When The Coordinates Are The Rotary Type - YASKAWA E-7S SERVOPACK SGD7S Product Manual

12.1.2

When the Coordinates are the Rotary Type

When using a rotary type coordinates such as with a rotary table, set PnB20 to 0001h (shortest
path), to 0002h (forward), or to 0003h (reverse). Then set the end point of rotational coordi-
nates in PnB21 and the starting point of rotational coordinates in PnB23.
The software limit function will be disabled.
If PnB20 is set to 0001h (shortest path), the motor will rotate in the shortest direction (forward
or reverse) when the target position is specified as an absolute position.
If PnB20 is set to 0002h (forward), the motor will always rotate in the forward direction when
the target position is specified as an absolute position.
If PnB20 is set to 0003h (reverse), the motor will always rotate in the reverse direction when the
target position is specified as an absolute position.
If the target position is specified as an relative position, the motor will rotate in the specified
direction regardless of the setting of PnB20.
• PnB21 = +3599, PnB23 = 0
Example
Even when equipment like a rotary table is used, if multiple turns cannot be performed set the
coordinate as linear type (PnB20 = 0000h).
In this case, the values set in PnB21 and PnB23 are the values of the soft limits.
When using rotary type coordinates and an absolute encoder, set the multi-turn limit (Pn205).
Refer to the following section for information on the multiturn limit settings.
Important
PnB21 = +3599
PnB23 = 0
Starting
point
6.7.2 Multiturn Limit Setting on page 6-25
12.1 Moving Mode and Coordinate Settings

12.1.2 When the Coordinates are the Rotary Type

• PnB21 = +4999, PnB23 = -5000
PnB21 = +4999
PnB23 = -5000
Starting
point
12
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