Mlttrn_Set (Multiturn Limit Setting) - YASKAWA SVC User Manual

4.2.32

MLTTRN_SET (Multiturn Limit Setting)

Execute the MLTTRN_SET command to set the multiturn limit of the absolute encoder to the
value set in Pn205 (Multiturn Limit) SERVOPACK parameter. Execute the MLTTRN_SET com-
mand when an A.CC0 alarm (Multiturn Limit Disagreement) has occurred on the SERVOPACK.
The MLTTRN_SET command is valid for SERVOPACKs with absolute encoders. The command
will end in an error if the MLTTRN_SET command is executed when an incremental encoder is
used (even if it is used as an absolute encoder) or if a servo amplifier from another company is
Important
used.
Refer to the following section for the procedure to set the multiturn limit for a MECHATROLINK-
III slave axis without using this command.
5.3 Multiturn Limit on page 5-47
Execution and Operating Procedures
1.
Make sure that all of the following conditions are met.
No.
1
2
3
*1.
If there is an A.CC0 alarm (Multiturn Limit Disagreement), communications cannot be synchronized just
by turning ON the power supplies to the MP3000. Clear the alarm by setting bit F in OW00 to 1
(ON) to synchronize communications.
*2.
Before you change to this command during the execution of another command, you must check
whether the command can be changed and how operation changes when the command is changed.
Refer to the following section for details on changing from another command.
4.4 Changing the Command on page 4-137
2.
Set the OW
TRN_SET motion command.
The A.CC0 alarm (Multiturn Limit Disagreement) in the SERVOPACK will be cleared, and the multiturn
limit of the absolute encoder will be set to the value set in the Pn205 (Multiturn Limit) SERVOPACK
parameter.
During command execution, IW
(BUSY) in IW
When command execution is completed, bit 0 (BUSY) in IW
bit 0 (Motion Operation Ready) in IW

3.
Set OW
complete the multiturn limit settings.
4.
Turn the power supply to the SERVOPACK OFF and ON again
5.
Execute an origin setting or origin return operation.
Refer to the following section for details on the origin setting operation.
ZSET (Set Zero Point) on page 4-60
Refer to the following section for details on the origin return operation.
ZRET (Zero Point Return) on page 4-20
Holding and Canceling Commands
Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW
not be used to stop the axis.
If a communications error occurs during command execution, command processing will be
canceled, and the command will end in an error (bit 3 in IW
Execution Condition
Communications with the SERVOPACK must be
*1
synchronized.
The servo must be OFF.
Motion command execution for the target axis
*2
must be completed.

08 setting parameter (Motion Commands) to 39 to execute the MLT-

08 (Motion Command Response Code) changes to 39 and bit 0

09 turns ON.

08 (Motion Commands) to 0 to execute the NOP motion command and
4.2.32 MLTTRN_SET (Multiturn Limit Setting)
Bit 0 in IW
Bit 1 in IW

IW 08 must be 0 and bit 0 in

IW 09 must be OFF.

09, bit 3 (FAIL) in IW
00 turn OFF, and bit 8 (COMPLETE) in IW


09 will turn ON).
4.2 Motion Command Details
Confirmation Method

00 must be ON.

00 must be OFF.

09, and

09 turn ON.
09 setting parameter can-
4
4-121