding Brake Excitation Timing Mode 1 Page 13 to 0 Refer to the next section for more details Notes 1 The current is limited by the sequence current limit value for 300mS The default value for the sequence current limit SILM is 120 It may be changed in Mode 1 ...

Page 61: ... it was in when the Holding Brake Excitation output HBON was turned OFF This condition is common with vertical loads To eliminate this jump the holding brake delay can be set to 0 by changing the Holding Brake Excitation Timing Mode 1 Page 12 to 0 In this case the motor excitation will occur before the brake is actually released The drawback to this configuration is increased wear and strain on th...

Page 62: ...Input RST after checking that the Alarm Code Output ALM is OFF 2 Sensor Error DE DSP Errors DSPE Memory Errors MEME and CPU Errors CPUE cannot be reset unless the control power is cycled OFF and back ON Reset Input CN1 30 23 Common RST Amplifier Output Ready RDY Alarm Code Output or Alarm Bit Output ALM 40 msec or more On No Output Off Display Alarm Output Clear Artisan Technology Group Quality In...

Page 63: ...ation time Tvac Tvde or low pass filter VLPF parameters are set 2 Setting the Sequence Current Limit SILM parameter using the Remote Operator Mode 1 Page 12 can change sequence current limit values Positive Over Travel Negative Over Travel Input Command Forward Revolution Overtravel PROT Internal Command Backward Revolution Overtravel NROT Current Limit Input Command Effective 12 msec 12 msec Forw...

Page 64: ... Remote Operator Modes Navigation 65 PY Setup Software 66 Overview 66 Getting Started 66 Online Connections 66 Offline Modifications 67 Amplifier Parameter Modifications 67 Saving Amplifier Parameter Values 67 Jogging Operations 68 Amplifier Tuning 71 Auto Tuning 71 Manual Tuning 73 Monitor Screen 74 Remote Operator 74 PY Setup Software 74 Alarm Trace Screen 75 Remote Operator 75 PY Setup Software...

Page 65: ...ned in the parameter select mode Monitor The monitor mode is used to view internal values and the state of inputs and outputs Alarm Trace In the Alarm Trace mode the operator can review the current and previous 7 alarms Test In the test mode the operator can jog the servomotor and run the auto tuning algorithm Overview XXXXX yy zzzzzz SANYO DENKI REMOTE OPERATOR CN1 D M 1 D M 2 S G M 1 M 2 V C M D...

Page 66: ...OR SANYO DENKI REMOTE OPERATOR SANYO DENKI REMOTE OPERATOR 7 MODE ON MODE ON MODE ON SANYO DENKI REMOTE OPERATOR SANYO DENKI REMOTE OPERATOR Remote Operator Ver SANYO DENKI REMOTE OPERATOR Push Mode Key SANYO DENKI REMOTE OPERATOR Mode Select Push 0 to 4 Key MODE ON 0 MODE ON 3 F 2 E 1 C 13Parameters 18 Parameters 8 Items 5 Items Auto Tune Jog Before Next Before Next Before Next Before Next Before...

Page 67: ... can also be opened offline without connecting to the drive Insure that the drive is powered up if you wish to make an online connection 3 Start the PY Setup Software program 4 The initial screen will request that you to select either COM1 or COM2 for the online connection Select the choice that matches your available online cable connection If you intend to open a file offline the choice does not...

Page 68: ...find the desired parameter Each row on the Mode tab has a Page assigned in the left column This numbering system allows you to easily locate the parameter when it is referenced in the PY manual The parameters are located in the same Mode areas as the Remote Operator To modify a parameter click on the desired parameter to be modified Its current value will be displayed in the Input Value window Thi...

Page 69: ... the JOG operation current is limited by the sequence current limit value The default value is 120 It can be changed using the Remote Operator During JOG operations the overtravel limits are effective For example if a forward overtravel alarm occurs while jogging in the forward direction the motor speed will reduce to zero and no forward motion will be permitted The acceleration deceleration time ...

Page 70: ... when viewed looking at the motor shaft Jogging Operation Procedure with PY Setup Software Connect the computer to the drive and go online using the PY Setup Software After reaching the Main Menu complete the following actions Dec Inc Next Before MODE ON 7 WR SANYO DENKI REMOTE OPERATOR Test 0 Jog Set 10min 1 0 Enter Jogging Page 0 Set Jog Speed Save Setting Jog Negative Jog Positive Enter Test Mo...

