Sanyo Denki PY Series User manual

Artisan Technology Group is your source for quality
new and certied-used/pre-owned equipment
• FAST SHIPPING AND
DELIVERY
• TENS OF THOUSANDS OF
IN-STOCK ITEMS
• EQUIPMENT DEMOS
• HUNDREDS OF
MANUFACTURERS
SUPPORTED
• LEASING/MONTHLY
RENTALS
• ITAR CERTIFIED
SECURE ASSET SOLUTIONS
SERVICE CENTER REPAIRS
Experienced engineers and technicians on staff
at our full-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 price quotations, drivers, technical
specications, manuals, and documentation
Contact us: (888) 88-SOURCE | [e-mail] | www.artisantg.com
SM
View
Instra

Sanyo Denki
PY Servo System
Installation and Operation Manual
Tel: [phone]
Fax: [phone]
[e-mail]
SANYO DENKI
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc.
Table of Contents
TABLE OF CONTENTS..................................................................................................2
INTRODUCTION.............................................................................................................5
About this Guide........................................................................................................................................................5
Safety.........................................................................................................................................................................7
Technical Support......................................................................................................................................................9
Product Family Overview........................................................................................................................................10
INSTALLATION............................................................................................................13
Chapter Overview....................................................................................................................................................13
Unpacking and Inspection Procedure ......................................................................................................................14
Amplifier Installation ..............................................................................................................................................15
Motor Installation ....................................................................................................................................................20
Installation Check List.............................................................................................................................................27
WIRING.........................................................................................................................28
Chapter Overview....................................................................................................................................................28
Wiring Precautions ..................................................................................................................................................31
Applicable Wire Sizes .............................................................................................................................................32
Input Power .............................................................................................................................................................33
Leakage Current ......................................................................................................................................................33
Connection 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-Operation ..........................................................................................................................................................55
Power “On” Sequence .............................................................................................................................................56
Stop Sequences........................................................................................................................................................57
Servo “OFF” Sequence............................................................................................................................................59
Alarm Reset Sequence.............................................................................................................................................61
Over-travel Sequence ..............................................................................................................................................62
DRIVE SETUP ..............................................................................................................63
Chapter Overview....................................................................................................................................................63
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc.
Using the Remote Operator .....................................................................................................................................64
PY Setup Software...................................................................................................................................................66
Jogging Operations..................................................................................................................................................68
Amplifier Tuning.....................................................................................................................................................71
Monitor Screen ........................................................................................................................................................74
Alarm Trace Screen .................................................................................................................................................75
Quick Setup .............................................................................................................................................................76
AMPLIFIER PARAMETERS.........................................................................................77
Chapter 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) 88-SOURCE | www.artisantg.com

PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc.
List of Tables
Table 1: Manual Syntax.................................................................................................................................................6
Table 2: Valid Drive Systems......................................................................................................................................11
Table 3: Amplifier Environmental Requirements........................................................................................................18
Table 4: Power Dissipation..........................................................................................................................................18
Table 5: Motor Environmental Requirements .............................................................................................................20
Table 6: Motor IP Rating.............................................................................................................................................23
Table 7: Allowable Radial and Thrust Loads ..............................................................................................................26
Table 8: Applicable Wire Sizes ...................................................................................................................................32
Table 9: Power Supply Capacity Requirement............................................................................................................33
Table 10: System 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 Setup Steps with Remote Operator ...................................................................................................76
Table 21: Amplifier Alarm Codes .............................................................................................................................118
Table 22: Holding Brake Specifications....................................................................................................................132
ℵℑℜ℘
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc.
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 Error! Bookmark not defined.
Telephone Support 9
Field Service Error! Bookmark not defined.
Product Family Overview.............................................................................................10
Amplifiers 10
Motors 10
Systems 11
Remote Operator / Software 11
Cables 12
External Regen Resistors 12
This guide provides you with information needed to install, operate, and maintain PY
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 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, and concludes with an installation checklist.
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
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc.
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, Drive Setup chapter provides information on setup of the drive
configuration for operation
Chapter 7, Amplifier Parameters chapter provides a list of all parameters used for
the drive configuration.
Chapter 8. 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 9. Specifications section includes detailed specifications 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 note.
!
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
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc.
7
Safety
DANGER
! 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
! 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
! 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
! 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 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
! 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.
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc.
8
CAUTION
! 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
! During normal operation, the amplifier, motor and peripheral equipment could
become hot enough to cause a burn.
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc.
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.
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: [phone] or Toll Free 1-888-531-8213
•Facsimile: 770-497-8666
Online Support
Telephone
Support
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc.
10
Product Family Overview
Sanyo Denki designs and manufactures a wide range of servo and stepper drives. Eight
models from the PY family are available to you from Sanyo Denki America via
MotionOnline.com.
•PY2A015 15A •PY0A030 30A
•PY2A030 30A •PY0A050 50A
•PY2A050 50A •PY0A100 100A
•PY0A015 15A •PY0A150 150A
Sanyo Denki 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 3.92Nm
•P30B04010D 100W 0.35Nm •P60B13150H 1.5kW 7.5Nm
Amplifiers
Motors
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc.
11
From these motors and amplifiers, the following 17 systems can be assembled. All the
systems can operate up to 4,500 RPM (except for the P6 motor that is 3000 RPM). The
power listed is continuous at 3,000 RPM (except for the P6 motor at 2000 RPM) while
the torque listed is continuous at 0 RPM.
Table 2: Valid Drive Systems
PY2 Amplifiers PY0 AmplifiersMotor Model W Nm
15A 30A 50A 15A 30A 50A 100A 150A
P30B04010D 100 0.35
~ ~
P30B06040D 400 1.37 ~
~
P30B08075D 750 2.55 ~
~
P20B10150D 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 the PY amplifiers.
The PC-SETUP software can be used to set/change all parameters in the traditional PY
amplifiers (except for power phasing). This item may be purchased instead of the remote
operator.
Systems
Remote Operator /
Software

Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc.
12
To lower life-cycle cost and improve reliability, Sanyo Denki America requires
customers to use Sanyo Denki motor power and feedback cables. 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

PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc.
Installation
Chapter Overview
This chapter contains a guide for the installation of the amplifier and matching motor,
from unpacking the equipment, performing an initial test, to mounting it in a panel.
Chapter Overview.........................................................................................................13
Unpacking and Inspection Procedure ...........................................................................14
Unpack 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
Installation Check List..................................................................................................27
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc.
14
Unpacking and Inspection Procedure
Before opening packages, verify that the model numbers of the box match your
order. If they do not, please contact Sanyo Denki America (see page 9 - Technical
Support).
After opening, verify that the model numbers on 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
Inspection
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc.
15
Amplifier Installation
Condition Recommended Precautions
Amplifier In An
Enclosure
The temperature inside an enclosure may be higher than the
outside temperature, depending on the power loss of internal
equipment and the dimensions of the box.
Be sure to determine the dimensions of the box, cooling method,
and panel layout so that the ambient temperature is lower than
55C.
Amplifier Near A
Vibrating Source
Install the amplifier with a shock absorber to dampen the vibration
that is transmitted directly to amplifier.
Amplifier Near A
Heat Source
Shield the amplifier so that convection or radiation does not raise
the ambient temperature 55C.
Corrosive Gas
Environment
If the amplifier is operated for extended time periods in a
corrosive environment, contact failure will occur at contact points
(e.g., connectors). 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 the amplifier in an environment containing dust or
oil mist. Dust and oil mist, which adheres to or accumulates on
the amplifier, will result in damage to the amplifier from lower
insulation resistance or leakage currents between conductors or
components.
Electrical Noise
Environments
Induction noise will enter input signals and the power supply
circuit, causing the amplifier to malfunction. When installing the
amplifier in an electrically noisy environment, take proper
measures such as inserting a noise filter, shielding, or suppressing
the noise source.
General
Requirement
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc.
16
Install the amplifier vertically as shown in the figure below, with the indicated
clearances. Because the amplifier uses convection cooling it may not be mounted
horizontally. Provide the indicated space above, below and to the side of the amplifier
for airflow. If this space cannot be provided, install a fan to increase airflow around the
amplifier. At least 10 mm space should be 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
Requirements

50 mm or more
50 mm or more
Back Surface
Mounting
4-M5
A
C
Cut-out
for
Cooling
Fins
D
B
Cooling
A
ir Flow
90 mm
or more
Fins
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc.
17
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 >205 mm 25 mm NA
PY0A030 225 mm >205 mm 25 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
A
ir Flow
90 mm
or more
Fins
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc.
18
The amplifier should be installed in an environment that meets these requirements.
Table 3: Amplifier Environmental Requirements
Item Specification
Ambient Temperature
Operating
Non-operating
0 to 55C
32° to 131°F
-20 to 65C
-4° to 149°F
Humidity Maximum 90% Non-condensing
Vibration Maximum 0.5G 10 to 55Hz
Shock Maximum 2G
Air Quality Dust-free
Oil-free
Non-corrosive
Non-combustible
Non-explosive
During operation, the amplifier dissipates power that results in cabinet heating. The
following table lists power dissipation values for valid system configurations. These
values assume continuous rated load operation. Calculate the cabinet cooling
requirements using the 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 16 - -
PY0A050 P50N08100D 80 50 30
PY0A050 P20B10150D 85 55 30
PY0A050 P60B13150H 85 50 50
PY0A100 P20B10250D 170 98 72
PY0A100 P20B13300D 175 103 72
PY0A150 P20B13500D 260 150 110
Power dissipation values shown in the table do not include values for the internal
regeneration resistor.
When using an external regeneration resistor, the internal resistor is disconnected.
Amplifier
Environmental
Requirements
Power Dissipation
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc.
19
When sizing a NEMA 12 or equivalent enclosure with no active method for cooling, the
following equation approximates the size of enclosure required.
1.108.4 +
⎟
⎠
⎞
⎜
⎝
⎛
×= 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