Related Parameters; Multiturn Limit Setting Disagreement Detection Timing; Checking For A Multiturn Limit Setting Disagreement; Clearing The Warning - YASKAWA SVC User Manual

6.7 Multiturn Limit Setting Disagreement Detection

6.7.2 Related Parameters

6.7.2

Related Parameters

You do not need to set any parameters for an infinite-length axis. The settings of fixed parame-
ter No. 38 and the Pn205 SERVOPACK parameter are constantly compared.
For a finite-length axis, set the following parameter.
Fixed Parameter
No.2 Bit 5
6.7.3

Multiturn Limit Setting Disagreement Detection Timing

A check will be made for a multiturn limit setting disagreement when the operations in the fol-
lowing table are performed.
Starting from flash memory
Writing fixed parameters
Saving MECHATROLINK definitions
Transferring module configuration definitions
Turning ON OW00 bit C (Reset Network)
Turning ON OW00 bit E (Reset Communications) IL02 bit 2 (Fixed Parameter Setting Error) is 0.
Turning ON OW00 bit F (Clear Alarm)
6.7.4

Checking for a Multiturn Limit Setting Disagreement

A warning will occur when a multiturn limit setting disagreement is detected. The parameters
will have the following values.
Register
IL02 Bit 2
IW01
IW00 Bit 0
6.7.5

Clearing the Warning

Change the setting of either fixed parameter No. 38 (Maximum Number of Absolute Encoder
Rotations) or the Multiturn Limit Setting, and clear the warning in IL02 bit 02 (Fixed
Parameter Setting Error).
Changing the Setting of Fixed Parameter No. 38
The warning will be cleared when the fixed parameters are written.
1.
Set fixed parameter No. 38 in the SERVOPACK where the warning occurred to the same
value as common parameter 24.
2.
Write the fixed parameters.
This concludes the procedure.
6-32
Name
Finite-length Multiturn Limit
Setting Disagreement
Detection Mask
Operation
Parameter Name
Fixed Parameter Setting Error
Out-of-range Parameter Num-
ber
Motion Operation Ready
Description
Use this bit to specify whether or not to detect a multiturn
limit setting disagreement during finite-length operation.
0: Do not detect, 1: Detect
None
A communications error has occurred and
IL02 bit 2 (Fixed Parameter Setting Error) is 0.
1: Outside setting range
1038 (fixed parameter No. 38 (Maximum Number of
Absolute Encoder Rotations))
0: Motion operation not ready
Condition
Value