Page 71: ...sh the jogging operation Otherwise select no 4 Once the Drive is ready a prompt will appear for entry of a speed Units are the speed are revolutions per minute Keep in mind that this is revolutions of the motor shaft before entry to gearboxes etc 5 After entry of a speed a new prompt will appear with CCW Counter Clockwise and CW Clockwise buttons 6 Press and hold the left mouse button on the desir...

Page 72: ...esence of external current limits may adversely affect the auto tuning results Best Results Auto tuning algorithms work best under the following conditions under other conditions manual tuning may be required The load inertia reflected to the motor shaft is similar to the inertia of the motor shaft The variations in load inertia and friction are small i e the load is not dynamic The system backlas...

Page 73: ...ing auto tuning the word ERROR appears on the Remote Operator Mechanical problems are the most common cause of an error during auto tuning drivetrain backlash or compliance Operations after Auto Tuning with the Remote Operator Upon exiting the Test Mode an OVF Deviation Over alarm occurs However this alarm is not entered into the alarm history Next Inc Dec Before MODE ON 3 C 2 0 WR SANYO DENKI REM...

Page 74: ...is could serve as an indication to your controller that the axis is no longer in position Otherwise select no 4 Select High Medium or Low Tuning on Menu 5 Select Yes for Offline Tuning Start Okay 6 Tuning Successful window will appear showing tuning values 7 Select Cancel to exit Tuning Mode Menu In applications where auto tuning is not suitable the servo loops may be tuned manually If you are not...

Page 75: ...ed current as a percent IP IR x 100 6 IFBK Indicates the actual current as a percent IP IR x 100 7 POS E Indicates the position error deviation counter value Pulses 8 CSU Indicates the electric angle of phase U Degrees 9 PCMD F Indicates the position command frequency Pulses sec 10 PS Indicates the absolute position Hexadecimal 11 FCCNT Indicates the position free run counter value Hexadecimal 12 ...

Page 76: ...mining and correcting the conditions that led to the alarms The monitor mode is mode 6 For the PY Setup Software click on the ALARM TRACE button on the Main Menu Screen to view alarm history Table 19 Alarm Mode Page Descriptions Page Switch Position Description 0 0 Current Status or Alarm 1 1 Previous Alarm 2 2 3 3 4 4 5 5 6 6 7 7 Oldest Alarm Remote Operator PY Setup Software SANYO DENKI REMOTE O...

Page 77: ...ess the 1 key to change bit 7 to a 1 Press the WR key to save the change 3 Select the proper motor Press ON Mode and 4 to enter the parameter select mode Press the key until you have switched to page 6 where you can set the motor type parameter Press the and keys to change to the proper motor type Press the WR key to save the change Cycle the control power OFF and back ON Adjust Tuning In many cas...

Page 78: ...l ways for easy reference The Remote Operator or PY Software can access the amplifier parameters Position Loop See page 78 Pictorial reference of all the parameters associated with tuning a controller that is configured for position control Velocity Loop See page 79 Pictorial reference of all the parameters associated with tuning a controller that is configured for velocity control Sorted by Mode ...

Page 79: ...w Pass Filter Gain Velocity CMD Low Pass Filter Velocity Loop Proportional Gain Integral Time Constant Current CMD Low Pass Filter Current CMD Notch Filter 1 Current CMD Notch Filter 2 Current Monitor Output Selection Torque CMD Scale Mode1 2 Mode 0 9 Mode 0 1 Mode 0 4 Mode 0 0 Mode0 5 Mode 0 3 Mode 0 2 Mode 0 6 Mode0 7 Mode0 8 Motor Mode 4 0 Mode 4 1 Mode 1 15 Mode1 4 Encoder Torque CMD Voltage A...

Page 80: ...Mode0 5 Mode 0 3 Mode 0 2 Mode 0 6 Mode0 7 Mode0 8 Motor Mode 4 0 Mode 4 1 Mode 1 15 Mode1 4 Encoder Torque CMD Voltage A B MON2 MON1 Velocity CMD Voltage This area active in torque mode is not Mode0 10 Mode0 11 0 100 CR1 CR1 1 CR1 External Internal to Drive External Current Limit Permit ILM CN1 31 Positive Current Limit PIL CN1 18 Negative Current Limit NIL CN1 19 Internal Current Limit IILM Mode...

