SANYO M0000582 User Manual

M0000582

User's Guide

ＳＡＮＹＯ ＤＥＮＫＩ ＣＯ．,ＬＴＤ

i

Introduction

Thank you for purchasing the “PY Remote Operator for Windows”.

The “PY Remote Operator for Windows User's Guide” describes how to set up, connect,
and use the PY Remote Operator for Windows. (for “PY” series servo drivers)
The “PY Remote Operator for Windows” has been designed as a tool for helping users of
“PY” series servo systems to do operational checks safely and to do adjustments and
setup easily.
To prepare for achieving full use of the “PY Remote Operator for Windows” , thoroughly
read this user's guide as well as the accompanying instruction manual of your “PY”
servo driver.
Keep the guide in a convenient place so it is available for your reference whenever
necessary.

i

Contents page

Conventions Used in This Manual ...................................... iv

Chapter 1 Before Starting ...................................... 1

1-1 Overview ...................................... 2

1-2 Package contents ...................................... 2

1-3 Hardware requirements ...................................... 2

1-4 Setup ...................................... 2

Chapter 2 Basic Operations ...................................... 3

2-1 Radio buttons ...................................... 4

2-2 Combo boxes ...................................... 4

2-3 Confirmation dialog box ...................................... 4

2-4 Notes on operation ...................................... 4

Chapter 3 Initial Screen and Main Menu ...................................... 5

3-1 Initial screen ...................................... 6

3-1-1 Setting up RS232C port ...................................... 6

3-2 Main Menu screen ...................................... 7

3-2-1 Main Menu screen ...................................... 7

3-2-2 Connecting servo driver to computer ...................................... 7

3-3 Printer configuration ...................................... 9

3-4 Loading files ...................................... 10

3-5 Saving files ...................................... 11

Chapter 4 Editing Parameters ...................................... 13

4-1 Accessing parameter file ...................................... 14

4-2 Parameter mode ...................................... 14

4-3 Editing parameters ...................................... 14

4-4 Printing parameters ...................................... 15

4-5 Disk I/O ...................................... 15

Chapter 5 Save Onto Disk ...................................... 17

5-1 Saving onto disk ...................................... 18

Chapter 6 Loading From Disk ...................................... 19

6-1 Loading parameters into the servo driver ...................................... 20

Chapter 7 Parameter Matching ...................................... 21

7-1 Matching parameters ...................................... 22

Chapter 8 Setting Parameters ...................................... 23

8-1 Set parameters ...................................... 24

8-2 Parameter setting ...................................... 24

Chapter 9 Monitor Display ...................................... 25

9-1 Displaying monitored values ...................................... 26

ii

Chapter 10 Displaying Alarm History ...................................... 27

10-1 Displaying alarm history ...................................... 28

Chapter 11 Test mode ...................................... 29

11-1 Selecting test mode ...................................... 30

11-2 JOG operation ...................................... 31

11-2-1 Using JOG operation ...................................... 31

11-3 Servo tuning ...................................... 33

11-3-1 Precautions under operational conditions and load conditions ....... 33

11-3-2 Using servo tuning ...................................... 33

11-4 Adjusting directed offset ...................................... 35

11-4-1 Using Adjust directed offset ...................................... 35

11-5 Absolute encoder clear ...................................... 36

11-5-1 Using Absolute encoder clear ...................................... 36

Chapter 12 Display Graphic Monitor ...................................... 37

12-1 Using Graphic Monitor ...................................... 38

12-1-1 Changing displayed data on CH 1 to 4 ...................................... 39

12-2 Loading existing waveform data ...................................... 39

12-3 Saving waveform data ...................................... 39

Chapter 13 Troubleshooting ...................................... 40

13-1 Unable to install ...................................... 40

13-2 Unable to set up parameters ...................................... 40

13-3 Unable to print ...................................... 40

13-4 Unable to display waveforms ...................................... 40

13-5 Unable to perform Test mode ...................................... 40

Appendix A Cable Connection Diagram ...................................... 41

Index ...................................... 42

iii

Conventions Used in This Manual

The following conventions are used to describe mouse and key operations.

Mouse operation

- Click: Indicates a quick press and release of the left mouse button.

- Double-click: Indicates two quick clicks of the left mouse button.
The product can be operated only with click and double-click operations.

Key operation

[Enter]
[Shift] + [ F 1 ] : A plus sign (+) indicates a two-key combination. This

: Key names are enclosed in brackets ([ ]).

example indicates to press the [F1] key while pressing
the [Shift] key.
[Return] : Commands and menu buttons are also enclosed in
brackets ([ ]).

Arrow key : Indicates[←],[→],[↑],or[↓] key.

