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TB239 Rev1 Sanyo Denki Drive Setup for CNC11 Systems
This Tech Bulletin explains the setup and wiring when using a Sanyo Denki 3rd party drive for motor control on a CNC11 control
running at least 3 00 rev53 software Like all 3rd party drives it should be setup in Velocity Mode
Modifying Drive Parameters
Press the MODE
key to enter different parameter modes Keep pushing this key until the correct mode is displayed Status
Display is the default Mode Gr contains many general parameters Sy contains the motor/drive combination specific
parameters
Use the WR/RIGHT
arrow key to move the cursor to the correct digit with the number to modify
Press the UP
and DOWN
arrows to change the page number which contains the parameter to be changed and the
parameter number as well
Press the WR/RIGHT
arrow key for more than a second to display the value stored in the parameter
Press the WR/RIGHT
arrow key for less than a second to move the cursor
Press the UP
and DOWN
arrows to change the value stored in the parameter
Press the WR/RIGHT
arrow key for more than a second to save the parameter The display will blink 3 times to indicate
success
Push the MODE
key twice to back out to the status display
Default Drive Parameters
The Sanyo Denki drive uses separate inputs for Torque Mode and Velocity Mode command The default inputs and outputs are used
so that no changing of drive parameters is required They are listed here for reference
Parameter Number Value Description
Gr 8 25 500 Analog Velocity command scaling Increasing this causes smaller Kv1
Gr 9 00 0 Disable positive over travel input
Gr 9 01 0 Disable negative over travel input
Gr 9 02 10 Reset Alarms when CONT8 input 8 SET on drive by PLC
Gr 9 05 2 Enable drive when CONT1 input 1 SET on drive by PLC
Gr A 07 39 Output 8 SET to PLC when no errors RST to PLC when errors occured
Gr C 00 1 00 = Absolute Encoder 01 = Incremental Encoder
Gr C 05 1/1 No encoder division should be done set to fraction that evaluates to 1
Gr C 06 0 Standard encoder polarity
Gr C 07 0 Binary Encoder counting
Sy 00 0 3 phase AC power
Sy 01 00 01 00 = Incremental encoder 01 = Absolute Encoder
Sy 02 00 00 = 4 pair wire saving encoder
Sy 03 500 65535 Encoder counts per revolution of motor
Sy 08 1 Set the drive in velocity Mode
Sy 0B 00 01 Use 01 for Internal brake resistory if available otherwise use 00
Jog Trial Run
Once the drive is setup correctly it should be jogged before connecting to the CNC11 system
Press the Mode
key until "Ad 0" is displayed
Press the UP
arrow key to set the jog speed to 5
Press the WR/RIGHT
arrow key for more than 1 second to see "y_n" displayed
Press the UP
arrow key to display "rdy" and accept confirmation
Press the WR/RIGHT
arrow key for more than 1 second to set Servo On status
Press the UP
arrow key to rotate the motor shaft 50 RPM CCW looking at the shaft
Press the DOWN
arrow key to rotate the motor shaft 50 RPM CW looking at the shaft
Press the Mode key to terminate the jog trial Reset power to the drive to continue installation
CNC11 Setup
Now that the drive has been confirmed to work the CNC11 side must be setup
Enter the correct values for motor revs/inch or mm/rev encoder counts/rev and jog rates
Check the encoder counts/rev match what is expected by going to the PID screen and turning the shaft once by hand
Set the PID values according to the following table
Parameter Value
Kp 0 02
Ki 0 00004
Kd 0
Limit 2560000
Kg 0
Kv1 50
Ka 0
Centroid does not recommend connecting or using the Alarm Reset signal to the drive Drive faults should be investigated
immediately Information about connection is given for informational purposes
Continue to Tech Bulletin 234 for tuning the drives in velocity Mode
Optic4 and GPIO4D to Sanyo Denki Drive Wiring
This is for the typical wiring of a Sanyo Denki drive Click here to see the full size drawing
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Document History
Rev1 Created on 2010 07 19
by #297