Page 81: ... Filter 1 IBF1 200 to 1000 1000 Hz 0 7 Current Command Band Eliminate Filter 2 IBF2 IBF1 to 1000 1000 Hz 0 8 Position Command Low Pass Filter Time Constant Tpcm 0 to 4000 0 mS 0 9 Velocity Command Acceleration Time Tvac 0 to 9999 0 mS 0 10 Velocity Command Deceleration Time Tvde 0 to 9999 0 mS 0 11 Velocity Loop Proportional Gain Addition KvpA 0 to 255 0 Hz 0 12 Name Abbrev Range Default Units Mod...

Page 82: ...ect 2 Func2 0 1 00100000 Bit 2 3 Amplifier Function Select 3 Func3 0 1 00000001 Bit 2 4 Amplifier Function Select 4 Func4 0 1 00000001 Bit 2 5 Amplifier Function Select 5 Func5 0 1 00000000 Bit 2 6 Amplifier Function Select 6 Func6 0 1 00000000 Bit 2 7 Name Abbrev Range Default Units Mode Page Position Loop Gain Kp 1 To 1000 45 30 rad S 3 0 Velocity Loop Proportional Gain Kvp 10 To 3000 100 70 Hz ...

Page 83: ...egenerative RGKD 2 Ranges Built in R 4 9 Name Abbrev Range Default Units Mode Page Position Loop Gain 2 Kp2 1 To 1000 45 30 rad S 8 0 Velocity Loop Proportional Gain 2 Kvp2 10 To 3000 100 70 Hz 8 1 Velocity Loop Integral Time Constant 2 Tvi2 1 To 1000 15 20 mS 8 2 Current Command Value with Automatic Notch Filter Tuning Tn_F 30 to IP IR X 100 100 8 3 Observer load Inertia Ratio O_JL 0 to 3000 100 ...

Page 84: ...on controller Feed Forward Gain Kff Remote Operator Mode 0 Page 1 Default Value 0 Function Tune Setting Range 0 to 100 Description When set to 100 the following error becomes 0 when a constant speed is commanded Higher values of Kff reduce the following error of the position loop However too high of a value may cause the system to become unstable and vibrate Position Loop Gain KP dt x Kff dθi Posi...

Page 85: ...troller PI control The setting indicates the value when the load inertia is 0 Velocity Loop Integral Time Constant Tvi Remote Operator Mode 0 Page 3 Default Value 15 20 ms Function Tune Setting Range 1 to 1000 ms Description Integration time constant of the velocity controller PI control Kvp 1 1 Tvi dt Velocity Error Velocity Regulator Output Artisan Technology Group Quality Instrumentation Guaran...

Page 86: ...locity Command Low Pass Filter VLPF Remote Operator Mode 0 Page 5 Default Value 1000 Hz Function Tune Setting Range 1 to 1000 Hz Description The cut off frequency of the velocity command low pass filter Current Command Low Pass Filter ILPF Remote Operator Mode 0 Page 6 Default Value 450 Hz Function Tune Setting Range 1 to 1000 Hz Description The cut off frequency of the current command low pass fi...

Page 87: ...lue 1000 Hz Function Tune Setting Range 200 to 1000 Hz Description The center frequency of the notch filter with the characteristics shown in the following figure is set for the current command in the velocity loop dB Gain 62 fn fn 1 62 fn 3dB 0dB frequency Hz Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 88: ...ure is set for the current command in the velocity loop This parameter must satisfy the following requirement IBF1 IBF2 Position Command Low Pass Filter Time Constant Tpcm Remote Operator Mode 0 Page 9 Default Value 0 ms Function Tune Setting Range 0 to 4000 ms Description The time constant for the position loop low pass filter When it is set to 0 ms no filter is inserted dB Gain 62 fn fn 1 62 fn ...

Page 89: ...ty can accelerate by 1000 min 1 rpm per minute Even if the velocity command voltage suddenly changes the velocity command inside the servo amplifier is limited so that the acceleration is equal to that determined by this time Note This parameter is effective in the velocity control type Using this when an external closed loop position controller is used introduces a phase delay that may cause inst...