Key notation

This guide uses standard generic key notation to explain key operations.
Keyboard notation may be different depending on manufacture or machine
type.
For details, refer to the section explaining "keys list" in your Windows manual
or the manual provided with your computer.

iv

Chapter 1 Before Starting

1

1-1 Overview

 PY Remote Operator for Windows allows you to change servo driver parameters,

perform batch saves and loads, monitor operational conditions, display waveforms, and
run miscellaneous test modes by means of serial communication between your
computer and servo driver.

1-2 Package contents

 Your package contains the following items:

- This User’s Guide one

- Cable for connecting driver and computer one

- 3.5" floppy disk one

1-3 Hardware requirements

 The following hardware is required as well as a servo driver and servo motor.

Configure the system according to the instructions provided with the devices.
Computer : Personal computer running Windows 95

R

3.5" floppy disk drive
Hard drive: At least 4 MB free space
At least one free serial port (depending on the
connector type of the serial port, third-party
converting connector may be necessary).
Display : Supporting at least 800 x 600-pixel resolution and 256
colors.

1-4 Setup

Set up the software by following this procedure:

1. Stop all applications that are running.

2. Insert the installation floppy disk into the floppy disk drive, and find and
double-click setup.exe on the floppy disk, or press the Start button and use
“Run..." to execute setup.exe.
When the installation process starts, follow the instructions appearing on the
screen.

NOTE: Copying the shortcut from the PY Remote Operator for windows
window to PYIF.exe onto the desktop makes starting the PY Remote
Operator for Windows more convenient.

This completes installation.

3. Connect the OP connector on the PY servo driver to the serial terminal (COM) on
the computer with the provided cable.

This completes the setup procedure. To start the software, click [Start] from the Start
menu, [Programs], [PY Remote Operator], and [PYIF].

2

Chapter 2 Basic Operations

3

2-1 Radio buttons

Use these buttons to select one of the preset value groups. A black circle
indicates the selected value.
To select a value using the mouse, place the mouse cursor on the circle and
click. To select a value using the keyboard, use arrow keys to select the value
and press the [Enter] key.

The example in the left figure shows "ON LINE"

 ←

selected.

2-2 Combo boxes

Use a combo box to select a value from a range or from a number of data,

including masters. Selecting a value from a list is far easier than
remembering a specific value and typing it in.

←

To display the selection box, click the button.
If an entire list is not visible, use the or key
to scroll through the list until desired value
appears.

←

The scroll bar indicates the current position in the

Combo box.

2-3 Confirmation dialog box

The system displays a confirmation dialog box to confirm your decision; for

example, to make sure that you really want to save data.
To proceed to the next step, check the message and select the appropriate
response.

The following figure shows an example of the confirmation dialog box that

appears after parameter settings have been modified and the [Main Menu]
button has been pressed. Selecting [Yes] opens the existing screen, selecting
[No] returns to the Main menu without saving the changes, and selecting
[Cancel] closes the displayed confirmation dialog box and returns to the
[Set parameters] dialog box.

Conformation dialog box for exiting from parameter setting

2-4 Notes on operation

- Numeric values entered into the [Edit/Set parameters] dialog box must be
half-size characters. Full-size characters can be used for filenames and
comment entries.

- This software does not support removal of a parameter file.

4

Chapter 3 Initial Screen and Main Menu

5

3-1 Initial screen

Use the PY Remote Operator for Windows initial screen to select the RS232C port on
the computer that connects to the servo driver.

Initial screen

①

3-1-1 Setting up RS232C port

Click either COM1 or COM2 in section ①. A black dot indicates the selected
radio button. Then click the [NEXT] button to set up the RS232C port. The

Main menu reappears.

Description of items
[RS232C port] : This section is for selecting the RS232C port on the

computer that connects to the servo driver.

[NEXT] : Accesses the Main menu.
[QUIT] : Exits from the PY Remote Operator for Windows.

6

3-2 Main Menu screen

3-2-1 Main Menu screen

Change from the initial screen to the Main menu.
From the Main menu, you can connect to the servo driver, set up or edit the parameters
or display the alarm history, test mode, or operation waveform.
As the system moves from the initial screen to the Main menu, the connection
to the servo amplifier appears as OFF LINE status. In the OFF LINE status,
only editing parameters (see Chapter 4, “Editing Parameters”) is available.

Main Menu screen under OFF LINE status

①

3-2-2 Connecting servo amplifier to computer

1. Use the provided cable to connect the serial terminal (COM) to the OP connector of
the PY servo driver.

2. Turn on the servo driver.

3. Click [ON LINE] in section ①. The connection to the servo driver is confirmed.
Click the [Yes] button in the message dialog box to establish the connection. When
the connection is established, the process buttons (parameter settings, monitors
display, etc.) are enabled.

Confirmation Dialog Box

7

Main Menu screen under ONLINE status

Description of items
[Software version] : Displays the versions of this software and servo driver CPU.

