Sanyo Denki PE Series User manual

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Sanyo Denki
PE Servo System
Installation and Operation Manual
Sales & Technical Support
8:30 a.m. to 5:30 p.m. EST
Toll Free: 1.888.531.8213
Atlanta Area: 770.497.8086
Fax: [phone]
[e-mail]
Automation Intelligence
Motion Products ™ System Integratio
n
2855 Premiere Parkway, Suite A
Duluth, Georgia 30097-4902
Issued: 27-Apr-00
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PE Manual Copyright © 2000 Automation Intelligence, Inc. Issued: 27-Apr-00
Table of Contents
INTRODUCTION.............................................................................................................5
About this Guide....................................................................................................................................................... 5
Safety ........................................................................................................................................................................ 7
Technical Support..................................................................................................................................................... 9
Product Family Overview ....................................................................................................................................... 10
INSTALLATION ............................................................................................................12
Chapter Overview ................................................................................................................................................... 12
Unpacking and Inspection Procedure...................................................................................................................... 13
Inspection Test........................................................................................................................................................ 14
Amplifier Installation.............................................................................................................................................. 17
Motor Installation....................................................................................................................................................22
Installation Check List ............................................................................................................................................30
WIRING.........................................................................................................................31
Chapter Overview ................................................................................................................................................... 31
Wiring Precautions.................................................................................................................................................. 33
Applicable Wire Sizes.............................................................................................................................................34
Input Power.............................................................................................................................................................35
Leakage Current...................................................................................................................................................... 35
Connection Diagram with P2 Motor .......................................................................................................................36
Connection Diagram with P3 Motor .......................................................................................................................37
TB Connector..........................................................................................................................................................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
SYSTEM CONFIGURATION.........................................................................................54
Chapter Overview ................................................................................................................................................... 54
Using the Remote Operator.....................................................................................................................................55
Quick Setup............................................................................................................................................................. 57
Amplifier Parameters .............................................................................................................................................. 59
Amplifier Tuning.....................................................................................................................................................83
Jogging.................................................................................................................................................................... 86
Monitor Screen........................................................................................................................................................88
Alarm Trace Screen.................................................................................................................................................89
OPERATION .................................................................................................................91
Chapter Overview ................................................................................................................................................... 91
Pre-Operation..........................................................................................................................................................92
Power On Sequence ................................................................................................................................................93
Stop Sequences .......................................................................................................................................................94
Servo OFF Sequence...............................................................................................................................................96
Alarm Reset Sequence ............................................................................................................................................98
Overtravel Sequence ............................................................................................................................................... 99
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PE Manual Copyright © 2000 Automation Intelligence, Inc. Issued: 27-Apr-00
MAINTENANCE AND TROUBLESHOOTING ............................................................100
Chapter Overview .................................................................................................................................................100
Maintenance.......................................................................................................................................................... 101
Troubleshooting.................................................................................................................................................... 101
SPECIFICATIONS ......................................................................................................111
Chapter Overview .................................................................................................................................................111
Acceleration and Deceleration Time.....................................................................................................................112
Dynamic Brake...................................................................................................................................................... 113
Miscellaneous Servo Motor Specifications...........................................................................................................114
INDEX .........................................................................................................................115
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PE Manual Copyright © 2000 Automation Intelligence, Inc. Issued: 27-Apr-00
List of Tables
Table 1: Manual Syntax................................................................................................................................................6
Table 2: Valid Drive Systems.....................................................................................................................................11
Table 3: Amplifier Environmental Requirements .......................................................................................................20
Table 4: Power Dissipation.........................................................................................................................................20
Table 5: Motor Environmental Requirements............................................................................................................. 22
Table 6: Motor IP Rating............................................................................................................................................ 25
Table 7: Allowable Radial and Thrust Loads.............................................................................................................. 29
Table 8: Applicable Wire Sizes .................................................................................................................................. 34
Table 9: Power Supply Capacity Requirement............................................................................................................35
Table 10: System Leakage Current .............................................................................................................................35
Table 11: TB 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: Quick Setup Steps....................................................................................................................................... 58
Table 18: Monitor Mode Page Descriptions...............................................................................................................88
Table 19: Alarm Mode Page Descriptions..................................................................................................................89
Table 20: Amplifier Alarm Codes...............................................................................................................................90
Table 21: Amplifier Status Display............................................................................................................................. 92
Table 22: Holding Brake Specifications ................................................................................................................... 114
••‘’••‘’
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PE Manual Copyright © 2000 Automation Intelligence, Inc. Issued: 27-Apr-00
Introduction
About this Guide
This chapter covers the following topics:
About this Guide ............................................................................................................5
In this Chapter 5
Introduction 5
Manual Organization 5
Syntax Information 6
Safety.............................................................................................................................. 7
Technical Support ..........................................................................................................9
Online Support 9
E-Mail Support 9
Telephone Support 9
Field Service 9
Product Family Overview.............................................................................................10
Amplifiers 10
Motors 10
Systems 11
Remote Operator 11
Cables 11
External Regen Resistors 11
This guide provides you with information needed to install, operate, and maintain PE
model servo amplifiers and matching motors.
This guide consists of the following chapters:
Chapter 1. Introduction provides an overview of the Safety issues associated with the
application of servo motors and amplifiers, informs you about all your
product support options, and finally provides an overview of the PE family
of amplifiers, the P2 and P3 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, and concludes with an installation check list.