Page 90: ...e This parameter is effective in the velocity control type Using this when an external closed loop position controller is used introduces a phase delay that may cause instability and vibration This parameter determines the rate of deceleration when an over travel limit is reached Velocity Loop Proportional Gain Addition KvpA Remote Operator Mode 0 Page 12 Default Value 0 Hz Function Alarm Setting ...

Page 91: ...er setting Example When the parameter is set to 64 with a 2 000 pulse encoder the positioning complete signal is output when the value falls towards the target position in the following range Degrees 88 2 360 4 2000 1 64 Following Error Limit OVF Remote Operator Mode 1 Page 1 Default Value 256 Function Alarm Units x256 pulses Setting Range 1 to 32767 pulses Description The following error limit is...

Page 92: ...tronic gear ratio is for changing the magnification ratio of the command pulses changing this setting does not change the resolution of the position feedback The encoder in use determines the minimum positioning resolution Position Command Pulse Multiplier PMUL Remote Operator Mode 1 Page 3 Default Value 1 Function CMD Setting Range 1 to 63 Description A multiplier for the position command pulse c...

Page 93: ...position controller α 1 to 64 or 8192 ENCR β α β 1 when α 1 to 64 2 when α 3 to 64 1 to 8191 when α 8192 F out F in β α Low Speed LTG Remote Operator Mode 1 Page 5 Default Value 50 min 1 Function Monitor Setting Range 0 to 32767 min 1 Description Low Speed When the speed decreases below this set level the low speed LTG status is turned ON if enabled The LTG status can be output to CN1 39 or CN1 40...

Page 94: ...fault Value 50 min 1 Function Setting Range 0 to 32767 min 1 Description When the difference between the velocity command and the velocity feedback is smaller than the specified value the SPE status is turned on if enabled The LTG status can be output to CN1 39 or CN1 40 by setting Function Switch 4 Internal Velocity Command Value 1 VCI1 Remote Operator Mode 1 Page 8 Default Value 500 min 1 Functi...

Page 95: ...ts a velocity command value It is enabled by setting the Func3 parameter bits 3 2 1 and 0 to 1010 respectively and simultaneously turning both the CN1 35 pin and the CN1 36 pins ON The drive must be configured for velocity mode operation Current Limit Internal Value IILM Remote Operator Mode 1 Page 11 Default Value 100 Function Current Limit Setting Range 30 to IP IR x 100 Description By setting F...

Page 96: ...meter do not take affect until the control power is cycled OFF and back ON The setting is a percentage of rated current IR Holding Brake Excitation Timing THB Remote Operator Mode 1 Page 13 Default Value 300 ms Function Setting Range 0 to 1000 ms Description Sets the holding brake excitation timing Select 0 when this function is not used Velocity Command Scale Adjustment VCMS Remote Operator Mode ...

Page 97: ...e Encoder 2048 P R Changes to this parameter do not take affect until the control power is cycled OFF and back ON When changing this setting set Func6 Bit 7 to 1 from Mode 2 prior to the change Number of Pulses of Fully Closed Encoder EENP Remote Operator Mode 1 Page 17 Default Value 2000 P R Function Setting Range 500 to 65535 P R Description Sets the number of pulses of the encoder used in terms...

Page 98: ... Backward Revolution Code Pulse 90 Degree Phase Difference 1 0 1 0 High Speed Low Speed 1 4 0 1 Switching of Digital Filter Bit 5 Prohibited Command Pulse Form 1 Standard CCWP Input Polarity Switching Counts at the Rising Edge Backward Revolution 0 0 0 1 1 0 1 Selection of Revolution Direction Counts at the Falling Edge 1 0 0 0 1 1 0 1 Minimum Pulse Width Maximum Frequency Digital Filter for Comma...

Page 99: ...d 4 are internally turned ON they become ineffective if the over travel input logic is b contact Also bits 3 and 4 are always in over travel status if the over travel input logic is a contact When changing the setting of Bit 7 or 6 you must turn the control power OFF once prior to making the change 7 6 5 4 3 2 1 0 SON 0 Externally Effective 1 Internally Forced ON CN1 36 Pin Mask 0 Externally Effec...