Pressing any of the following buttons starts its associated action.

[Driver <-> PC] : Connects/Disconnects the computer to/from the servo driver.
[Edit parameters] : Edits the parameters on the disk.
[Save onto disk] : Saves the set parameters of the servo driver onto the disk.
[Load from disk] : Loads the parameters from the disk to the servo driver.
[Match parameter] : Matches the parameters on the servo driver with those on the

disk.

[Set parameters] : Sets the parameters of the servo driver.
[Display monitored values]: Displays the monitored values.
[Display alarm history]: Displays alarm history.
[Test mode] : Runs the following test mode operations:

- Jog operation

- Servo tuning

- Directed offset adjustment

- Absolute encoder clear

[Display operation waveform]: Displays the operation waveform.
[Printer configuration]: Change the printer configuration.
[QUIT] : Exits from the PY Remote Operator for Windows.

8

3-3 Printer configuration

The [Printer configuration] dialog box is for selecting the destination printer and the
form size before printing a parameter editing list or alarm history list.

①

Printer connection
configuration

[Printer configuration] dialog box

②

③

① Printer

In section ① Printer, the name of the printer driver configured for printing from the
PY Remote Operator for Windows appears in the [Name] field and the connection
configuration appears under the field.

② Form

- Size: For selecting the form size for printing. (Note that the form selection may vary
depending on the printer type.)

- Feeding: For selecting printer form feed method.
Example: Cut-sheet guide: Manually feeds sheets one by one.
Automatic-sheet feeder: Sets more than one sheet of paper together.
Cut-sheet feeder: Same as the automatic-sheet feeder.

NOTE: For some printers, an auto-sheet feeder
(and/or cut-sheet feeder) is a separate option.

③ Printing orientation

Specifies the direction of printing, either landscape or portrait, without regard to

the direction of paper insertion.

(1) Portrait 

ABC

↑ Direction of feeding (2) Landscape

ABC

↑Direction of feeding

NOTE: Select Printer configuration SIZE: A4
Printing orientation: Portrait
Please don’t select other configuration.

9

3-4 Loading files

1. The following [Load parameters from disk (File name confirmation)] dialog box
appears when data is loaded from a file.

[File name confirmation] dialog box

③

①

④

②

The dialog box has the following four panels:

① Drive: ... The drive where parameter folders reside.
 ② Folder: ... The folder containing parameter files.
 ③ Parameter file name: ... The parameter file to be edited.
 ④ File list: ... The list of files in the folder in②.

2. Make sure the files are listed in ③ Parameter file name (or type in the desired file
name directly) and click the [Load] button.

3. The comment on the selected parameter appears. Read the comment and click the

[OK] button to retrieve the file.

To cancel the loading, click the [Cancel] button.

Description of items (excluding ①, ②, ③ and ④)
[Cancel]: Returns to the Main menu.

10

3-5 Saving files

1. The following [Save parameters onto disk (File name confirmation)] dialog box
appears when data is saved to a file.

[File name confirmation] dialog box

③

①

④

②

The dialog box has the following four panels:
① Drive: The drive where parameter folders reside.
② Folder: The folder containing parameter files.
③ Parameter file name: The parameter file to be edited.
④ File list: The list of files specified in the folder in ②.
Select the drive of the target folder in ① Drive and the target folder in ② Folder,
type in a new file name, and click the [Save] button.

2. The [Comment Entry] dialog box appears. Type in a comment and click the [OK]
button. You may omit the comment.

The new file has been saved.

NOTE: If you save the file with an existing file name, the existing file is

overwritten and its contents are erased.

11

12

Chapter 4 Editing Parameters

13

4 Editing Parameters

The [ Edit parameters ] dialog box is used for accessing a parameter file stored on
disk in order to modify it. This only changes the parameters on a file instead of
transmitting parameters to the servo driver directly.

4-1 Accessing parameter file

Before you can edit parameters, you must access the existing parameter file.
For the instructions on accessing, see Section 3-4 “Loading files,” and load the
parameter file (with an extension .py).

4-2 Parameter mode

The [ Edit parameters ] dialog box has five tabs for selecting modes: modes 0, 1, 2, 4,
and 8. Modes 0, 1, 2 and 8 can be changed with key entries. Mode 4 represents the
mode of the parameters that can be modified by making selection from the existing
items list. A description of each parameter appears in the lower panel.

Edit parameter（Mode0）

4-3 Editing parameters

1. Click the mode where the parameter to edit is stored.

2. Click the target parameter in the mode.

3. The parameter value on the clicked line appears in the [Parameter Entry] field.

Specify any value within the available range.

4. After entering the parameter and checking the value or item, pressing the [Enter]

14

key or clicking the [SET] button sets the entered value as the parameter value. If
you do not press the [Enter] key or click the [SET] button, the entered value is
discarded.