Chapter 3. Wiring describes how to wire a system. Starting first with a summary table
indicating recommended wire sizes, followed by connection diagrams, and
concluding with details for connecting external regeneration resistors and
the remote operator. Detailed connector pin assignments are provided as
well as a partial schematic for input and output signals.
In this Chapter
Introduction
Manual
Organization
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PE Manual Copyright © 2000 Automation Intelligence, Inc. Issued: 27-Apr-00
6
Chapter 4. System Configuration describes how to use the remote operator and then
walks you through the configuring and tuning of your system. This chapter
concludes with a detailed description of each amplifier parameter.
Chapter 5. Operation chapter provides a detailed description of the sequence and
timing of operation within the amplifier.
Chapter 6. Maintenance and Troubleshooting provides you with a recommended
maintenance program designed to keep your system in top operating
condition. Should you experience any difficulty with your system, a
detailed troubleshooting guide is provided to help you restore normal
operation quickly.
Chapter 7. Specification section includes detailed specifications for PE 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 note.
üü DANGER, WARNING or CAUTION require accompanying information
notices to prevent potential personal injury and equipment damage.
DANGER: Indicates an imminently hazardous situation which, if not
avoided, will result in serious injury or death. This signal word is limited
to the most extreme situations.
WARNING: Indicates a potentially hazardous situation which, if not
avoided, could result in serious injury or death.
CAUTION: Indicates a potentially hazardous situation which, if not
avoided, may result in equipment damage or minor or moderate injury.
Earth Gnd Protective conductor terminal, Earth Ground.
Chassis Gnd Chassis terminal, Not a protective ground.
Syntax
Information
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PE Manual Copyright © 2000 Automation Intelligence, Inc. Issued: 27-Apr-00
7
Safety
DANGER
üü Only qualified personnel familiar with the construction and operation of this
equipment and the hazards involved should install, adjust, operate, or service
this equipment. Read and understand this manual and other applicable manuals
in their entirety before proceeding. Failure to observe this could result in severe
injury or loss of life.
DANGER
üü The user is responsible for conforming with all applicable local, national, and
international codes. The wiring examples in this manual are intended only as a
guide. Wiring practices, grounding and disconnects, and over-current protection
are of particular importance. Failure to observe this could result in severe injury
or loss of life.
DANGER
üü Do not operate the system in an explosive atmosphere. Failure to observe this
could result in severe injury or loss of life and equipment damage.
WARNING
üü 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
üü Large leakage currents exist in AC line filters. They must be grounded properly
before applying power. Filter capacitors retain high voltages after power is
removed. Before handling the equipment, voltage should be measured to
determine safe levels. Failure to observe this precaution could result in severe
bodily injury.
WARNING
üü Avoid damaged cables. Cables may be damaged by applying excessive stress,
placing a heavy object on them, or cutting them. Damaged cables may result in
electrical shock which can cause severe bodily injury and damage equipment.
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PE Manual Copyright © 2000 Automation Intelligence, Inc. Issued: 27-Apr-00
8
CAUTION
üü Observe all installation directions. Failure to do so may result in injury, damage
to equipment, or poor performance.
1. Make sure nothing obstructs or impedes ventilation around the amplifier.
2. Observe all mounting clearance distances around the 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
üü During normal operation, the amplifier, motor and peripheral equipment could
become hot enough to cause a burn.
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PE Manual Copyright © 2000 Automation Intelligence, Inc. Issued: 27-Apr-00
9
Technical Support
The most convenient and effective method for support is online at our web site
www.MotionOnline.com
In addition to this manual, you may download our Handbook of AC Servo Systems,
application notes and answers to frequently asked questions from this site.
Questions can be submitted via e-mail and in most cases our Technical Support staff will
reply the same day, but in all cases you will receive a reply before the end of the next
working day. Send your email questions to:
[e-mail]
Automation Intelligence maintains a Technical Support center that is staffed weekdays
(except holidays) between 8:30 AM and 5:30 PM Eastern Standard Time.
xTelephone: 770-497-8086
xFacsimile: 770-497-8666
Field service is not included in the product warrantee in order to keep our product cost
low, but it is a service that Automation Intelligence provides. Request for field service
may be made to the Technical Support staff (see above). Automation Intelligence must
receive a Purchase Order before the Technical Support engineer departs.
Online Support
E-Mail Support
Telephone
Support
Field Service
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PE Manual Copyright © 2000 Automation Intelligence, Inc. Issued: 27-Apr-00
10
Product Family Overview
Sanyo Denki designs and manufactures a wide range of servo and stepper drives. Seven
models from the PE and PV families are available to you from Automation Intelligence
via MotionOnline.com (this manual covers the PE family of drives).
xPE2A015 15A
xPE2A030 30A
xPE2A050 50A
xPE0A100 100A
xPE0A150 150A
xPV1A015 15A
xPV1A030 30A
Sanyo Denki designs and manufactures a wide range of servo and stepper motors.
Fourteen (7 without brakes and 7 with brakes) models from the P2 and P3 families are
available to you from Automation Intelligence via MotionOnline.com.
xP20B10150D 1.5kW 4.9Nm
xP20B10250D 2.5kW 8.8Nm
xP20B13300D 3.0kW 10.8Nm
xP20B13500D 5.0kW 18.1Nm
xP30B04010D 100W 0.35Nm
xP30B06040D 400W 1.37Nm
xP30B08075D 750W 2.55Nm
Amplifiers
Motors
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