Page 100: ...ng the alarm The current limit is enabled only after the CN1 31 pins are turned on 7 6 5 4 3 2 1 0 Current Limit Control Method 0 Internal Setting Enabled 1 External Analog Input Enabled Backward Revolution Current Limit Input Form 0 Selects NIL Input 1 Selects PIL Input NIL Input Polarity 0 Negative Polarity 1 Positive Polarity Positioning Method 0 Specify Pulse Interval 1 Specify Pulse Edge Devi...

Page 101: ...oad motor shaft side 7 6 5 4 3 2 1 0 Monitor 1 Output Polarity 0 Positive Output at Forward Revolution 1 Negative Output at Forward Revolution Monitor 2 Output Polarity 0 Positive Output at Forward Revolution 1 Negative Output at Forward Revolution Monitor 1 Output Absolute Value 0 Negative Positive Output 1 Absolute Value Output Monitor 2 Output Absolute Value 0 Negative Positive Output 1 Absolut...

Page 102: ...cted for the control mode Bit 6 is enabled when the gain switching mode is selected Setting bits 3 2 1 and 0 to 1010 in the velocity control mode enables the internal velocity command Setting bits 3 and 2 ON or 1 and 0 alone does not make this command valid As long as the input signal for control mode or gain switching is assigned to the CN1 35 pin input signal selection with Func3 Bits 1 and 0 is...

Page 103: ... M atching 0 1 1 bit 0 0 LTG Low Speed HTG High Speed 1 bit 3 CM D Command Accept Permit INP Positioning Complete 1 0 1 bit 4 0 CN 1 3 9 Pin Out put Terminal ILM Current Limit Status LTG Low Speed HTG High Speed SPE Speed M atching CN 1 4 0 Pin Out put Terminal ILM Current Limit Status 1 1 1 0 1 CN 1 3 9 Pin Out put Logic Select OFF at Status Output 0 0 On at Status Output bit 1 0 0 1 7 6 5 4 3 2 ...

Page 104: ...d ed O ut p ut Sig nal Sw it ching Forward Revolution at Positive Input Backward Revolution at Positive Input Forward Revolution at Positive Input Backward Revolution at Positive Input Forward Revolution at Positive Input Backward Revolution at Positive Input H Active L Active Even if you choose the fully closed encoder using the Func0 Bit 7 parameter the divided output remains the same The Fully ...

Page 105: ... 1 Alarm Disabled 1 Permitted Not Permitted 0 P PI Aut o Swit ching Funct ion Test M ode Alarm Set t ing Syst em Paramet er R ewrit e 0 Disabled 1 Test M ode Execut ion Disabled Enabled Alarm Enabled After operation Bits 7 and 6 must be set at 0 again Turning OFF the control power returns bits 7 6 and 4 back to 0 If Bit 0 is set to 1 and alarm memory error will be indicated After the necessary par...

Page 106: ...r can also be changed from Mode 0 Page 0 Velocity Loop Proportional Gain Kvp Remote Operator Mode 3 Page 1 Default Value 100 70 Hz Function Tune Setting Range 10 to 3 000 Hz Description Proportional gain of the velocity controller PI control The setting indicates the value when the load inertia is 0 Parameter can also be changed from Mode 0 Page 2 Artisan Technology Group Quality Instrumentation G...

Page 107: ...u specify 1000 ms proportional control is selected Velocity Command Zero Adjustment Vzero Remote Operator Mode 3 Page 3 Default Value Function Tune Setting Range 16383 Description Offset of the velocity command adjustment The value varies according to the adjustments done at shipment You can change the setting by executing offset adjustment of the test mode Page 2 and 3 Kvp 1 1 Tvi dt Velocity Err...

Page 108: ... V IR Peak Ic 2V IR Current Command 2 V IR Peak Vm 2mV min 1 Velocity Monitor 2 mV min 1 Vm 1mV min 1 Velocity Monitor 1 mV min 1 Vm 3mV min 1 Velocity Monitor 3 mV min 1 Vc 2mV min 1 Velocity Command 2 mV min 1 Vc 1mV min 1 Velocity Command 1 mV min 1 Vc 3mV min 1 Velocity Command 3 mV min 1 Per 50mV P Position Deviation 50 mV 1 Pulse Per 20mV P Position Deviation 20 mV 1 Pulse Per 10mV P Positio...