5. To save the changed parameters, click the [Disk I/O] button and select [Save onto

disk]. Also, on the way to returning to the Main menu by clicking the [Main Menu]
button you can save the parameters.

 The buttons on the [Edit] dialog box and their functions are as follows:

[SET]: Sets up the changed parameter. This is the same as pressing the
[Enter] key.

[Disk I/O]: Accesses the [Save parameters] or [Load parameters] dialog box.
[Main Menu]: Exits from the [Edit] dialog box and displays the [Save confirmation]

dialog box.

4-4 Printing parameters

You can print the parameters from the [Edit parameters] dialog box,. The following is
the printing procedure:

1. Click the [Print] button.

2. The following dialog box appears. Select a printer or file as the output destination

and click [OK].

If you selected a file for the output destination, a dialog box prompting the file
name appears.

4-5 Disk I/O

If you click the [Disk I/O] button, you can save or load a parameter file during editing,
and you can edit the parameters repetitively.
[Select Disk I/O] dialog box

- Select [Save onto disk] and click [OK] button and the [Save parameters to disk]
dialog box appears. You can save the currently editing parameters to a file.

- Select [Load from disk] and click [OK] and [Load parameters from disk] dialog box
appears. You can edit another parameter file further.

15

NOTE: If you save the file with an existing file name, the existing file is

overwritten and its contents are erased.

16

Chapter 5 Save Onto Disk

17

5 Save Onto Disk

[Save onto disk] saves all the current parameter settings on the servo driver and stores

them together in a parameter file. At this time, the parameters are not displayed on
the dialog box but directly saved into the disk. If you want the parameter settings at
this time, use the [Edit parameters] dialog box and check them.

[File name confirmation] dialog box

③

①

④

②

5-1 Saving onto disk

1. Click the [Save onto disk] button from the Main menu.

2. Select the drive of the target folder in ① Drive and the target folder in ② Folder.

3. Type in a new file name and click the [Save] button. The new parameter file is

stored. If you use an existing file name, the file is overwritten.

NOTE: If you save the file with an existing parameter file name, the existing

file is overwritten and the parameter settings in the file are erased.

Description of items (excluding ①, ②, ③ and ④)
[Save]: Saves the parameters into a file with the specifications in ①,②,and ③.

After clicking the [Save] button, the [Comment Entry] dialog box
appears for the saved file.
  Enter a comment and click the [OK] button to save the parameters
into the file. (The comment may be omitted.)
[Cancel]: Returns to the Main menu without saving the parameters.

18

Chapter 6 Loading From Disk

19

6 Loading From Disk
[Load from disk] loads all the parameters from a parameter file into the servo driver

for configuration.

6-1 Loading parameters into the servo amplifier

1. Click [Load from disk] from the Main menu.

2. Specify the parameter file to load into the servo driver.

Make sure the file name appears in Parameter file name (or directly type in the
file name) and click the [Load] button.

3. When the comment on the selected parameter file appears, check the comment
and click the [OK] button to start loading the parameters into the servo driver.

4. To make the loaded parameters effective, turn off the servo amplifier and again
turn it on. At the same time, also put the PY Remote Operator for Windows off_
line from the Main menu (see page 7).

NOTES:

- This dialog box does not show the set values in the selected parameter file. To
check the value, use the [Edit parameters] dialog box.

- After these steps, the current driver parameters are overwritten.

- If a power failure or communication failure occurs when loading, restart it.

20

Chapter 7 Parameter Matching

21

7 Parameter Matching
The [Match parameters] dialog box matches the parameters in the servo driver with

the parameters in the disk and creates a list of mismatches if applicable. This feature
does not save the result of the task.

7-1 Matching parameters

1. Click [Match parameter] from the Main menu.

2. Specify the matching parameter file in the [Select file] dialog box.
For instructions on how to specify the file, refer to Section 3-4, “Loading files.”

3. Click the [Load] button. The comment on the selected file appears. Check the
comment and click the [OK] button to start matching parameters.

4. After matching parameters, if any difference is found between the driver data and
file data, the following list appears.

[Match parameters] dialog box

Description of other items

[Main Menu]: Returns to the Main menu.

NOTE: If you have any parameter whose name is represented as "system area,"

consult our technical service.

22

Chapter 8 Setting Parameters

23

8-1 Set parameters

Mode

tab

The [Set parameters] dialog box displays the parameters in the connected servo driver.
Whenever you change any of them, the parameters in the servo driver are updated.
The [Set parameters] dialog box has five mode tabs: modes 0, 1, 2, 4 and 8. Modes 0, 1,
2 and 8 are parameters that can be modified by typing from the keyboard. Mode 4 is a
parameter that can be selected from the predefined item lists. The comments in the
bottom panel describe the selected line.

