Sanyo SUPER BL P5 - Outline of Servo Function

11. SPECIAL SERVO FUNCTION
11－2
11.1 Outline of Servo Function
"PY2" Servo Amplifier has variety of servo and tuning functions.
11.1.1 Tuning /Parameter Connection
Fig. 11-1 Tuning/ Parameter Connection
Note 1: Multiplication by 4 function is effective when encoder is INC-E or ABS-E. For ABS-RⅡ,
1 multiplication will be fixed.
Note 2: Servo system complying with full close is required in order to connect external encoder.
Consult with us. If servo system does not complying with full close, set bit7,6 of Mode 2-1 and
bit4 of Mode2-6 to “0”.
Note 3: Each low pass filter and notch filter becomes invalid when set at 1000Hz.
Note 4: Servo parameter of changes according to set status. Current status of valid set value
can be monitored by remote operator and monitor mode of PC interface (Mode 5
page 13,14,15,16)
ｄ
ｄｔ
1 2 3
External
encoder
SM
Encode
r
＋
Current
Current
command low
pass filter
ＩＬＰＦ
MODE.0-7
Current
command
notch filter 1
MODE.0-8
Current
command
notch filter 2
－
＋
＋
Torque
compensation
Bit.6
MODE.7-1
Offline
・
Automatic tuning
Proper gain
Operation
processing
MODE.7-5
MODE.8-3
Automatic notch tuning
Resonance
frequency
estimating
processing
Real time・
Automatic tuning
Proper gain
Operation
processing
MODE.8-4
MODE.3-5
Ｋｐ
Ｋｖｐ
Ｔｖｉ
ＩＬＰＦ
MODE.0-6
MODE.0-0
MODE.0-3
Servo gain 1
（Non-volatile
memory）
MODE.0-2
Ｋｐ２
Ｋｖｐ２
Ｔｖｉ２
MODE.8-0
MODE.8-2
Servo gain 2
（Non-volatile
memory）
MODE.8-1
MODE.0-12
ＫｖｐＡ
Velocity loop gain addition
（Non-volatile memory）
Position
loop gain
Ｋｐ
Torque
command
voltage
MODE.0-5
Velocity
command
low pass filter
＋
＋
＋
＋
Servo gain switching
Selection of servo function
Func：MODE.4-2
MODE.0-4
Feed forward
low pass
filter
MODE.0-1
Feed forward
gain
＋
－
Multiplic
ation
MODE.0-9
Position
command
low pass filter
MODE.1-8 to 10
Internal velocity
command
1 to 3
＋
＋
MODE.0-10
Acceleration
time
MODE.0-11
Deceleration
time
Velocity
command
voltage
Position loop encoder
selection
MODE.2-1
Bit.7
Sliding SW
Rotary SW
4
multiplie
r
Output encoder
multiplier switching
MODE.2-1
Bit.6
4
multiplier
Divided output
signal switching
MODE.2-6
Bit.4
MODE.1-4
Output
pulse
dividing
Position signal
output A, B
Position signal
output C
Position
command
pulse
MODE.1-2
Electronic
gear
Internal velocity
command
selection
MODE.2-4
Bit.3,2,1,0
KpM:
MODE.5-13
Velocity loop
proportional
gain
Ｋｖｐ
Velocity loop
Integra time
constant
∫
１
Ｔｖｉ
KvpM：MODE.5-14
TviM：MODE.5-15
ILPM:
MODE.5-16
1 2 3 1 2 3
Velocity
addition
MODE.2-2
Bit.7
Note 1