Page 109: ...eck pin M2 as shown above Gain Switching Select older models only GAIN Remote Operator Mode 4 Page 2 Default Value Fix Function Setting Range 2 Choices Description Enables gain switching by an external input Indication Contents Fix Gain Switching Disabled Select Gain Switching Enabled Choosing Select allows you to switch between Kp Kvp and Tvi from screen Mode 8 use CN1 36 or CN1 35 pin for switch...

Page 110: ...city loop proportional gain Kvp 0 2 Velocity loop integral time constant Tvi 0 3 Current command LPF ILPF 0 6 For Func Gain_Sel with Gain Switch input ON Description Parameter Mode Page Position loop gain Kp2 8 0 Velocity loop proportional gain Kvp2 8 2 Velocity loop integral time constant Tvi2 8 3 Current command LPF ILPF 0 6 For Func Gsel Gtun with Gain Switch input OFF Description Parameter Mod...

Page 111: ... On the Fly Position Velocity Position to Velocity Switch On the Fly You can specify a desired control mode from CN1 36 and CN1 35 pins When Func3 Bit 7 is 0 pin CN1 36 is enabled When Bit 7 is 1 pin CN1 35 is enabled Parameter can also be changed from Mode 0 Page 3 Encoder Type ENKD Remote Operator Mode 4 Page 4 Default Value Function Setting Range 3 types Description Allows the selection of enco...

Page 112: ...096 FMT 8192 FMT 16384 FMT 32768 FMT 65536 FMT 131072 FMT 262144 FMT 524288 FMT 1048576 FMT 2097152 FMT You must turn OFF the control power before making the change Your change is effective only after Func6 Bit 7 has been set a 1 If the above operation Func6 Bit 7 to 1 is ignored the parameter change is invalid thus does not take place Artisan Technology Group Quality Instrumentation Guaranteed 88...

Page 113: ...tion MOKD Remote Operator Mode 4 Page 7 Default Value Rotary Function Setting Range Rotary Description This parameter value can not be changed Power Supply Type PSKD Remote Operator Mode 4 Page 8 Default Value AC 200V 1P Function Setting Range AC 200V 3P AC 200V 1P Description Selects the type of power supply for user connection Setting Description AC 200V 3P 200 240 VAC 3 Phase AC 200V 1P 200 240...

Page 114: ...ed Built in R Built in regenerative resistor is used It is important that the resistor type be set correctly Overload protection is adjusted based on this setting Failure to correctly set this value can cause damage to the amplifier Position Loop Gain 2 Kp2 Remote Operator Mode 8 Page 0 Default Value 45 30 rad S Function Setting Range 1 to 1000 rad S Description Proportional gain of the position c...

Page 115: ...ocity controller Enabled during gain switching Velocity Loop Integral Time Constant 2 Tvi2 Remote Operator Mode 8 Page 2 Default Value 15 20 ms Function Setting Range 1 to 1000 ms Description Integration time constant of the velocity controller proportional integral controller Kvp 1 1 Tvi dt Velocity Error Velocity Regulator Output Artisan Technology Group Quality Instrumentation Guaranteed 888 88...

Page 116: ...uning in test mode Selecting lc lst on Tune IBEF setting screen enables automatic notch tuning execution at current command of this setting value Observer Load Inertia Ratio O_JL Remote Operator Mode 8 Page 4 Default Value 100 Function Setting Range 0 to 3000 Description This parameter estimates load torque used for real time automatic tuning processor O_JL load inertia JL motor inertia JM 100 Art...

Page 118: ...T Supply Failure 123 Bus Power R S and T Phase Missing 123 Velocity Control Error 124 Deviation Overflow Position 124 External Regeneration Resistor Overheating 125 DSP Error 125 Internal Regeneration Resistor Overheating 126 Regeneration Error 126 Memory Error 127 Absolute Encoder Battery Alarm not available at this time 127 CPU Error 127 Chapter Overview 128 Acceleration and Deceleration Time 12...

Page 119: ...or and PY Software Table 21 shows the alarm codes that may appear on a drive or monitoring device Table 21 Amplifier Alarm Codes 7 Segment Abbreviation Description 1 OC Overcurrent 2 OL Overload 3 AOH Amplifier Overheating 5 OV Overvoltage 6 OS Overspeed 7 PE Control Power Supply Error 8 DE Detector Error Encoder Error 9 MPE Bus power R S and T Error A FP Fail Phase bus power R S and T is missing ...