The [Edit parameters] dialog box edits the set value in a file, and the [Set
parameters] dialog box directly configures the set value in the servo driver.

8-2 Parameter setting

1. Click the [Set parameters] button in the Main menu to read the parameters in the
connected servo driver and display the set values in the [Set parameters] dialog
box.

2. Select a mode, click the item to change, type a value in the [Parameter entry] field,
or select from the Combo box. Then, press the [Enter] key or click the [SET] button
to send the modified value to the servo driver.

3. Click the [Main Menu] button to return to Main menu. At this time you can select
whether to save the change into a file.

NOTE: When changing a parameter, do not deviate

from the specified range.
Description of items
[SET]: Send the values selected in the Parameter Entry field to the Driver.
[Main Menu]: Closes the setting dialog box and opens the [Save confirmation] dialog

box.

24

Chapter 9 Monitor Display

25

9 Monitor Display
[Display monitored values] lists the monitored conditions of the connected driver.

The following items are monitored:

- Status - Status of CN1 input pin - Status of CN1 output pi

- Directed speed - Speed feedback - Directed current

- Current feedback - Electric angle of phase U - Absolute position

- Frequency of directed position - Effective torque

- Position loop gain - Speed loop proportional gain

- Speed loop integral time-constant - Positioning deviation counter value

[Display monitored values] dialog box

9-1 Displaying monitored values

1. Click the [Display monitored values] button on the Main menu. The [Monitor]
dialog box appears, enabling you to monitor various signals.

2. The CN1 input /output bit values are as follows.

CN1 input pin CN1 output pin

bit7 RESET ALM8

bit6 ILIM ALM4
bit5 PROT ALM2
bit4 NROT ALM1
bit3 CLE HBON
bit2 CN1-35 SRDY
bit1 CN1-36 ILIM
bit0 SON LTG/INP

Description of other items
[Main menu]: Returns to the Main Menu.

26

Chapter 10 Displaying Alarm History

27

10 Displaying Alarm History

The [Display alarm history] dialog box displays the history of the eight most recent

alarms emitted by the servo driver. [Now] in the first cell under the title of History
Number indicates the current alarm status (if there is no current alarm, "No alarm"
appears), [Last 1] to [Last 7] record the history of the seven most recent events. History
information is updated as necessary.

[Display alarm Trace] dialog box

10-1 Displaying Alarm Trace

1. Click the [Alarm Trace] button from the Main menu. The [Display alarm Trace]
dialog box appears.

2. The alarm history information is updated as necessary.

3. Click the [Main Menu] button to return to the Main menu.

Description of other items
[Print]: Prints the current history list.
[Clear History]: Clears the history list.
[Main Menu]: Turns to Main menu.

28

Chapter 11 Test Mode

29

11 Test mode

In the [Test mode] dialog box, the following four different operations are available :

[Select test mode] dialog box

11-1 Selecting test mode

1. Click the [Test mode] button in the Main menu to open the above dialog box.

2. Click the desired mode to display its associated message on processing.

Description of other items
[Main Menu]: Returns to the Main menu.

To start jog operation and servo tuning:

1) If the control mode type is switching type (velocity <-> torque, position <-> torque,
position <-> velocity), turn off the switching input signal.

2) Set the command input to 0.

3) Turn off the Servo On (SON) signal. In the Test mode, the computer forces the
servo driver to start (servo ON) to output the hold-brake excite-timing signal.

4) Turn on the main circuit power.

5) [Servo ready] is disabled when [JOG] or [Tune] is selected in the Test mode.

After JOG operation and servo tuning:

1) When starting a mode, if you have selected the deviation error alarm for the
status after exiting the test mode, you must clear the driver excessive deviation
alarm before starting a normal operation. This operation is not recorded in the
alarm history.
For a position control type driver, also perform the deviation clear.

2) In case any deviation remains in the user controller, make sure the controller
command output is set to 0. (If the command output is set to a non-zero value,
sudden action starts.)

30

11-2 JOG operation

 JOG operation allows running the motor in the normal/reverse direction at a

specified speed.

Also note the following:

a. Regardless of the selected control mode, the system operates in the [Velocity

control mode] during a JOG operation.

b. The motor operates in the normal direction (CCW when viewed from the load

side) when ≪ is clicked, and in the reverse direction (CW when viewed from the
load side) when ≫ is clicked.

c. Allocate adequate space for the motor operation. Especially for cases with larger

load inertia or set speed, take the deceleration time into account for operation.

d. Since JOG operations are subject to the sequence current limit (Standard value

120%: may be modified in parameter mode 1-12), response may be delayed if the
load inertia or load torque is higher.

e. If the motor must be accelerated or decelerated, set up the associated time with

parameter mode 0-10 (for Directed speed, acceleration time) or parameter mode
0-11 (for Directed speed, deceleration time).

f. Over-travel is also effective during a JOG operation. For example, if an over-

travel condition occurs in the normal direction when the motor is operating in the
normal direction, the motor stops and rejects any further normal input. Consider
the operation time, since the acceleration/deceleration time is also effective under
a over-travel condition.

g. A JOG operation may leave a deviation in the position loop. Be sure to clear any

deviation before returning to a normal operation.

