Connecting An Absolute Encoder; Multiturn Limit Setting - YASKAWA SGD7S Product Manual

6.8.1

Connecting an Absolute Encoder

If you use an absolute encoder, the encoder divided pulse output signals (PAO, PBO, and PCO) are
output only once when the power supply turns ON. Normally, do not use these signals. Therefore, it is
not necessary to wire the PAO, PBO, and PCO (Encoder Divided Pulse Output) signals. If they need to
be wired, refer to the following section.
4.4.3
Wiring the SERVOPACK to the Encoder
4.5.3
I/O Signal Wiring Examples
6.8.2

Multiturn Limit Setting

The multiturn limit is used in position control for a turntable or other rotating body.
For example, consider a machine that moves the turntable shown in the following diagram in
only one direction.
Turntable
n:m
Because the turntable moves in only one direction, the upper limit to the number of rotations
that can be counted by an absolute encoder will eventually be exceeded.
The multiturn limit is used in cases like this to prevent fractions from being produced by the
integral ratio of the number of Servomotor rotations and the number of turntable rotations.
For a machine with a ratio of n:m between the number of Servomotor rotations and the number
of turntable rotations, as shown above, the value of m minus 1 will be the setting for the multi-
turn limit setting (Pn205).
Multiturn limit (Pn205) = m – 1
If m = 100 and n = 3 (i.e., the turntable rotates three times for each 100 Servomotor rotations),
the relationship between the number of Servomotor rotations and the number of turntable rota-
tions would be as shown below.
Set Pn205 to 99.
Pn205 = 100 – 1 = 99
9
8
7
6
5
4
Multiturn data
3
2
1
0
Multiturn Limit
Pn205 Setting Range
0 to 65,535
Note: This parameter is enabled when you use an absolute encoder.
on page 4-26
on page 4-34
Gear
Servomotor
Number of table rotations
Setting of Pn205 = 99
100 200
Number of Servomotor rotations
Setting Unit
1 Rev

6.8.1 Connecting an Absolute Encoder

100
50
300 0
Default Setting
65,535
6.8 Absolute Encoders
When Enabled Classification
After restart Setup
6
6-19