Page 120: ...rning ON the bus power R S and T Faulty PC board Replace the servo amplifier Faulty motor ground Check ground circuits Replace motor Faulty Power Module Faulty current feedback circuit Replace the servo amplifier Alarm occurs when Servo On input SON CN1 37 turns ON Incorrect motor power wiring Check and correct motor wiring Alarm occurs when the motor starts or stops Improper combination of motor ...

Page 121: ...ated for a while Improper combination of motor and amplifier Use the Remote Operator to check and set parameter MOT Faulty PC board Replace the servo amplifier Load conditions have been verified to be under rated conditions and the alarm occurs Faulty motor encoder Replace servo motor Amplifier Overheating Symbol 7 Segment Display Alarm code CN 1 46 45 44 43 AOH 3 0011 Operating Condition Cause Co...

Page 122: ...ad inertia Add or increase the size of the external regen resistor Overspeed Symbol 7 Segment Display Alarm code CN1 46 45 44 43 OS 6 0110 Operating Condition Cause Corrective Action Faulty PC board Replace servo amplifier Alarm occurs when the control power supply is turned ON Faulty motor encoder Replace servo motor Improper velocity scale setting Reset the velocity scale The velocity command is...

Page 123: ...power within specification Sensor Error Symbol 7 Segment Display Alarm code CN1 46 45 44 43 DE 8 1000 Operating Condition Cause Corrective Action Faulty Encoder Replace servo motor Faulty PC board Replace servo amplifier Incorrect or disconnected encoder wiring Correct encoder wiring Alarm occurs when the control power supply is turned ON Incorrect parameter setting of encoder type Use the Remote ...

Page 124: ...rge of a input power variation Bring input power within specification Alarm occurs while the motor is in operation Faulty PC board Replace servo amplifier Bus Power R S and T Phase Missing Symbol 7 Segment Display Alarm code CN1 46 45 44 43 FP A 1010 Operating Condition Cause Corrective Action Alarm occurs when the control power supply is turned ON Faulty PC board Replace servo amplifier The three...

Page 125: ...OVF 1101 Operating Condition Cause Corrective Action Faulty PC board Replace servo amplifier Alarm occurs when the control power supply is turned ON Command pulses are being sent before the amplifier is ready Stop inputting command pulses and enter deviation clear The maximum deviation value is set too low Review the deviation over value and position loop gain The load inertia is too large Lower t...

Page 126: ...ermostat open Review working condition Alarm occurs during motor operation Capacity of the external regeneration resistor is too small Review application requirements and regeneration resistor sizing DSP Error Symbol 7 Segment Display Alarm code CN1 46 45 44 43 DSPE F 1111 Operating Condition Cause Corrective Action Alarm occurs when the control power supply is turned ON Faulty PC board The 5V pow...

Page 127: ...ostat Replace servo amplifier Regeneration Error Symbol 7 Segment Display Alarm code CN1 46 45 44 43 RGOL J 0101 Operating Condition Cause Corrective Action Alarm occurs when the control power supply is turned ON Faulty PC board Replace servo amplifier Alarm occurs after the bus power R S and T is turned ON Faulty regeneration transistor Replace servo amplifier The regeneration capacity is exceede...

Page 128: ...perating Condition Cause Corrective Action The battery has less than 20 hours of operation remaining and the absolute encoder position is unreliable Replace battery Alarm occurs when the control power supply is turned ON Faulty PC board Replace servo amplifier CPU Error Symbol 7 Segment Display Alarm code CN1 46 45 44 43 CPUE No Lights 1111 Operating Condition Cause Corrective Action Light remains...

Page 129: ...otors that are not in the Product Catalog and Business Policies Chapter Overview 128 Acceleration and Deceleration Time 129 Dynamic Brake 130 Stopping Time 130 Miscellaneous Servo Motor Specifications 132 Direction of Rotation 132 Holding Brake Specification 132 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 130: ...ss Ignore viscosity torque and friction torque s of the motor Acceleration time t a J M J L 2 π 60 N 2 N 1 T P T L Deceleration Time t d J M J L 2 π 60 N 2 N 1 T P T L t a Acceleration Time sec t b Deceleration Time sec N 1 Initial Speed RPM N 2 Final Speed RPM T P Maximum Stall Torque Nm T L Load Torque Nm J M Motor Inertia kg m2 J L Load Inertia kg m2 ta tb N2 N1 Time Artisan Technology Group Qu...