31

11-2-1 Starting JOG operation

1. Click [JOG operation] in the [Select test mode] dialog box to display the following
[confirmation] dialog box.

The [confirmation] dialog box asks whether you want the servo driver to generate
the deviation error alarm after a JOG operation. If you require an alarm to be
generated click [Yes], otherwise click [No].

2. If the servo driver is not in the Ready condition, the following dialog box appears.

Not ready condition

The system is not set up for a JOG operation (the main circuit power is inactive or
under an alarm condition, etc.).
If JOG operation becomes available, the [Velocity entry] dialog box appears.
At this time, click [QUIT] to return to the [Select test mode] dialog box.

3. If the servo driver is under the Ready status, the JOG Operation's [Velocity entry]
dialog box appears.

Type a desired speed in the [Directed speed] field, and click the [OK] button to open
the [Select direction] dialog box.
Click the [Cancel] button to return to the [Select test mode] dialog box.

4. Select the direction of the JOG operation.

The CCW button causes a counterclockwise operation (as viewed from the motor
shaft), and the CW button causes a clockwise operation. To start and continue a
JOG operation, click and hold the desired direction button until you want to stop
the operation.
To return to the [Velocity entry] dialog box, click the [OK] button.

After JOG operation, the deviation of the position loop may remain. Be sure to clear
any remaining deviation before returning to a normal operation.

32

11-3 Servo tuning

With Servo tuning, you can automatically configure appropriate parameters by only
issuing the tuning command. When you issue the command, Servo tuning starts the
motor and determines the load inertia by monitoring the operation status.
This feature sets the four parameters: Position loop gain (Kp), Velocity loop gain (Kvp),
Velocity loop integral time-constant (Tvi) and Directed current LPF (ILPF).

11-3-1Precautions under operational conditions and load conditions

Before starting the Servo tuning, be sure to adhere to the following:

1) If the servo driver starts to vibrate when it is turned on for Servo on, decrease the
proportional gain Kvp and increase the integral time-constant Tvi.

2) As the Servo tuning starts, the motor is turned in the normal and reverse
directions for about 0.5 seconds by the approximate 60 Hz sine-wave-like torque
command (equivalent to rated torque at the peak). As the allowable limits for this
motor operation, allocate at least one turn either to the normal or reverse direction.
Before using Servo tuning, make sure the machine is safe and will not be damaged
even if it is vibrated.

3) In the following conditions, setting appropriate parameters may be unavailable or
tuning errors may be encountered.
a. The load inertia is excessively higher than the allowable load inertia.
b. Load inertia and/or load torque varies largely.
c. Excessive backlash in the ball gears or other gears.
d. Mechanical stiffness is weak at a coupling or other connection and mechanical
resonance may arise.
e. A connection cable was disconnected during Servo tuning.
f. The main circuit power supply failed or an alarm occurred during Servo
tuning.
g. The output current is interrupted by the current limit allowed input.

11-3-2 Using servo tuning

1. Click [Servo tuning] in the [Select test mode] to display the [Confirmation] dialog
box.

The [Confirmation] dialog box asks whether you want the servo driver to generate
the deviation error alarm after a Servo tuning. If you require an alarm to be
generated, click [Yes]; otherwise click [No].

2. If the servo driver is not in the Ready condition, the following dialog box appears.

            Not ready condition

The system is not set up for a Servo tuning (the main circuit power is inactive or
under an alarm condition, etc.).

33

As the machine becomes available for Servo tuning, the [Select tuning mode]
dialog box appears. If you click [QUIT], the [Select test mode] dialog box is
returned.

3. Make sure the servo driver is at the Ready condition, and select a tuning mode.

One of the three stiffness levels (Low, Middle and High) can be selected based on
the actual mechanical stiffness. After selecting a level, click the [OK] button.
To return to the [Select test mode] dialog box, click [Cancel].

4. The [Start tuning confirmation] dialog box opens.
To start tuning, select [Yes] on the [Confirmation] dialog box.

5. Results of the tuning process appear when the process is completed.

The above four parameters are automatically updated after successful tuning.

Click the [OK] button to return to the [Select tuning mode] dialog box.

After Servo tuning, the deviation of the position loop may remain. Be sure to
clear any remaining deviation before returning to a normal operation.

6. To return to the [Select test mode] dialog box, click the [Cancel] button.

34

11-4 Adjusting directed offset

Before you can automatically or manually adjust the offset values for the input analog
command used in controlling the speed or torque, perform the Adjust directed offset.

11-4-1 Using Adjust directed offset

1. Click [Adjust directed offset] in the [Select test mode] dialog box to open the
[Auto offset adjustment] dialog box.

In this dialog box, select the target for the [Auto offset adjustment] dialog box
either from the velocity or torque. Click the directed item and then the [OK] button.

2. The [Confirmation] dialog box appears. Select [Yes] on the [Confirmation] dialog
box to start "Auto offset adjustment".

If you select [No], the [Select test mode] dialog box reappears.

3. If the process successfully completed, the following dialog box appears. Click the
[OK] button.

   Process successful

4. The [Auto offset adjustment] dialog box is returned and the adjusted value
appears.

5. To return to the [Select test mode] dialog box, click the [Cancel] button.

NOTE: You can also adjust the offset value by clicking the + or - button. The
changed value updates the associated set value in the PY servo driver
accordingly.

35

11-5 Absolute encoder clear

This clears the multi-rotor section data when using the absolute encoder, causing an
encoder alarm reset.

11-5-1 Using Absolute encoder clear

1. Click [Absolute encoder clear] in the [Select test mode] dialog box to open the [Start
confirmation] dialog box.

2. Respond [Yes] to the confirmation message to start clearing the encoder. If you
select [No], the [Select test mode] dialog box is returned.

3. The indicator bar shows the progress of the encoder clearing process. When the
clearing process is completed, the result appears. (The process takes about ten
seconds.)
If you click the [Cancel] button, the clearing process is interrupted and the
positioning data appears.

4. To return to the [Select test mode] dialog box, click the [OK] button.

The data is the current data when completing the clear operation. If you want to
check the data in real time, use the monitoring dialog box

36

Chapter 12 Display Graphic Monitor

37

12 Display Graphic Monitor

The [Display Graphic Monitor] dialog box interprets the operating status of the
connected servo driver to display waveforms with different aspects.

①

②

Display the
current
parameters
during
measurement.

③

To move
this mark,
use the right
and left arrow
keys on the
keyboard.

12-1 Using Graphic Monitor

1. Click [Graphic Monitor] in the Main menu to open the Operation Waveform dialog
box.

2. Select the time base and displayed data, configure the trigger (trigger signal is
fixed to the velocity feedback), and click the [Sampling + Monitor] button to enter
the wait trigger status.

3. If the process is triggered, the data is loaded and displayed graphically.

4. For this task, you can change the scaling for CH 1 to 4 of the displayed data,

display the data indicated by the arrow marking, or save the current screen into a
file(*.csv).
(The time base cannot be changed after monitoring the waveform.)

NOTES:

A Time base ①

- The time base must be set up from the Combo box.

- A whole waveform may not be displayed depending on the selection of a time base,

and the triggering position may be deviated accordingly.
Description of items

[Sampling]: Sends a signal that starts sampling to the servo driver.
Sampling continues until the servo driver triggers to stop sampling.

38

[Monitor]: Clicking this button starts monitoring of the sampling status of the
driver. During sampling (wait for triggering), "On-sampling" appears.
When sampling stops, the collected data is loaded and appears on the
graphical display.
Clicking the [Cancel] button during sampling forcefully terminates
sampling. Data up to the time of termination are interpreted and
shown on the graphical display.
[Sampling+Monitor]: Issues a start sampling signal to the servo driver. Then, this
process monitors the sampling status of the driver. If sampling is on
the way, "On sampling" appears. When sampling stops, the collected
data are loaded and displayed on the panel graphically. Clicking the
[Cancel] button during sampling forcefully terminates the sampling.
Data up to the termination are interpreted and shown on the graphical
display.

12-1-1 Changing displayed data on CH 1 to 4 (②)

- The offset of the displayed data can be adjusted by clicking the up or down arrow

next to the displayed data name for a channel. The ground position appears on the
left of the waveform display XY dialog box.

- To hide signals from a channel, clear the signal name by pressing the backspace key

after clicking the displayed data name.

- The scaling for the displayed data is available from the Combo box. This setting can

be changed after measurement.

- For a waveform on CH 1 to 4, the following items can be selected from the Combo

box.
Positioning deviation ABS.E position (decimal) Directed Velocity
Velocity feedback Directed current Current feedback

The values at Ｖ markings on channels CH 1 to 4 can be checked from fields ③. The

Ｖ position can be changed pressing the right and left arrow keys.

NOTE: Four-channel full display is unavailable with "Positioning deviation" or
"ABS.E position" selected.

12-2 Loading existing waveform data

Click the [LOAD] in the Graphic Monitor dialog box to open the Load parameters from
disk dialog box.
For specifying the file to load, refer to Section 3-4, "Loading files”. *.csv is used as the
extension.