Page 131: ...ue acting to slow the motor N m ω1 Distance traveled during processing delay assume TL 0 ω2 Distance travel while slowing from N to a stop assume TL 0 ω3 Reduction in distance traveled as a result of a load torque TL ωt1 ωt2 Total distance traveled revolutions α Motor Constant β Motor Constant Stopping Time ω 1 2 π N t D 60 ω 2 J M J L α N β N 3 ω 3 J M J L 2 T L 2 π N 60 2 No Load Torque With Loa...

Page 132: ...10150D 0 0240 2 19 1 05 10 7 2 04 10 4 PY0A015 P30B04010D 0 0065 25 12 2 10 7 0 051 10 4 PY0A015 P50N05020D 0 0065 9 78 3 86 10 7 0 173 10 4 PY0A030 P30B06040D 0 0065 4 32 6 8 10 7 0 255 10 4 PY0A030 P30B08075D 0 0065 2 97 3 68 10 7 0 635 10 4 PY0A050 P50N08100D 0 0100 2 99 0 30 10 7 2 66 10 4 PY0A050 P60B13150H 0 0100 1 08 0 60 10 7 8 30 10 4 PY0A050 P20B10150D 0 0240 2 19 1 05 10 7 2 04 10 4 PY0...

Page 133: ...ake signal output HBON CN1 42 The specifications for the holding brake are in the table below Table 22 Holding Brake Specifications Motor Model Static friction Torque N m Release time varistor diode mS Set Time mS P60B13150H 9 0 30 140 100 P50N05020D 0 353 10 100 15 P50N08100D 2 94 20 200 30 P30B04010D 0 32 15 100 25 P30B06040D 1 274 20 120 30 P30B08075D 2 38 20 200 40 P20B10150D 7 84 50 200 60 P2...

Page 134: ...120 B B Encoder Input CN2 5 45 Bus Power CN3 1 and CN3 2 TB Connections 38 Bus Power R S and T Capacity Requirements 33 Phase Missing 123 Supply Failure 123 Wire Size 32 C C Encoder Input CN2 7 45 Cable Routing Orientation 23 Cables 12 Clear Deviation Error 43 Clearance Requirements 16 CN1 35 Program 101 102 103 104 CN1 36 Program 101 102 103 104 CN3 Terminal Board Connector 38 CN4 Terminal Board ...

Page 135: ...n 83 Feed Forward Low Pass Filter 85 FLPF Parameter 85 Fluids Prevention Against 23 Following Error Limit 90 FP Error Code 123 Func0 Parameter 98 Func1 Parameter 99 Func2 Parameter 100 Func3 Parameter 101 Func4 Parameter 102 Func5 Parameter 103 Func6 Parameter 104 Function Switch 0 98 Function Switch 1 99 Function Switch 2 100 Function Switch 3 101 Function Switch 4 102 Function Switch 5 103 Funct...

Page 136: ...ror Code 123 N National Electric Code 31 Negative Current Limit Input 42 Negative Pulse Command 42 Negative Rotation Overtravel 43 NOB Bit Parameter 98 99 NPC Bit Parameter 97 Number of Pulses of Fully Closed Encoder 96 O OC Error Code 119 Oil And Dust Environments 15 OL Error Code 120 OS Error Code 121 Output Pulse Divide Ratio 92 Output sequence power common 42 Output Sequence Power Supply 43 OV...

Page 137: ... 102 103 104 THB Parameter 95 Thrust Load Limits 26 Torque Command 42 Polarity 98 99 Scale Adjustment 96 Torque Comp Input CN1 22 effectiveness 100 Torque Compensation 42 Torque Loop Zero Adjustment 106 Tpcm Parameter 87 Transformer Size 33 Troubleshooting 118 Tuning 71 Auto 71 74 75 Manual 73 Tvac Parameter 88 Tvde Parameter 89 Tvi Parameter 84 105 Tvi2 Parameter 113 114 115 TYPE Parameter 110 Ty...

Page 138: ...l service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE INSPECTION Remotely inspect equipment before purchasing with our interactive website at www instraview com LOOKING FOR MORE INFORMATION Visit us on the web at www artisantg com for more information on ...

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