NOTE: Never read a file not saved from PC Interface.

12-3 Saving waveform data

This saves the current waveform data and trigger setting on the Graphic Monitor
dialog box. Click the [SAVE] button to open the [Save parameters onto disk] dialog
box.
For saving a file, refer to Section 3-5, "Saving files." CSV is used as the extension.
Files with a .CSV extension can be loaded into other applications supporting the
extension, such as Microsoft Excel, for computing or graphical representation.

39

13 Troubleshooting
13-1 Unable to install

(1) Was a correct folder or file name specified?
(2) Is the color specification less than 256 colors?

13-2 Unable to set up parameters
(1) Is the connection to the amplifier established on the Main menu?
(2) Was a valid range specified?

13-3 Unable to print

(1) Change the printer resolution to about 300 dpi before printing.

13-4 Unable to display waveforms

(1) Was a valid trigger setting configured? (Level, Slope (rising or falling edge, etc.)

13-5 Unable to perform Test mode

(1) Is the connection to the driver established on Main menu?
(2) Is the main power turned on?
(3) Is the system under an alarm condition?

40

Appendix A Cable Connection Diagram

The following diagram shows how the provided cable is to be connected:

ＰＹServoDriver

1

11

2

12

3

13

4

14

5

15

6

16

7

17

8

18

9

19

10 20

ＯＰ

（８８２２Ｅ−０２０−１７１Ｄ：ＫＥＬ）

：ＮＣ

cablelength:2.7m

(ＨＤＥＢ−９Ｓ：ＨＩＲＯＳＥ）

ＰＣ

1

6

2

7

3

8

4

9

5

Ｄ−ｓｕｂ９ｐｉｎ

Pin number
PY servo driver (OP connector)  COM

１ NC １１ NC １ DCD

 ２ NC １２ NC ２ RXD

３ NC １３ NC ３ TXD

４ NC １４ NC ４ DTR
 ５ NC １５ NC ５ GND
 ６ NC １６ NC ６ DSR
 ７ NC １７ NC ７ RTS
 ８ NC １８ NC ８ CTS
 ９ RXD １９ GND ９ RI
１０ TXD ２０ GND

NOTE: Do not connect to NC.

41

Index
A

Absolute encoder clear ........ 36

Adjust directed offset ........ 35

Alarm histories ........ 28

C

Cable Connection Diagram ........ 41

Changing displayed data

on channel ........ 39

Clear alarm history ........ 28

click ........ iv

Combo box ........ 4

Connecting to the servo driver........ 7

.CSV file ........ 39

D

Deviation Error alarm ........32,30

Disk I/O ........ 15

Display monitored values ........ 26

double-click ........ iv

drive ........ 10

E

Edit parameters ........ 14

Error during JOG operation ........ 32

F

folder ........ 10

G

Graphic Monitor ........ 38

I

Initial screen ........ 6

J

JOG operation ........ 31

K

key operations ........ iv

L

Load from Disk ........ 20

Loading parameters ........ 20

Load waveform data ........ 39

M

Main menu ........ 7

Main Menu button ........26,28

Matching ........ 22

Matching parameter ........ 22

Mode ........ 30

Monitor button (Graphic Monitor)

........ 30

Mouse operation ........ iv

N

NEXT button (initial screen) ........ 6

O

OFF LINE connection ........ 7

ON LINE connection ........ 8

Operating environment ........ 2

P

Parameter mode ........ 14

Print (Alarm histories) ........ 28

Print (parameter) ........ 15

Printer configuration ........ 9

.PY file ........ 14

Q

QUIT button (initial screen) ........ 6

QUIT button (Main menu) ........ 8

R

Radio button ........ 4

RS232C port ........ 6

RS232C port settings ........ 6

S

[Sampling] ........ 38

[Sampling + Monitor] ........ 39

[Save] button (Save into Disk)........ 18

Save onto Disk ........ 18

Save waveform data into file ........ 39

Saving parameters ........ 18

Servo tuning ........ 33

SET button (Edit parameters)........ 14

SET button (Set parameter) ........ 24

Setting parameter ........ 24

setup ........ 2

Software version ........ 8

T

Test mode ........ 30

Troubleshooting ........ 40

U

Using Graphic Monitor ........ 38

42

NOTICE

1. In the interest of continued product development, Sanyo Denki reserves the right
to make improvements in this manual without notice or obligation.

2. The information in this manual has been carefully checked and is believed to be
accurate. If you have any question about this manual, do not hesitate to ask us.

3. In no event will Sanyo Denki be liable for direct, indirect, special, incidental, or
consequential damages resulting from any defect or omission in this manual, even
if advised of the possibility of such damages.

<Revision History>
Date Rev. Number program ver. information
9/18/98 First edition 1.22E
5/13/99 Second edition 1.24E

43